Method and device for controlling motor in vehicle, and vehicle

Abstract

The application is suitable for the technical field of motor control, and provides a control method and device of a motor in a vehicle and the vehicle, the method comprising: acquiring a first requested torque of the motor at an i-2th sampling moment, a second requested torque at an i-1th sampling moment and a third requested torque at an ith sampling moment; judging whether the first requested torque, the second requested torque and the third requested torque satisfy a first preset requirement; when the first requested torque, the second requested torque and the third requested torque satisfy the first preset requirement, controlling the motor to operate for a preset time based on the second requested torque. When the change direction of the requested torque of the vehicle changes, the motor operates according to the second requested torque for a preset time, so that the vehicle can operate according to a new requested torque when the vehicle operates stably according to the second requested torque, and the shaking of the vehicle is reduced.

Description

Technical Field

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

[0002] As automobiles continue to develop, people's requirements for cars are no longer limited to transportation; they have higher and higher demands for various car performance aspects, among which the demand for car comfort is increasing.

[0003] Electric motors are indispensable components in vehicles, driving the wheels and enabling the vehicle to move. Due to the inherent rigidity of vehicles, if the direction of the requested torque changes, improper motor control can cause excitation, leading to vehicle vibration. Summary of the Invention

[0004] This application provides a method, device, and vehicle for controlling a motor in a vehicle, which can solve the problem of vehicle vibration when the direction of the requested torque change suddenly changes.

[0005] In a first aspect, embodiments of this application provide a method for controlling a motor in a vehicle, including:

[0006] Obtain the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time, wherein the ith sampling time is the current sampling time, and i ≥ 3;

[0007] If the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

[0008] Secondly, embodiments of this application provide a control device for a motor in a vehicle, comprising:

[0009] The requested torque acquisition module is used to acquire the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time, wherein the ith sampling time is the current sampling time, and i ≥ 3;

[0010] A motor control module is configured to control the motor to run for a preset time based on the second requested torque if the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

[0011] Thirdly, embodiments of this application provide a vehicle, including: 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 motor control method in the vehicle described in any one of the first aspects above.

[0012] Fourthly, embodiments of this application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the motor control method in a vehicle as described in any of the first aspects above.

[0013] Fifthly, embodiments of this application provide a computer program product that, when run on a terminal device, causes the terminal device to execute the motor control method in a vehicle as described in any of the first aspects above.

[0014] The beneficial effects of the first aspect of this application compared with the prior art are as follows: This application first obtains the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time; it determines whether the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement; when the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, it determines that the direction of change of the requested torque has changed; when the direction of change of the requested torque changes, based on the second requested torque, it controls the motor to run for a preset time. Compared with the prior art, where the vehicle directly changes from the second requested torque to the third requested torque at all times, the vehicle runs unevenly and vibrates due to the change in the direction of change of the requested torque; this application, when the direction of change of the requested torque changes, runs the motor according to the second requested torque for a preset time, so that the vehicle can continue to control the motor to run after the second requested torque has run smoothly, ensuring that the requested torque changes in a stable state and reducing vehicle vibration.

[0015] It is understood that the beneficial effects of the second to fifth aspects mentioned above can be found in the relevant descriptions in the first aspect mentioned above, and will not be repeated here. Attached Figure Description

[0016] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0017] Figure 1 This is a schematic flowchart of a method for controlling a motor in a vehicle according to an embodiment of this application;

[0018] Figure 2 This is a schematic diagram comparing the changes in the torque claimed in the prior art and the torque claimed in this application, according to an embodiment of this application;

[0019] Figure 3 This is a flowchart illustrating a third requested torque correction method provided in an embodiment of this application;

[0020] Figure 4 This is a flowchart illustrating a method for determining whether to modify the third requested torque according to an embodiment of this application;

[0021] Figure 5 This is a schematic diagram showing the division of the corresponding region between the requested torque and the vehicle speed according to an embodiment of this application;

[0022] Figure 6 This is a schematic diagram of the structure of a motor control device in a vehicle according to an embodiment of this application;

[0023] Figure 7 This is a schematic diagram of the structure of a vehicle provided in one embodiment of this application. Detailed Implementation

[0024] It should be understood that, when used in this application specification and the appended claims, the term "comprising" indicates the presence of the described features, integrals, steps, operations, elements and / or components, but does not exclude the presence or addition of one or more other features, integrals, steps, operations, elements, components and / or a collection thereof.

[0025] As used in this application specification and the appended claims, the term "if" may be interpreted, depending on the context, as "when," "once," "in response to determination," or "in response to detection." Similarly, the phrase "if determined" or "if detected [the described condition or event]" may be interpreted, depending on the context, as "once determined," "in response to determination," "once detected [the described condition or event]," or "in response to detection [the described condition or event]."

[0026] Furthermore, in the description of this application and the appended claims, the terms "first," "second," "third," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.

[0027] References to "one embodiment" or "some embodiments" in this specification mean that one or more embodiments of this application include a specific feature, structure, or characteristic described in connection with that embodiment. Therefore, the phrases "in one embodiment," "in some embodiments," "in other embodiments," "in still other embodiments," etc., appearing in different parts of this specification do not necessarily refer to the same embodiment, but rather mean "one or more, but not all, embodiments," unless otherwise specifically emphasized.

[0028] When the direction of the requested torque changes suddenly—for example, when the accelerator is released halfway and then suddenly accelerated—the vehicle experiences a shock and vibrates due to play in the system. Play in this context refers to the length and dimension that allows a machine component to maintain free operation.

[0029] Alternatively, when the requested torque of a vehicle suddenly increases or decreases, the inherent stiffness of the vehicle can easily generate system excitation, causing the vehicle to vibrate.

[0030] For the reasons mentioned above, the motor control method in this application, when the requested torque suddenly increases, corrects the requested torque to enable the motor to actively dampen vibration, thereby actively suppressing system excitation and reducing vehicle vibration. Furthermore, when the direction of change of the vehicle's requested torque suddenly changes, the peak value of the requested torque is removed to make the change in requested torque smoother, thus reducing vehicle vibration.

[0031] Figure 1 A schematic flowchart of the motor control method in the vehicle provided in this application is shown, with reference to... Figure 1 The method is described in detail below:

[0032] S101, obtain the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the (i)th sampling time.

[0033] Wherein, the i-th sampling time is the current sampling time, and i≥3.

[0034] In this embodiment, when the vehicle speed is greater than 0, the requested torque is obtained according to a preset period. The preset period can be set as needed, for example, the preset period can be 10ms or 20ms, etc.

[0035] Specifically, the requested torque is determined based on the pedal opening of the brake pedal or the pedal opening of the accelerator pedal. For example, the larger the pedal opening of the accelerator pedal, the greater the requested torque; the smaller the pedal opening of the accelerator pedal, the smaller the requested torque.

[0036] After obtaining the first requested torque, the second requested torque, and the third requested torque, the direction of change of the requested torque is determined using the first requested torque, the second requested torque, and the third requested torque.

[0037] S102, if the first requested torque, the second requested torque and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

[0038] In this embodiment, the first preset requirement includes that the first requested torque is greater than the second requested torque, and the second requested torque is less than the third requested torque. Alternatively, the first preset requirement includes that the first requested torque is less than the second requested torque, and the second requested torque is greater than the third requested torque.

[0039] The first requested torque is greater than the second requested torque, and the second requested torque is less than the third requested torque, indicating that the requested torque suddenly changes from continuously decreasing to continuously increasing, and the direction of change of the requested torque changes from decreasing to increasing.

[0040] The first requested torque is less than the second requested torque, and the second requested torque is greater than the third requested torque, indicating that the requested torque suddenly changes from continuously increasing to continuously decreasing, and the direction of change of the requested torque changes from increasing to decreasing.

[0041] In practical applications, controlling the motor operation based on the second requested torque includes:

[0042] Based on the second requested torque, determine the driving torque of the motor; control the operation of the motor based on the driving torque.

[0043] Specifically, the second requested torque is input into the torque distribution model to obtain the driving torque of the motor.

[0044] Furthermore, since the driving torque is derived from the requested torque, the direction of change of the driving torque is the same as the direction of change of the requested torque. For example, as the requested torque decreases, the driving torque will also decrease accordingly. Therefore, if the direction of change of the requested torque changes, the direction of change of the driving torque will also change.

[0045] In this embodiment, the preset time can be set as needed, for example, it can be set to 20ms or 15ms. Controlling the motor to run for the preset time based on the second requested torque actually means maintaining the second requested torque for the preset time, while simultaneously maintaining the corresponding drive torque for the preset time.

[0046] For example, such as Figure 2 As shown in the figure, the dashed line portion represents the real-time change of the requested torque (or driving torque) in the prior art. The solid line portion represents the first requested torque, the second requested torque, and the third requested torque in this application, which meet the first preset requirement. When the requested torque (or driving torque) reaches its maximum and minimum values, the requested torque (or driving torque) Tms is maintained at that time to eliminate peak values ​​during changes in the requested torque (or driving torque), making the peak portion smoother and reducing the probability of vehicle vibration caused by sudden changes in the direction of the requested torque change.

[0047] In this embodiment, the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time are first obtained. It is then determined whether the first, second, and third requested torques meet a first preset requirement. If the first, second, and third requested torques meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque. Compared to existing technologies where the vehicle directly changes from the second requested torque to the third requested torque regardless of the situation, causing vehicle vibration due to the change in the direction of the requested torque change, this application runs the motor according to the second requested torque for a preset time when the direction of the requested torque change changes. This allows the vehicle to continue running the motor only after the second requested torque has stabilized, preventing a sudden change in the direction of the requested torque and ensuring that the requested torque changes in a stable state, thus reducing vehicle vibration.

[0048] In one possible implementation, after step S102, the above method may further include:

[0049] After the motor has run for the preset time based on the second requested torque, the fourth requested torque at the j-th sampling time is obtained, where j = i + preset time. If the second requested torque, the third requested torque, and the fourth requested torque do not meet the second preset requirement, the motor is controlled to run between the j-th sampling time and the (j+1)-th sampling time based on the fourth requested torque.

[0050] In this embodiment, the second preset requirement includes the second requested torque being greater than the third requested torque and the third requested torque being less than the fourth requested torque; or, the second preset requirement includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

[0051] In this embodiment, after the motor has run for a preset time according to the second requested torque, the fourth requested torque at the current time is reacquired. The driving torque of the motor is calculated based on the fourth requested torque. Using a torque following method, the motor is driven to run between the j-th sampling time and the (j+1)-th sampling time using the driving torque of the motor calculated from the fourth requested torque.

[0052] In this embodiment, if the second requested torque, the third requested torque, and the fourth requested torque meet the second preset requirement, the motor is controlled to run for a preset time based on the third requested torque.

[0053] In one possible implementation, the requested torque is obtained based on the pedal opening of the accelerator pedal or the pedal opening of the brake pedal. Specifically, the method for obtaining the third requested torque will be described as an example.

[0054] In practical applications, methods for obtaining the third requested torque include:

[0055] Obtain the opening data of the vehicle at the i-th sampling time, wherein the opening data includes the pedal opening of the accelerator pedal or the pedal opening of the brake pedal in the vehicle; based on the opening data, determine the third requested torque of the motor at the i-th sampling time.

[0056] In this embodiment, the pedal opening can be determined based on the pedal descent depth. The greater the descent depth, the greater the opening.

[0057] Specifically, based on the descent depth, the first preset table is consulted to determine the pedal opening. The first preset table stores the correspondence between descent depth and pedal opening. The first preset table can also be a graph showing the relationship between descent depth and pedal opening, where the X-axis represents descent depth and the Y-axis represents pedal opening.

[0058] Based on the pedal opening data, the second preset table is consulted to determine the corresponding requested torque. The second preset table stores the correspondence between the pedal opening data and the requested torque. The second preset table can also be a graph showing the relationship between pedal opening and requested torque, where the X-axis represents pedal opening and the Y-axis represents requested torque.

[0059] In one possible implementation, in order to ensure the effectiveness of the method of this application, the third request torque can use the method of this application within a preset range.

[0060] Specifically, after obtaining the third requested torque at the i-th sampling time, the above method may further include:

[0061] Determine whether the absolute value of the third requested torque is greater than a preset value.

[0062] Accordingly, if the absolute value of the third requested torque is greater than the preset value, and the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque. The preset value can be set as needed; for example, the preset value can be set to 20 Nm or 10 Nm, etc.

[0063] Specifically, when the absolute value of the third requested torque is greater than a preset value, it is determined whether the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement; if the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

[0064] If the absolute value of the third requested torque is less than or equal to the preset value, then the method of this application is not required to control the motor operation.

[0065] In one possible implementation, the requested torque can be corrected to ensure its accuracy. Furthermore, to prevent vehicle vibration when the requested torque changes suddenly, it can be corrected to change the motor's drive torque, thereby actively suppressing system excitation and reducing vehicle vibration through the motor's torque. For ease of explanation, the methods for determining whether the third requested torque needs correction are the same as those for determining the third requested torque.

[0066] like Figure 3 As shown, specifically, after obtaining the third requested torque, the above method may further include: a process for determining whether the requested torque has suddenly changed, specifically including:

[0067] S201, the torque change is obtained by subtracting the second requested torque from the third requested torque.

[0068] S202, if the absolute value of the torque change is within a preset range, then it is determined that the third requested torque needs to be corrected.

[0069] In this embodiment, the torque change represents the change in the requested torque from the previous sampling time to the current sampling time. If the torque change is within a preset range, it is determined that the change in the requested torque from the previous sampling time to the current sampling time is large. In order to prevent vehicle vibration, the requested torque can be corrected.

[0070] Specifically, the process of determining whether the requested torque has changed suddenly may also include:

[0071] S301, Based on historical rotational speeds, determine the vibration frequency of the motor rotational speed signal, wherein the rotational speed of the motor is determined based on the motor rotational speed signal.

[0072] In this embodiment, a graph showing the change of rotational speed over time is plotted based on historical rotational speeds, and the vibration frequency of the motor speed signal is determined based on the graph showing the change of rotational speed over time.

[0073] Alternatively, the historical rotational speed can be input into the frequency calculation model to obtain the vibration frequency of the motor speed signal. The frequency calculation model can be a neural network model.

[0074] S302, calculate the difference between the second speed of the motor at the (i-1)th sampling time and the third speed at the (i-2)th sampling time to obtain the first speed difference.

[0075] S303, calculate the difference between the first speed of the motor at the i-th sampling time and the second speed at the (i-1)-th sampling time to obtain the second speed difference.

[0076] S304, calculate the difference between the first speed difference and the second speed difference to obtain the amplitude change.

[0077] S305, if the vibration frequency is within a first preset range and the amplitude change is within a second preset range, then it is determined that the third requested torque needs to be corrected.

[0078] In this embodiment, the magnitude of the change in amplitude can be used to determine whether a large change in rotational speed has occurred, and the degree of change in rotational speed reflects the degree of change in the requested torque. The degree of change in the requested torque can be determined using the vibration frequency.

[0079] Both the first and second preset ranges can be selected as needed.

[0080] This application uses both amplitude change and vibration frequency to determine whether the requested torque has changed suddenly, ensuring the accuracy of the judgment.

[0081] In one possible implementation, the requested torque can be corrected when it is determined that correction is needed. Specifically, taking the correction of the third requested torque as an example, the correction method for the requested torque at other sampling times is the same as the correction method for the third requested torque.

[0082] like Figure 4 As shown, specifically, the method for correcting the third requested torque includes:

[0083] S401, Obtain the historical rotational speed of the motor collected before the i-th sampling time.

[0084] In this embodiment, the historical rotational speed can be the rotational speed collected at various sampling moments within a historical time period. For example, the rotational speed collected at various sampling moments within 1 minute or 2 minutes before the current time.

[0085] S402, based on the historical rotational speed, predict the expected rotational speed of the motor at the i-th sampling time.

[0086] In this embodiment, the historical rotational speed is input into a preset model to obtain the desired rotational speed.

[0087] Based on the historical rotational speeds, plot the corresponding curves of time and rotational speed. Based on the changing patterns of the curves, determine the expected rotational speed at the i-th sampling time.

[0088] Alternatively, based on historical rotational speeds, determine the rate of change of rotational speed at the previous time (the (i-1)th sampling time) at the current time, and predict the expected rotational speed at the ith sampling time based on the rate of change of rotational speed at the previous time.

[0089] S403, based on the first rotational speed of the motor at the i-th sampling time and the desired rotational speed, determine the corrected torque of the third requested torque.

[0090] Specifically, the first rotational speed and the desired rotational speed are input into the corrected torque calculation model to obtain the corrected torque for the third requested torque.

[0091] In practical applications, step S403 may also specifically include:

[0092] S4031, calculate the difference between the first speed of the motor at the i-th sampling time and the desired speed to obtain the first difference.

[0093] S4032, input the first difference into the PID controller to obtain the corrected torque of the third requested torque.

[0094] Specifically, based on the relationship between the first rotational speed and the third requested torque, the region where the third requested torque is located is determined, for example, Figure 5 As shown in the diagram, the horizontal axis represents the first rotational speed, and the vertical axis represents the third requested torque. Region 1 is the low-speed, low-intensity region; Region 2 is the high-speed, high-intensity region; Region 3 is the low-speed, low-intensity region; and Region 4 is the high-speed, high-intensity region. When the accelerator is pressed or the brake is released, the third requested torque is greater than 0; when the accelerator is released or the brake is pressed, the third requested torque is less than 0. Based on the region where the third requested torque is located, the parameters in the PID control are determined. Different regions correspond to different parameters, achieving the goal of obtaining accurate corrected torque according to the scenario.

[0095] S404, the third requested torque is corrected based on the corrected torque to obtain the corrected third requested torque.

[0096] In this embodiment, the sum of the third requested torque and the corrected torque is calculated to obtain the corrected third requested torque.

[0097] In practical applications, the initial torque request requiring correction during vehicle operation may not need to be corrected, as this initial torque request may be caused by disturbances. Torque correction begins from the second determined torque request requiring correction.

[0098] Accordingly, if the first requested torque, the second requested torque, and the corrected third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

[0099] In one possible implementation, the correction of the requested torque is performed under a preset operating condition. If the current vehicle is not under the preset operating condition, the requested torque does not need to be corrected, that is, the process from steps S401 to S404 is not required.

[0100] Specifically, before step S201, the above method may further include: determining whether the current operating condition of the vehicle is a preset operating condition; if the current operating condition is a preset operating condition, then performing steps S201 to S202 and steps S401 to S404. Alternatively, after step S202, the above method may further include: determining whether the current operating condition of the vehicle is a preset operating condition; if the current operating condition is a preset operating condition, then performing steps S401 to S404.

[0101] The preset operating conditions are all conditions other than steady-state constant speed driving, idling, vehicle stability system intervention, and gear shift request.

[0102] Steady-state constant speed driving condition refers to the situation where the vehicle is traveling at a constant speed.

[0103] Idle mode refers to the vehicle being in N (neutral) or P (park) gear.

[0104] The vehicle stability system intervention condition refers to the vehicle stability system being activated and operational. The vehicle stability system may include anti-lock braking system (ABS), acceleration slip prevention system (ESP), etc. The vehicle stability system may also include a pure electric crawl mode, also known as a low-speed cruise control system, which ensures that the vehicle will not experience wheel slippage or get stuck due to excessive speed.

[0105] The shift request condition is when the TCU (Transmission-Control-Unit) requests an increase or decrease in torque.

[0106] Specifically, before step S301, the above method may further include: determining whether the current operating condition of the vehicle is a preset operating condition; if the current operating condition is a preset operating condition, then performing steps S301 to S305 and steps S401 to S404. Alternatively, after step S305, the above method may further include: determining whether the current operating condition of the vehicle is a preset operating condition; if the current operating condition is a preset operating condition, then performing steps S401 to S404.

[0107] It should be understood that the sequence number of each step in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0108] Corresponding to the motor control method in the vehicle described in the above embodiments, Figure 6 This paper shows a structural block diagram of a motor control device in a vehicle provided in an embodiment of this application. For ease of explanation, only the parts related to the embodiments of this application are shown.

[0109] Reference Figure 6 The device 500 may include a torque request module 510 and the motor control module 520.

[0110] The requested torque acquisition module 510 is used to acquire the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time, wherein the ith sampling time is the current sampling time, and i ≥ 3;

[0111] The motor control module 520 is configured to control the motor to run for a preset time based on the second requested torque if the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

[0112] In one possible implementation, the requested torque acquisition module 510 is further configured to acquire the fourth requested torque of the motor at the j-th sampling moment after the motor has run for the preset time based on the second requested torque, where j = i + preset time;

[0113] The motor control module 520 is further configured to, if the second requested torque, the third requested torque, and the fourth requested torque do not meet the second preset requirement, control the motor to operate between the j-th sampling time and the (j+1)-th sampling time based on the fourth requested torque, wherein the second preset requirement includes the second requested torque being greater than the third requested torque and the third requested torque being less than the fourth requested torque; or, the second preset requirement includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

[0114] In one possible implementation, the torque acquisition module 510 can also be used for:

[0115] Obtain the opening data of the vehicle at the i-th sampling time, wherein the opening data includes the pedal opening of the accelerator pedal or the pedal opening of the brake pedal in the vehicle.

[0116] Based on the opening data, the third requested torque of the motor at the i-th sampling time is determined.

[0117] In one possible implementation, the module connected to the requested torque acquisition module 510 also includes:

[0118] The judgment module is used to determine whether the absolute value of the third requested torque is greater than a preset value;

[0119] Accordingly, the motor control module 520 can be specifically used for:

[0120] If the absolute value of the third requested torque is greater than the preset value, and the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

[0121] In one possible implementation, the component connected to the requested torque acquisition module 510 may further include:

[0122] The historical data acquisition module is used to acquire the historical rotational speed of the motor collected before the i-th sampling time.

[0123] The expected speed calculation module is used to predict the expected speed of the motor at the i-th sampling time based on the historical speed.

[0124] The corrected torque determination module is used to determine the corrected torque of the third requested torque based on the first rotational speed of the motor at the i-th sampling time and the desired rotational speed;

[0125] A torque correction module is used to correct the third requested torque based on the corrected torque to obtain the corrected third requested torque;

[0126] Accordingly, the motor control module 520 can be specifically used for:

[0127] If the first requested torque, the second requested torque, and the corrected third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

[0128] In one possible implementation, the corrected torque determination module can specifically be used for:

[0129] Calculate the difference between the first rotational speed of the motor at the i-th sampling time and the desired rotational speed to obtain the first difference;

[0130] The first difference is input into the PID controller to obtain the corrected torque of the third requested torque.

[0131] In one possible implementation, the historical data acquisition module is also connected to:

[0132] The variable calculation module is used to subtract the second requested torque from the third requested torque to obtain the torque change.

[0133] The torque correction determination module is used to determine that the third requested torque needs to be corrected if the absolute value of the torque change is within a preset range.

[0134] In one possible implementation, the historical data acquisition module is also connected to:

[0135] A frequency calculation module is used to determine the vibration frequency of the motor speed signal based on the historical rotational speed, wherein the rotational speed of the motor is determined based on the motor speed signal;

[0136] The first speed difference calculation module is used to calculate the difference between the second speed of the motor at the (i-1)th sampling time and the third speed at the (i-2)th sampling time, and obtain the first speed difference;

[0137] The second speed difference calculation module is used to calculate the difference between the first speed of the motor at the i-th sampling time and the second speed at the (i-1)-th sampling time, and obtain the second speed difference;

[0138] The amplitude change determination module is used to calculate the difference between the first speed difference and the second speed difference to obtain the amplitude change amount;

[0139] The torque correction determination module is used to determine that the third requested torque needs to be corrected if the vibration frequency is within a first preset range and the amplitude change is within a second preset range.

[0140] It should be noted that the information interaction and execution process between the above-mentioned devices / units are based on the same concept as the method embodiments of this application. For details on their specific functions and technical effects, please refer to the method embodiments section, and they will not be repeated here.

[0141] Those skilled in the art will clearly understand that, for the sake of convenience and brevity, the above-described division of functional units and modules is merely an example. In practical applications, the above functions can be assigned to different functional units and modules as needed, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. The functional units and modules in the embodiments can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit. Furthermore, the specific names of the functional units and modules are only for easy differentiation and are not intended to limit the scope of protection of this application. The specific working process of the units and modules in the above system can be referred to the corresponding process in the foregoing method embodiments, and will not be repeated here.

[0142] This application also provides a vehicle, see [link to example]. Figure 7 The vehicle 600 may include: at least one processor 610, a memory 620, and a computer program stored in the memory 620 and executable on the at least one processor 610. When the processor 610 executes the computer program, it implements the steps in any of the above method embodiments, for example... Figure 1 Steps S101 to S102 in the illustrated embodiment. Alternatively, when the processor 610 executes the computer program, it implements the functions of each module / unit in the above-described device embodiments, for example... Figure 6 The requested torque acquisition module 510 is connected to the motor control module 520.

[0143] For example, a computer program may be divided into one or more modules / units, one or more of which are stored in memory 620 and executed by processor 610 to complete this application. The one or more modules / units may be a series of computer program segments capable of performing specific functions, which describe the execution process of the computer program in vehicle 600.

[0144] Those skilled in the art will understand that Figure 7 This is merely an example of a vehicle and does not constitute a limitation on the vehicle. It may include more or fewer components than shown, or combinations of certain components, or different components, such as input / output devices, network access devices, buses, etc.

[0145] The processor 610 can be a central processing unit (CPU), or other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0146] The memory 620 can be an internal storage unit of the vehicle or an external storage device, such as a plug-in hard drive, a smart media card (SMC), a secure digital card (SD), or a flash card. The memory 620 is used to store the computer program and other programs and data required by the vehicle. The memory 620 can also be used to temporarily store data that has been output or will be output.

[0147] The bus can be an Industry Standard Architecture (ISA) bus, a Peripheral Component Interconnect (PCI) bus, or an Extended Industry Standard Architecture (EISA) bus, etc. Buses can be categorized as address buses, data buses, control buses, etc. For ease of illustration, the buses shown in the accompanying drawings are not limited to a single bus or a single type of bus.

[0148] The motor control method in the vehicle provided in this application embodiment can be applied to terminal devices such as computers, tablets, laptops, netbooks, and personal digital assistants (PDAs). This application embodiment does not impose any restrictions on the specific type of terminal device.

[0149] In the above embodiments, the descriptions of each embodiment have different focuses. For parts that are not described in detail or recorded in a certain embodiment, please refer to the relevant descriptions of other embodiments.

[0150] Those skilled in the art will recognize that the units and algorithm steps of the various examples described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are implemented in hardware or software depends on the specific application and design constraints of the technical solution. Those skilled in the art can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0151] In the embodiments provided in this application, it should be understood that the disclosed terminal devices, apparatuses, and methods can be implemented in other ways. For example, the terminal device embodiments described above are merely illustrative. For instance, the division of modules or units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection through some interfaces, apparatuses, or units, and may be electrical, mechanical, or other forms.

[0152] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0153] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.

[0154] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0155] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, all or part of the processes in the methods of the above embodiments can also be implemented by a computer program instructing related hardware. The computer program can be stored in a computer-readable storage medium, and when executed by one or more processors, it can implement the steps of the various method embodiments described above.

[0156] Similarly, as a computer program product, when the computer program product is run on a terminal device, it enables the terminal device to implement the steps in the above-described method embodiments.

[0157] The computer program includes computer program code, which can be in the form of source code, object code, executable file, or some intermediate form. The computer-readable medium can include: any entity or device capable of carrying the computer program code, recording media, USB flash drive, portable hard drive, magnetic disk, optical disk, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signals, telecommunication signals, and software distribution media, etc. It should be noted that the content included in the computer-readable medium can be appropriately added or removed according to the requirements of legislation and patent practice in the jurisdiction. For example, in some jurisdictions, according to legislation and patent practice, computer-readable media may not include electrical carrier signals and telecommunication signals.

[0158] The above-described embodiments are only used to illustrate the technical solutions of this application, and are not intended to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of this application, and should all be included within the protection scope of this application.

Claims

1. A method for controlling a motor in a vehicle, characterized in that, include: The system acquires the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time, where the ith sampling time is the current sampling time and i ≥ 3. If the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement, the system controls the motor to run for a preset time based on the second requested torque. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque. After obtaining the third requested torque, the method may further include: The third requested torque is corrected; or, when it is determined that the third requested torque has a sudden change, the third requested torque is corrected. The process of correcting the third requested torque includes: obtaining the historical rotational speed of the motor collected before the i-th sampling time; Based on the historical rotational speed, predict the expected rotational speed of the motor at the i-th sampling time; Based on the first rotational speed of the motor at the i-th sampling time and the desired rotational speed, the corrected torque of the third requested torque is determined; The third requested torque is corrected based on the corrected torque to obtain the corrected third requested torque; If the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque, including: If the first requested torque, the second requested torque, and the corrected third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the corrected third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the corrected third requested torque.

2. The method for controlling a motor in a vehicle as described in claim 1, characterized in that, After controlling the motor to run for a preset time based on the second requested torque, the method further includes: After the motor has run for the preset time based on the second requested torque, the fourth requested torque of the motor at the j-th sampling time is obtained, where j = i + preset time; If the second requested torque, the third requested torque, and the fourth requested torque do not meet the second preset requirement, based on the fourth requested torque, the motor is controlled to operate between the j-th sampling time and the (j+1)-th sampling time, wherein the second preset requirement includes the second requested torque being greater than the third requested torque and the third requested torque being less than the fourth requested torque; or, the second preset requirement includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

3. The method for controlling a motor in a vehicle as described in claim 1 or 2, characterized in that, The third method for obtaining the requested torque includes: Obtain the opening data of the vehicle at the i-th sampling time, wherein the opening data includes the pedal opening of the accelerator pedal or the pedal opening of the brake pedal in the vehicle. Based on the opening data, the third requested torque of the motor at the i-th sampling time is determined.

4. The method for controlling a motor in a vehicle as described in claim 1, characterized in that, After obtaining the third requested torque of the motor at the i-th sampling time, the method further includes: Determine whether the absolute value of the third requested torque is greater than a preset value; Accordingly, if the absolute value of the third requested torque is greater than the preset value, and the first requested torque, the second requested torque, and the third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque.

5. The method for controlling a motor in a vehicle as described in claim 1, characterized in that, The step of determining the corrected torque for the third requested torque based on the first rotational speed of the motor at the i-th sampling time and the desired rotational speed includes: Calculate the difference between the first rotational speed of the motor at the i-th sampling time and the desired rotational speed to obtain the first difference; The first difference is input into the PID controller to obtain the corrected torque of the third requested torque.

6. The method for controlling a motor in a vehicle as described in claim 1, characterized in that, Before acquiring the historical rotational speed of the motor collected before the i-th sampling time, the method further includes: The torque change is obtained by subtracting the second requested torque from the third requested torque. If the absolute value of the torque change is within a preset range, then it is determined that the third requested torque needs to be corrected.

7. The method for controlling a motor in a vehicle as described in claim 1, characterized in that, After obtaining the historical rotational speed of the motor collected before the i-th sampling time, the method further includes: Based on the historical rotational speed, the vibration frequency of the motor speed signal is determined, wherein the rotational speed of the motor is determined based on the motor speed signal; The difference between the second speed of the motor at the (i-1)th sampling time and the third speed at the (i-2)th sampling time is calculated to obtain the first speed difference; The difference between the first speed of the motor at the i-th sampling time and the second speed at the (i-1)-th sampling time is calculated to obtain the second speed difference; Calculate the difference between the first speed difference and the second speed difference to obtain the magnitude change; If the vibration frequency is within a first preset range and the amplitude change is within a second preset range, then it is determined that the third requested torque needs to be corrected.

8. A control device for a motor in a vehicle, characterized in that, include: The requested torque acquisition module is used to acquire the first requested torque of the motor at the (i-2)th sampling time, the second requested torque at the (i-1)th sampling time, and the third requested torque at the ith sampling time, wherein the ith sampling time is the current sampling time, and i ≥ 3; A motor control module is configured to control the motor to run for a preset time based on the second requested torque if the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque. The torque acquisition module is also used for: The third requested torque is corrected; or, when it is determined that the third requested torque has a sudden change, the third requested torque is corrected. The process of correcting the third requested torque includes: obtaining the historical rotational speed of the motor collected before the i-th sampling time; Based on the historical rotational speed, predict the expected rotational speed of the motor at the i-th sampling time; Based on the first rotational speed of the motor at the i-th sampling time and the desired rotational speed, the corrected torque of the third requested torque is determined; The third requested torque is corrected based on the corrected torque to obtain the corrected third requested torque; Correspondingly, the motor control module is also used for: If the first requested torque, the second requested torque, and the corrected third requested torque meet the first preset requirement, the motor is controlled to run for a preset time based on the second requested torque. The first preset requirement includes the first requested torque being greater than the second requested torque and the second requested torque being less than the corrected third requested torque; or, the first preset requirement includes the first requested torque being less than the second requested torque and the second requested torque being greater than the corrected third requested torque.

9. A vehicle comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, When the processor executes the computer program, it implements the motor control method in the vehicle as described in any one of claims 1 to 7.

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