Torque control method, device, equipment and medium of electrically driven vehicle

Abstract

The application discloses a torque control method, device, equipment and medium of an electrically driven vehicle. The method comprises the following steps: acquiring the current rotating speed of the walking driving motor of the electrically driven vehicle in real time; when it is determined that the current rotating speed falls into a torque reduction interval, a target torque control curve is acquired from a plurality of torque control curves, and the output torque of the electrically driven vehicle is adjusted according to the target torque control curve; if the current rotating speed is detected to decrease for the first time during the control process of the output torque according to the target torque control curve, the torque reduction interval is divided into a plurality of hysteresis adjustment intervals according to the rotating speed of the speed reduction point at the time of the first decrease; when it is determined that the torque hysteresis adjustment condition is met according to the real-time rotating speed, the output torque of the electrically driven vehicle is adjusted according to the rotating speed limit value corresponding to at least one hysteresis adjustment interval. According to the torque limiting curve, the application carries out the anti-over-speed control, avoids the back-and-forth fluctuation of the motor torque in the anti-over-speed control process, and improves the driving efficiency and driving comfort.

Description

Technical Field

[0001] This invention relates to the field of engineering machinery technology, and in particular to a torque control method, device, equipment and medium for electric drive vehicles. Background Technology

[0002] To prevent the drive motor of an electric transport vehicle from overspeeding, there is generally a maximum permissible safe operating speed. The traditional approach is to reduce the maximum permissible output torque of the motor based on its speed. When the motor speed is equal to the maximum permissible safe operating speed, the output torque is 0, and when the motor speed is greater than the maximum permissible safe operating speed, the output torque is reverse torque.

[0003] However, due to the large variations in the load on transport vehicles, especially when the vehicles are on uphill sections, the motor torque is prone to repeated increases and decreases, causing the entire vehicle to vibrate and resulting in a very poor driving experience.

[0004] Therefore, there is an urgent need for a new control method to prevent motor overspeed, which can solve the problem of motor speed fluctuations during the motor overspeed control process and improve driving efficiency and ride comfort. Summary of the Invention

[0005] This invention provides a torque control method, device, equipment, and medium for electric vehicles, solving the problem of fluctuating motor speed during overspeed control in existing electric vehicles.

[0006] In a first aspect, embodiments of the present invention provide a torque control method for an electrically driven vehicle, the method comprising:

[0007] Real-time acquisition of the current rotational speed of the drive motor of the electric vehicle;

[0008] When it is determined that the current speed falls into the torque reduction range, the target torque control curve is obtained from multiple torque control curves, and the output torque of the electric drive vehicle is adjusted according to the target torque control curve.

[0009] If, during the process of controlling the output torque according to the target torque control curve, the current speed is detected to decrease for the first time, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of decrease during the first decrease. Each hysteresis adjustment range corresponds to a torque limit.

[0010] When the torque hysteresis adjustment condition is met based on the real-time speed, the output torque of the electric drive vehicle is adjusted according to the speed limit corresponding to at least one hysteresis adjustment range.

[0011] Secondly, embodiments of the present invention also provide a torque control device for an electric drive vehicle, the device comprising:

[0012] The real-time rotation speed acquisition module is used to acquire the current rotation speed of the drive motor of the electric vehicle in real time.

[0013] The torque control curve acquisition module is used to acquire the target torque control curve from multiple torque control curves when it is determined that the current speed falls into the torque reduction range, and adjust the output torque of the electric drive vehicle according to the target torque control curve;

[0014] The hysteresis adjustment range division module is used to divide the torque reduction range into multiple hysteresis adjustment ranges based on the speed at the point of first decrease when the current speed is detected to be decreasing during the process of controlling the output torque according to the target torque control curve. Each hysteresis adjustment range corresponds to a torque limit value.

[0015] The output torque adjustment module is used to adjust the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range when the torque hysteresis adjustment condition is met based on the real-time speed.

[0016] Thirdly, embodiments of the present invention also provide an electronic device, the electronic device comprising:

[0017] At least one processor; and

[0018] A memory communicatively connected to the at least one processor; wherein,

[0019] The memory stores a computer program that can be executed by the at least one processor, which enables the at least one processor to perform the torque control method for an electric drive vehicle according to any embodiment of the present invention.

[0020] According to another aspect of the present invention, a computer-readable storage medium is provided, the computer-readable storage medium storing computer instructions for causing a processor to execute and implement the torque control method for an electric drive vehicle according to any embodiment of the present invention.

[0021] The technical solution of this invention improves the adaptability of motor output torque to load and gradient by using torque limiting curves to prevent overspeed control of electric vehicles, avoids back-and-forth fluctuations in motor torque during overspeed control, and improves driving efficiency and driving comfort.

[0022] It should be understood that the description in this section is not intended to identify key or essential features of the embodiments of the present invention, nor is it intended to limit the scope of the invention. Other features of the invention will become readily apparent from the following description. Attached Figure Description

[0023] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0024] Figure 1 This is a flowchart of a torque control method for an electric drive vehicle according to Embodiment 1 of the present invention;

[0025] Figure 2 This is a schematic diagram of different torque control methods applicable to three speed ranges according to embodiments of the present invention;

[0026] Figure 3 This is a flowchart of another torque control method for an electric drive vehicle provided according to Embodiment 2 of the present invention;

[0027] Figure 4 This is a schematic diagram of the structure of a torque control device for an electric drive vehicle according to Embodiment 3 of the present invention;

[0028] Figure 5 This is a schematic diagram of the structure of an electronic device that implements a torque control method for an electrically driven vehicle according to an embodiment of the present invention. Detailed Implementation

[0029] To enable those skilled in the art to better understand the present invention, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings of the embodiments of the present invention. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort should fall within the scope of protection of the present invention.

[0030] It should be noted that the terms "first," "second," etc., in the specification, claims, and accompanying drawings of this invention are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of the invention described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms "comprising" and "having," and any variations thereof, are intended to cover a non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.

[0031] Example 1

[0032] Figure 1 This is a flowchart of a torque control method for an electric vehicle according to Embodiment 1 of the present invention. This embodiment is applicable to situations where overspeed control is performed on an electric vehicle during transportation. The method can be executed by a torque control device for the electric vehicle, which can be implemented in hardware and / or software. This torque control device can be configured in electric wide-body vehicles or engineering dump trucks, etc. Figure 1 As shown, the method includes:

[0033] S110: Real-time acquisition of the current speed of the drive motor of the electric vehicle.

[0034] The vehicle torque control method described in this embodiment of the invention is mainly for electric wide-body vehicles or engineering dump trucks and other electrically driven transport vehicles. When the above vehicles are performing load transport operations on uphill sections, the speed of the drive motor will continuously change with the increase of the slope. By obtaining the current speed of the drive motor in real time, the torque can be controlled in the future.

[0035] Optionally, after acquiring the current rotational speed of the drive motor of the electric vehicle in real time, the following can be included:

[0036] When the current speed falls within the judgment range, the output torque of the electric drive vehicle is adjusted according to a fixed positive torque.

[0037] When it is determined that the current speed falls into the anti-drag range, the output torque of the electric drive vehicle is adjusted according to the preset anti-drag torque curve;

[0038] Among them, the speed in the judgment interval is less than the speed in the torque reduction interval, and the speed in the torque reduction interval is less than the speed in the reverse drag interval.

[0039] In this embodiment of the invention, the speed range of the drive motor is divided into three ranges: the determination period, the torque reduction range, and the reverse drag range. Figure 2 This diagram illustrates the torque adjustment method after dividing the speed range into different intervals based on the speed. Since the speed of the judgment interval is less than the speed of the torque reduction interval, and the speed of the torque reduction interval is less than the speed of the anti-drag interval, the three intervals in the diagram are, from left to right, as follows: judgment interval, torque reduction interval, and anti-drag interval.

[0040] If the current engine speed is within the judgment range, the accelerator pedal depth is stable, and the engine speed is also in a relatively low range. Therefore, within this range, the output torque of the drive motor is a fixed positive torque value. Figure 2The value is represented as Tmax. When the speed increases continuously and the drive motor falls into the reverse drag range, the output torque is output as a negative reverse drag torque according to the preset reverse drag curve. This reverse drag torque is also called the resistance torque.

[0041] S120. When it is determined that the current speed falls into the torque reduction range, the target torque control curve is obtained from multiple torque control curves, and the output torque of the electric drive vehicle is adjusted according to the target torque control curve.

[0042] Specifically, when the engine speed falls into the torque reduction range, the output torque is no longer a fixed value, but needs to be adjusted according to the torque control curve. The torque reduction range is divided into several torque reduction zones depending on the actual operating conditions. Figure 2 For example, this torque reduction range includes two torque reduction zones: the first torque reduction zone and the second torque reduction zone. The slope of the torque limiting curve is different in different torque reduction zones, and the vehicle controller controls the output of the motor torque according to the torque limiting curve with a certain slope.

[0043] S130. If, during the process of controlling the output torque according to the target torque control curve, the current speed is detected to decrease for the first time, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of decrease during the first decrease. Each hysteresis adjustment range corresponds to a speed limit.

[0044] When a transport vehicle travels uphill and reaches a certain gradient, its rotational speed will decrease due to resistance such as gravity. When the speed first decreases, it enters a hysteresis regulation mode for motor torque. The point at which the speed first decreases is called the deceleration point. This hysteresis regulation mode divides the torque reduction range into several hysteresis regulation intervals, each corresponding to a speed limit. This speed limit is the maximum torque output value within that interval. In this mode, because the speed is decreasing, the hysteresis regulation intervals are divided from right to left. Figure 2 The first hysteresis adjustment range is located to the right of the second hysteresis adjustment range. That is, the first hysteresis adjustment range is determined based on the deceleration point. Other hysteresis adjustment ranges and corresponding torque limits can be determined based on the boundary of the determined first hysteresis adjustment range.

[0045] Furthermore, after dividing the torque reduction range into multiple hysteresis adjustment ranges based on the deceleration point speed at the initial descent, it can also include:

[0046] During the process of adjusting the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range, if the real-time speed is detected to increase again, the first hysteresis adjustment range where the speed at the point of increase is located and the second hysteresis adjustment range adjacent to the first hysteresis adjustment range along the speed increase direction are obtained.

[0047] The first hysteresis adjustment interval and the second hysteresis adjustment interval are combined to obtain a new combined hysteresis adjustment interval.

[0048] If the speed increases again during the adjustment of the output torque of the drive motor according to the hysteresis torque limit curve in hysteresis mode, it means that the direction of speed change has changed back to left to right. Since the original hysteresis torque limit curve is adjusted according to the speed from right to left, a new hysteresis torque limit curve needs to be formulated for the current speed.

[0049] The new hysteresis torque limit curve will divide a new hysteresis interval. In the new hysteresis interval, the interval size is equal to the sum of the length of the hysteresis interval where the speed increase point is located and the length of the adjacent hysteresis interval. The torque limit of the new hysteresis interval is the torque limit corresponding to the original speed increase point. The adjacent hysteresis interval is the next interval in the direction of speed increase.

[0050] S140. When it is determined from the real-time speed that the torque hysteresis adjustment condition is met, the output torque of the electric drive vehicle is adjusted according to the speed limit corresponding to at least one hysteresis adjustment range.

[0051] Meeting the torque hysteresis adjustment condition means that by obtaining the real-time speed value, a corresponding hysteresis adjustment range can be selected for the current speed value, and within each hysteresis adjustment range, the output torque is the torque limit value of the current range.

[0052] The technical solution of this invention acquires the current speed of the drive motor of an electric vehicle in real time. When the current speed falls into the torque reduction range, a target torque control curve is obtained from multiple torque control curves, and the output torque of the electric vehicle is adjusted according to the target torque control curve. If, during the control of the output torque according to the target torque control curve, the current speed is detected to have its first decrease, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of first decrease. When the torque hysteresis adjustment condition is met based on the real-time speed, the output torque of the electric vehicle is adjusted according to the speed limit corresponding to at least one hysteresis adjustment range. This technical solution, by utilizing a torque limit curve for overspeed prevention control of the electric vehicle, improves the adaptability of the motor output torque to load and gradient, avoids fluctuations in motor torque during overspeed prevention control, and improves driving efficiency and driving comfort.

[0053] Example 2

[0054] Figure 3 This is a flowchart of another torque control method for an electric drive vehicle provided in Embodiment 2 of the present invention. This embodiment is a refinement based on the above embodiment. Figure 3 As shown, the method includes:

[0055] S310: Real-time acquisition of the current speed of the drive motor of the electric vehicle.

[0056] The vehicle torque control method described in this embodiment of the invention is mainly for electric wide-body vehicles or engineering dump trucks and other electrically driven transport vehicles. When the above vehicles are performing load transport operations on uphill sections, the speed of the drive motor will continuously change with the increase of the slope. By obtaining the current speed of the drive motor in real time, the torque can be controlled in the future.

[0057] S320. When it is determined that the current speed falls into the torque reduction range, a pre-constructed speed curve mapping table is obtained. The speed curve mapping table stores multiple sets of reference data and torque control curves corresponding to each set of reference data. The reference data includes reference speed and / or reference speed change.

[0058] In this embodiment of the invention, torque control of the vehicle is mainly achieved through a vehicle controller. By connecting the vehicle controller to the transmission controller, transmission gear information can be sent to the vehicle controller. When the motor is in the determination range, the vehicle controller can obtain multiple sets of motor torque values ​​for different gears, as well as the reference motor speed and speed change corresponding to the motor torque, based on the changes in the transmission gear. Similarly, for each set of motor torque values, a corresponding torque limit curve is pre-constructed through testing of the actual vehicle under different loads. Therefore, each set of torque limit curves includes a reference speed and / or reference speed change under the current torque; this correspondence is called a speed curve mapping table.

[0059] S330. Match the historical speed and / or historical speed change of the electric drive vehicle before entering the torque reduction range with each set of reference data to obtain target matching reference data, and obtain the target torque control curve corresponding to the target matching reference data.

[0060] When the motor is in the determination range, the data acquisition unit of the vehicle controller calculates the change in the speed of the drive motor within a set time. It matches the historical speed and / or the historical speed change within that time with the reference data in the speed curve mapping table that stores the torque limit curve. The reference data refers to the reference speed and / or the reference speed change stored in the speed curve mapping table. The set of corresponding target reference data with the smallest deviation from the historical speed and / or the historical speed change is selected, and the target torque limit curve under the set of target reference data is used as the torque limit curve of the torque reduction range.

[0061] S340. If, during the process of controlling the output torque according to the target torque control curve, the current speed is detected to decrease for the first time, the output torque at the deceleration point of the electric drive vehicle at the deceleration point speed is obtained, and the sum of the output torque at the deceleration point and the target set value is used as the torque limit of the first hysteresis adjustment interval, and the upper and lower speed boundaries that match the first hysteresis adjustment interval are determined.

[0062] When a transport vehicle travels uphill to a certain gradient, its speed decreases due to resistance such as gravity. Consequently, the motor enters a hysteresis control mode. In this mode, torque control no longer relies on the torque limit curve but on the hysteresis torque limit curve. This hysteresis torque limit curve is composed of discrete values ​​from several hysteresis intervals. Since the speed decreases continuously from right to left in hysteresis control mode, the torque limit for the first hysteresis interval can be determined by identifying the deceleration point. Specifically, the torque limit for the first hysteresis interval is calculated as: Torque limit for the first hysteresis interval = Output torque corresponding to the deceleration point + Target setpoint. The value of this target setpoint varies depending on the size of the deceleration point.

[0063] Once the torque limit of the first hysteresis adjustment range is determined, the upper and lower speed boundaries of the first hysteresis adjustment range need to be determined. These upper and lower speed boundaries represent the start and end points of the range. Specifically, the upper boundary (right boundary) of the first hysteresis adjustment range is obtained by shifting a certain distance to the left from the speed value corresponding to the deceleration point. After the upper boundary of the first hysteresis adjustment range is determined, a desired range value is set for this hysteresis adjustment range. This desired range value limits the size of the current range. Since the position of the upper boundary of the range has been determined, the position of the lower boundary (right boundary) of the range can be obtained based on the desired range value. At this point, the positions of the upper and lower boundaries of the first hysteresis adjustment range have been determined, that is, the upper and lower speed boundaries of the range have been determined.

[0064] It should be noted that the purpose of moving a certain distance to the left is to add a certain buffer space for the change of motor torque, so as to avoid excessive torque fluctuation due to lack of transition during the switching between the two hysteresis adjustment ranges.

[0065] Optionally, during the process of controlling the output torque according to the target torque control curve, after detecting the first drop in the current speed, the following can be included:

[0066] Based on the deceleration point speed during the first descent, a new target torque control curve is determined from multiple torque control curves.

[0067] It should be noted that when the speed first decreases in the torque reduction range, it means that the selected torque limiting curve is no longer suitable for the current motor state. It is necessary to reselect a new torque control curve that matches the current speed in the speed curve mapping table based on the current speed reduction point. The new torque control curve is then determined as the new target torque control curve for torque control. The new torque control curve is the set of curves with the smallest deviation from the current speed reduction point found in the speed curve mapping table.

[0068] S350. Based on the upper and lower speed boundaries that match the first hysteresis adjustment range, determine the upper and lower speed boundaries of at least one other hysteresis adjustment range along the speed reduction direction.

[0069] Since the torque limit and upper and lower speed boundaries of the first hysteresis adjustment interval have been determined in S340, the size of the second hysteresis adjustment interval can be obtained by multiplying the size of the previous hysteresis adjustment interval by a certain reduction ratio. Once the size of the second hysteresis adjustment interval is determined, the upper and lower speed boundaries of that interval can be determined. Specifically, the upper speed boundary of the second hysteresis adjustment interval is obtained by shifting a certain distance to the left from the lower boundary (left boundary) of the first hysteresis adjustment interval. Once the upper boundary of the second hysteresis adjustment interval is determined, since the interval size is also determined, the lower boundary of the second hysteresis adjustment interval can be obtained. Similarly, the torque limit and upper and lower speed boundaries of each current hysteresis adjustment interval can be calculated based on the torque limit and upper and lower speed boundaries of the previous hysteresis adjustment interval.

[0070] The reduction ratio mentioned above decreases as the distance from the deceleration point increases. Therefore, in the hysteresis control mode, the boundary of the hysteresis control interval is larger closer to the deceleration point and smaller further away from the deceleration point.

[0071] S360. Determine the torque limit for each other hysteresis adjustment range based on the upper and lower speed boundaries of each other hysteresis adjustment range.

[0072] Once the torque limit and speed upper and lower boundaries of the first hysteresis adjustment interval are determined, the speed upper and lower boundaries of the second, and even the third, fourth, and so on, hysteresis adjustment intervals can be determined along the direction of decreasing speed. The speed upper and lower boundaries of each new hysteresis adjustment interval are smaller than those of the previous hysteresis adjustment interval. Figure 2 As shown. The interval closest to the deceleration point is called the first hysteresis adjustment interval, the interval to the left of the first hysteresis adjustment interval is the second hysteresis adjustment interval, and so on.

[0073] Furthermore, based on the upper and lower speed boundaries of each other hysteresis adjustment range, the torque limit for each other hysteresis adjustment range is determined, which may include:

[0074] Based on the target torque control curve, determine the upper and lower torque boundaries corresponding to the upper and lower speed boundaries of each other hysteresis adjustment range;

[0075] The average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval is used to determine the torque limit for each other hysteresis adjustment interval.

[0076] Example S340 provides a method for calculating the torque limit of the first hysteresis adjustment interval. The torque limits for other hysteresis adjustment intervals are calculated using the relationship between motor torque and speed in the target torque control curve. Since the target torque control curve allows finding the corresponding torque values ​​for two speed boundary points within the same hysteresis adjustment interval, the torque limits for other hysteresis adjustment intervals are the average of the torques corresponding to the two speed boundary points of the previous hysteresis adjustment interval.

[0077] S370. Based on the target torque control curve, obtain the desired torque corresponding to the real-time speed, and in at least one hysteresis adjustment interval, obtain the target hysteresis adjustment interval corresponding to the real-time speed.

[0078] For each real-time detected speed value, the target hysteresis adjustment range corresponding to that value in the hysteresis adjustment mode can be obtained. Based on the target hysteresis adjustment range, the torque limit value of the current speed value in the hysteresis adjustment torque limit curve can be obtained. Simultaneously, the corresponding torque value under the torque limit curve can also be obtained based on the current speed value. The torque value in the torque limit curve is called the desired torque.

[0079] S380. When the desired torque is detected to be greater than the torque limit of the target hysteresis adjustment range, the output torque of the electric drive vehicle is adjusted using the torque limit of the target hysteresis adjustment range.

[0080] Within each hysteresis adjustment range, if the desired torque of the drive motor at the current speed is greater than the torque limit corresponding to the hysteresis adjustment range, the drive motor outputs the torque limit. Conversely, if the desired torque of the drive motor at the current speed is less than the torque limit corresponding to the hysteresis adjustment range, the hysteresis adjustment mode is exited. If the speed is still in the torque reduction range, the output torque is adjusted according to the torque limit curve. If the speed is in the judgment range, the torque is output according to a fixed value.

[0081] The technical solution of this invention refines the overall solution, improving the method for obtaining the torque control curve and the method for determining the hysteresis adjustment range and the torque limit value of each hysteresis adjustment range. This invention provides a new torque control method for electric vehicles, capable of determining the torque limit curve based on the drive motor torque, speed, and speed variation, and then performing overspeed prevention control based on the torque limit curve. This improves the adaptability of the motor output torque to load and gradient, avoids fluctuations in motor torque during overspeed prevention control, and enhances driving efficiency and driving comfort.

[0082] Example 3

[0083] Figure 4 This is a schematic diagram of the structure of a torque control device for an electric drive vehicle provided in Embodiment 3 of the present invention. Figure 4 As shown, the device includes:

[0084] The real-time rotation speed acquisition module 410 is used to acquire the current rotation speed of the drive motor of the electric vehicle in real time.

[0085] The torque control curve acquisition module 420 is used to acquire a target torque control curve from multiple torque control curves when it is determined that the current speed falls into the torque reduction range, and adjust the output torque of the electric drive vehicle according to the target torque control curve.

[0086] The hysteresis adjustment range division module 430 is used to divide the torque reduction range into multiple hysteresis adjustment ranges according to the speed at the point of first decrease when the current speed is detected to be decreasing during the process of controlling the output torque according to the target torque control curve. Each hysteresis adjustment range corresponds to a torque limit value.

[0087] The output torque adjustment module 440 is used to adjust the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range when it is determined that the torque hysteresis adjustment condition is met based on the real-time speed.

[0088] The technical solution of this invention acquires the current speed of the drive motor of an electric vehicle in real time. When the current speed falls into the torque reduction range, a target torque control curve is obtained from multiple torque control curves, and the output torque of the electric vehicle is adjusted according to the target torque control curve. If, during the control of the output torque according to the target torque control curve, the current speed is detected to have its first decrease, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of first decrease. When the torque hysteresis adjustment condition is met based on the real-time speed, the output torque of the electric vehicle is adjusted according to the speed limit corresponding to at least one hysteresis adjustment range. This technical solution, by utilizing a torque limit curve for overspeed prevention control of the electric vehicle, improves the adaptability of the motor output torque to load and gradient, avoids fluctuations in motor torque during overspeed prevention control, and improves driving efficiency and driving comfort.

[0089] Based on the above embodiments, the real-time rotation speed acquisition module 410 may specifically include:

[0090] The determination range output torque adjustment unit is used to adjust the output torque of the electric drive vehicle according to a fixed positive torque when it is determined that the current speed falls within the determination range.

[0091] The anti-drag range output torque adjustment unit is used to adjust the output torque of the electric drive vehicle according to the preset anti-drag torque curve when it is determined that the current speed falls into the anti-drag range.

[0092] Among them, the speed in the judgment interval is less than the speed in the torque reduction interval, and the speed in the torque reduction interval is less than the speed in the reverse drag interval.

[0093] Based on the above embodiments, the torque control curve acquisition module 420 may specifically include:

[0094] The speed curve mapping table acquisition unit is used to acquire a pre-built speed curve mapping table. The speed curve mapping table stores multiple sets of reference data and torque control curves corresponding to each set of reference data. The reference data includes reference speed and / or reference speed change.

[0095] The target torque control curve acquisition unit is used to match the historical speed and / or historical speed change before the electric drive vehicle enters the torque reduction range with each set of reference data to obtain target matching reference data and obtain the target torque control curve corresponding to the target matching reference data.

[0096] Based on the above embodiments, the hysteresis adjustment interval division module 430 may include:

[0097] The deceleration point output torque acquisition unit is used to acquire the deceleration point output torque of the electric drive vehicle at the deceleration point speed, and to accumulate the deceleration point output torque with the target set value as the torque limit of the first hysteresis adjustment range, and to determine the upper and lower speed boundaries that match the first hysteresis adjustment range.

[0098] Other hysteresis adjustment range speed upper and lower boundary determination unit, used to determine the speed upper and lower boundaries of at least one other hysteresis adjustment range along the speed reduction direction based on the speed upper and lower boundaries that match the first hysteresis adjustment range.

[0099] Other torque limit determination unit is used to determine the torque limit of each other hysteresis adjustment range based on the upper and lower speed boundaries of each other hysteresis adjustment range.

[0100] Based on the above embodiments, the hysteresis adjustment interval division module 430 may further include:

[0101] The new target torque control curve determination unit is used to re-determine a new target torque control curve from multiple torque control curves based on the deceleration point speed during the first descent.

[0102] Based on the above embodiments, the hysteresis adjustment interval division module 430 may further include:

[0103] The first hysteresis adjustment range and the second hysteresis adjustment range acquisition unit is used to acquire the first hysteresis adjustment range where the speed of the electric drive vehicle is located and the second hysteresis adjustment range adjacent to the first hysteresis adjustment range along the speed increase direction if the real-time speed is detected to increase again during the process of adjusting the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range.

[0104] The new hysteresis adjustment interval merging unit is used to merge the first hysteresis adjustment interval and the second hysteresis adjustment interval to obtain a new merged hysteresis adjustment interval.

[0105] Based on the above embodiments, the output torque adjustment module 440 may include:

[0106] The target hysteresis adjustment range acquisition unit is used to acquire the desired torque corresponding to the real-time speed according to the target torque control curve, and to acquire the target hysteresis adjustment range corresponding to the real-time speed in at least one hysteresis adjustment range.

[0107] The output torque adjustment unit is used to adjust the output torque of the electric drive vehicle using the torque limit of the target hysteresis adjustment range when the desired torque is detected to be greater than the torque limit of the target hysteresis adjustment range and the current accelerator pedal depressing depth has not increased.

[0108] Based on the above embodiments, other torque limit determination units can be further used for:

[0109] Based on the target torque control curve, determine the upper and lower torque boundaries corresponding to the upper and lower speed boundaries of each other hysteresis adjustment range;

[0110] The average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval is used to determine the torque limit for each other hysteresis adjustment interval.

[0111] The torque control device for an electric drive vehicle provided in this embodiment of the invention can execute the torque control method for an electric drive vehicle provided in any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the method.

[0112] Example 4

[0113] Figure 5 A schematic diagram of an electronic device 10 that can be used to implement embodiments of the present invention is shown. The electronic device is intended to represent various forms of digital computers, such as laptop computers, desktop computers, workstations, personal digital assistants, servers, blade servers, mainframe computers, and other suitable computers. The electronic device can also represent various forms of mobile devices, such as personal digital processors, cellular phones, smartphones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions are merely illustrative and are not intended to limit the implementation of the invention described and / or claimed herein.

[0114] like Figure 5 As shown, the electronic device 10 includes at least one processor 11 and a memory, such as a read-only memory (ROM) 12 or a random access memory (RAM) 13, communicatively connected to the at least one processor 11. The memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes based on the computer program stored in the ROM 12 or loaded from storage unit 18 into the RAM 13. The RAM 13 may also store various programs and data required for the operation of the electronic device 10. The processor 11, ROM 12, and RAM 13 are interconnected via a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0115] Multiple components in electronic device 10 are connected to I / O interface 15, including: input unit 16, such as keyboard, mouse, etc.; output unit 17, such as various types of displays, speakers, etc.; storage unit 18, such as disk, optical disk, etc.; and communication unit 19, such as network card, modem, wireless transceiver, etc. Communication unit 19 allows electronic device 10 to exchange information / data with other devices through computer networks such as the Internet and / or various telecommunications networks.

[0116] Processor 11 can be a variety of general-purpose and / or special-purpose processing components with processing and computing capabilities. Some examples of processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any suitable processor, controller, microcontroller, etc. Processor 11 performs the various methods and processes described above, such as a torque control method for an electric vehicle.

[0117] That is, to obtain the current speed of the drive motor of the electric vehicle in real time;

[0118] When it is determined that the current speed falls into the torque reduction range, the target torque control curve is obtained from multiple torque control curves, and the output torque of the electric drive vehicle is adjusted according to the target torque control curve.

[0119] If, during the process of controlling the output torque according to the target torque control curve, the current speed is detected to decrease for the first time, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of decrease during the first decrease. Each hysteresis adjustment range corresponds to a torque limit.

[0120] When the torque hysteresis adjustment condition is met based on the real-time speed, the output torque of the electric drive vehicle is adjusted according to the speed limit corresponding to at least one hysteresis adjustment range.

[0121] In some embodiments, a torque control method for an electric vehicle may be implemented as a computer program tangibly contained in a computer-readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on electronic device 10 via ROM 12 and / or communication unit 19. When the computer program is loaded into RAM 13 and executed by processor 11, one or more steps of the torque control method for an electric vehicle described above may be performed. Alternatively, in other embodiments, processor 11 may be configured to perform a torque control method for an electric vehicle by any other suitable means (e.g., by means of firmware).

[0122] Various embodiments of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field-programmable gate arrays (FPGAs), application-specific integrated circuits (ASICs), application-specific standard products (ASSPs), systems-on-a-chip (SoCs), payload-programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various embodiments may include implementations in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which may be a dedicated or general-purpose programmable processor, capable of receiving data and instructions from a storage system, at least one input device, and at least one output device, and transmitting data and instructions to the storage system, the at least one input device, and the at least one output device.

[0123] Computer programs used to implement the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, such that when executed by the processor, the computer programs cause the functions / operations specified in the flowcharts and / or block diagrams to be performed. The computer programs may be executed entirely on a machine, partially on a machine, or as a standalone software package, partially on a machine and partially on a remote machine, or entirely on a remote machine or server.

[0124] In the context of this invention, a computer-readable storage medium can be a tangible medium that may contain or store a computer program for use by or in conjunction with an instruction execution system, apparatus, or device. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination thereof. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. More specific examples of machine-readable storage media include electrical connections based on one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof.

[0125] To provide interaction with a user, the systems and techniques described herein can be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user provides input to the electronic device. Other types of devices can also be used to provide interaction with the user; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including sound input, voice input, or tactile input).

[0126] The systems and technologies described herein can be implemented in computing systems that include backend components (e.g., as data servers), or computing systems that include middleware components (e.g., application servers), or computing systems that include frontend components (e.g., user computers with graphical user interfaces or web browsers through which users can interact with implementations of the systems and technologies described herein), or any combination of such backend, middleware, or frontend components. The components of the system can be interconnected via digital data communication of any form or medium (e.g., communication networks). Examples of communication networks include local area networks (LANs), wide area networks (WANs), blockchain networks, and the Internet.

[0127] A computing system can include clients and servers. Clients and servers are generally located far apart and typically interact through communication networks. The client-server relationship is created by computer programs running on the respective computers and having a client-server relationship with each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a hosting product within the cloud computing service system to address the shortcomings of traditional physical hosts and VPS services, such as high management difficulty and weak business scalability.

[0128] It should be understood that the various forms of processes shown above can be used, with steps reordered, added, or deleted. For example, the steps described in this invention can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution of this invention can be achieved, and this is not limited herein.

[0129] The specific embodiments described above do not constitute a limitation on the scope of protection of this invention. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this invention should be included within the scope of protection of this invention.

Claims

1. A torque control method of an electrically driven vehicle, characterized by, include: Real-time acquisition of the current rotational speed of the drive motor of the electric vehicle; When it is determined that the current speed falls into the torque reduction range, the target torque control curve is obtained from multiple torque control curves, and the output torque of the electric drive vehicle is adjusted according to the target torque control curve. If, during the process of controlling the output torque according to the target torque control curve, the current speed is detected to decrease for the first time, the torque reduction range is divided into multiple hysteresis adjustment ranges based on the speed at the point of decrease during the first decrease. Each hysteresis adjustment range corresponds to a torque limit. When the torque hysteresis regulation condition is met based on the real-time speed, the output torque of the electric drive vehicle is adjusted according to the speed limit corresponding to at least one hysteresis regulation range. Based on the initial deceleration point speed during the first descent, the torque reduction range is divided into multiple hysteresis adjustment ranges, including: The deceleration point output torque of the electric drive vehicle at the deceleration point speed is obtained, and the sum of the deceleration point output torque and the target set value is used as the torque limit of the first hysteresis adjustment range. The upper and lower speed boundaries that match the first hysteresis adjustment range are determined. Based on the upper and lower speed boundaries that match the first hysteresis adjustment range, determine the upper and lower speed boundaries of at least one other hysteresis adjustment range along the direction of speed reduction. Based on the upper and lower speed boundaries of each other hysteresis adjustment range, determine the torque limit for each other hysteresis adjustment range. After dividing the torque reduction range into multiple hysteresis adjustment ranges based on the deceleration point speed at the initial descent, it also includes: During the process of adjusting the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range, if the real-time speed is detected to increase again, the first hysteresis adjustment range where the speed at the point of increase is located and the second hysteresis adjustment range adjacent to the first hysteresis adjustment range along the speed increase direction are obtained. The first hysteresis adjustment interval and the second hysteresis adjustment interval are combined to obtain a new combined hysteresis adjustment interval.

2. The method of claim 1, wherein, Obtain the target torque control curve from multiple torque control curves, including: Obtain a pre-built speed curve mapping table, which stores multiple sets of reference data and torque control curves corresponding to each set of reference data. The reference data includes reference speed and / or reference speed change. The historical speed and / or historical speed change before the electric drive vehicle enters the torque reduction range are matched with each set of reference data to obtain target matching reference data, and the target torque control curve corresponding to the target matching reference data is obtained.

3. The method of claim 1, wherein, During the process of controlling the output torque according to the target torque control curve, after detecting the first drop in the current speed, the following steps are also included: Based on the deceleration point speed during the first descent, a new target torque control curve is determined from multiple torque control curves; Based on the upper and lower speed boundaries of each other hysteresis adjustment range, determine the torque limit for each other hysteresis adjustment range, including: Based on the target torque control curve, determine the upper and lower torque boundaries corresponding to the upper and lower speed boundaries of each other hysteresis adjustment range; The average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval is used to determine the torque limit for each other hysteresis adjustment interval.

4. The method according to claim 3, characterized in that, When determining that the torque hysteresis regulation condition is met based on the real-time speed, the output torque of the electric drive vehicle is adjusted according to the speed limit corresponding to at least one hysteresis regulation range, including: Based on the target torque control curve, obtain the desired torque corresponding to the real-time speed, and in at least one hysteresis adjustment interval, obtain the target hysteresis adjustment interval corresponding to the real-time speed. When the desired torque is detected to be greater than the torque limit of the target hysteresis adjustment range, the output torque of the electric drive vehicle is adjusted using the torque limit of the target hysteresis adjustment range.

5. The method according to any one of claims 1-4, characterized in that, After acquiring the current speed of the drive motor of the electric vehicle in real time, it also includes: When the current speed falls within the judgment range, the output torque of the electric drive vehicle is adjusted according to a fixed positive torque. When it is determined that the current speed falls into the anti-drag range, the output torque of the electric drive vehicle is adjusted according to the preset anti-drag torque curve; Among them, the speed in the judgment interval is less than the speed in the torque reduction interval, and the speed in the torque reduction interval is less than the speed in the reverse drag interval.

6. A torque control device for an electric drive vehicle, characterized in that, include: The real-time rotation speed acquisition module is used to acquire the current rotation speed of the drive motor of the electric vehicle in real time. The torque control curve acquisition module is used to acquire the target torque control curve from multiple torque control curves when it is determined that the current speed falls into the torque reduction range, and adjust the output torque of the electric drive vehicle according to the target torque control curve; The hysteresis adjustment range division module is used to divide the torque reduction range into multiple hysteresis adjustment ranges based on the speed at the point of first decrease when the current speed is detected to be decreasing during the process of controlling the output torque according to the target torque control curve. Each hysteresis adjustment range corresponds to a torque limit value. The output torque adjustment module is used to adjust the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range when it is determined from the real-time speed that the torque hysteresis adjustment condition is met. The hysteresis adjustment interval division module also includes: The deceleration point output torque acquisition unit is used to acquire the deceleration point output torque of the electric drive vehicle at the deceleration point speed, and to accumulate the deceleration point output torque with the target set value as the torque limit of the first hysteresis adjustment range, and to determine the upper and lower speed boundaries that match the first hysteresis adjustment range. Other hysteresis adjustment range speed upper and lower boundary determination unit, used to determine the speed upper and lower boundaries of at least one other hysteresis adjustment range along the speed reduction direction based on the speed upper and lower boundaries that match the first hysteresis adjustment range. Other torque limit determination unit is used to determine the torque limit of each other hysteresis adjustment range based on the upper and lower speed boundaries of each other hysteresis adjustment range. The hysteresis adjustment interval division module further includes: The first hysteresis adjustment range and the second hysteresis adjustment range acquisition unit is used to acquire the first hysteresis adjustment range where the speed of the electric drive vehicle is located and the second hysteresis adjustment range adjacent to the first hysteresis adjustment range along the speed increase direction if the real-time speed is detected to increase again during the process of adjusting the output torque of the electric drive vehicle according to the speed limit corresponding to at least one hysteresis adjustment range. The new hysteresis adjustment interval merging unit is used to merge the first hysteresis adjustment interval and the second hysteresis adjustment interval to obtain a new merged hysteresis adjustment interval.

7. A vehicle, characterized in that, The vehicles include: Vehicle controller, and A memory communicatively connected to the vehicle controller; wherein, The memory stores a computer program that can be executed by the vehicle controller, the computer program being executed by the vehicle controller to enable the vehicle controller to perform the torque control method for the electric drive vehicle according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that, when executed by a processor, implement the torque control method for an electric drive vehicle as described in any one of claims 1-5.

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