A zero-crossing control method and system of a motor, an electronic device, and a storage medium

Abstract

The application provides a zero-crossing control method, system, electronic equipment and storage medium of a motor. The method comprises the following steps: detecting the torque change of the motor; judging the working state of the motor according to the torque change; when the motor is in a zero-crossing state, detecting and collecting the angular acceleration after a preset first time; wherein the first time is set according to the motor; and adjusting the torque of the motor according to the angular acceleration. The application provides a zero-crossing control method, system, electronic equipment and storage medium of a motor. The method judges whether the motor is in a zero-crossing state according to the torque of the motor, and adjusts the torque of the motor according to the size of the angular acceleration when the motor is in a zero-crossing state, so that the torque impact can be effectively relieved, the zero-crossing vibration and noise can be avoided, the torque response delay is reduced, and the comfort and drivability of a new energy vehicle are improved.

Description

Technical Field

[0001] This invention relates to the automotive field, and more specifically to a method, system, electronic device, and storage medium for zero-crossing control of an electric motor. Background Technology

[0002] In response to increasingly severe environmental and energy problems, new energy vehicles, with their advantages of energy conservation, environmental protection, and low carbon emissions, have been widely promoted and applied. As their market share continues to increase, the demands for the performance and comfort of new energy vehicles are also constantly rising.

[0003] The zero-torque crossing of the drive motor in new energy vehicles is a significant factor affecting their comfort. Due to the backlash in the transmission gears, changes in torque direction cause the transmission gear surfaces to change from engaged to disengaged and back to engaged, resulting in torque impacts on the gear surfaces. These torque impacts cause vehicle vibration and grinding noise, severely impacting driving smoothness and comfort. Compared to traditional powertrain vehicles, new energy vehicles lack damping components such as clutches. The motor output is rigidly connected to the rear end, and the motor torque is directly output to the wheels. Furthermore, the motor's response is fast, and the torque change rate is rapid. Therefore, the vibrations and noise caused by the zero-torque crossing are more pronounced, significantly impacting overall vehicle comfort.

[0004] In actual manufacturing processes, ensuring proper lubrication, heat dissipation, and normal gear meshing necessitates a certain amount of backlash. Therefore, backlash in the transmission system cannot be eliminated, requiring effective zero-crossing strategies to optimize zero-crossing impact and noise. This is crucial for improving driving smoothness and comfort. Summary of the Invention

[0005] In view of the shortcomings of the prior art, the present invention provides a method, system, electronic device and storage medium for zero-crossing control of an electric motor, so as to improve the technical problem of excessive torque impact when a vehicle is in a zero-crossing state in the prior art.

[0006] To achieve the above and other related objectives, the present invention provides a zero-crossing control method for a motor, comprising:

[0007] Detect changes in the torque output of the motor;

[0008] Determine the motor's operating status based on torque changes;

[0009] When the motor is in a zero-crossing state, the angular acceleration is detected and collected after a preset first time; where the first time is set according to the motor.

[0010] Adjust the motor torque based on angular acceleration.

[0011] In one example of the present invention, determining the operating state of the motor based on torque changes includes:

[0012] When the torque changes from positive output to zero, the motor is in a zero-crossing state.

[0013] In one example of the present invention, adjusting the torque of the motor according to angular acceleration includes:

[0014] When the angular acceleration is less than a preset first threshold, adjust the torque according to the torque request;

[0015] When the angular acceleration is greater than a preset first threshold and less than a preset second threshold, the rate of change of the motor torque is limited during the zero-crossing time period.

[0016] When the angular acceleration is greater than the preset second threshold, the motor torque is set to zero during the zero-crossing time period.

[0017] In one example of the present invention, the zero-crossing time period is obtained based on angular acceleration.

[0018] In one example of the present invention, when the angular acceleration is greater than a preset first threshold and less than a preset second threshold, limiting the rate of change of the motor torque during the zero-crossing time period includes:

[0019] The end time of the motor being in the zero-crossing state is obtained based on the zero-crossing time period and the first time.

[0020] During the time interval from the first time to the end, the rate of change of the motor torque is set to be less than a preset slope threshold.

[0021] After the end time, adjust the torque according to the torque request.

[0022] In one example of the present invention, when the angular acceleration is greater than a preset second threshold, setting the motor torque to zero during the zero-crossing time period includes:

[0023] The end time of the motor being in the zero-crossing state is obtained based on the zero-crossing time period and the first time.

[0024] During the period from the beginning to the end, reduce the motor torque to zero and maintain it at zero;

[0025] After the end time, adjust the torque according to the torque request.

[0026] In one example of the present invention, reducing the torque of the motor to zero and maintaining it at zero during the first time period to the end time period includes:

[0027] The second time is obtained based on angular acceleration;

[0028] Within the first to second time interval, the motor torque is reduced to zero;

[0029] During the second time period until the end of the time period, the torque of the motor is kept at zero.

[0030] In one example of the present invention, a zero-crossing control system for a motor is also provided, comprising:

[0031] The torque detection module is used to detect changes in the torque output by the motor.

[0032] The status judgment module is used to determine the operating status of the motor based on torque changes.

[0033] The angular acceleration acquisition module is used to detect and acquire the angular acceleration after a preset first time when the motor is in a zero-crossing state; the first time is set according to the motor.

[0034] The torque adjustment module is used to adjust the motor torque according to angular acceleration.

[0035] In one example of the present invention, an electronic device is also provided, the electronic device comprising:

[0036] One or more processors;

[0037] A storage device for storing one or more programs, which, when executed by one or more processors, cause an electronic device to implement the zero-crossing control method for a motor as described above.

[0038] In one example of the present invention, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a computer processor, causes the computer to perform the zero-crossing control method of the motor as described above.

[0039] This invention provides a zero-crossing control method, system, electronic device, and storage medium for an electric motor. The method determines whether the motor is in a zero-crossing state by measuring the torque output by the motor, and adjusts the motor torque by measuring the magnitude of angular acceleration when the motor is in a zero-crossing state. This effectively mitigates torque impact, avoids zero-crossing vibration and noise, reduces torque response delay, and improves the comfort and drivability of new energy vehicles under different zero-crossing scenarios. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, 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 the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 This is a flowchart of a motor zero-crossing control method in one embodiment of the present invention;

[0042] Figure 2 This is a schematic diagram illustrating the changes of various parameters during the zero-crossing process under torque slope limiting in one embodiment of the present invention;

[0043] Figure 3 This is a schematic diagram illustrating the change of torque over time under torque slope limitation in one embodiment of the present invention;

[0044] Figure 4 This is a schematic diagram illustrating the changes of various parameters during the zero-crossing process under torque intervention in one embodiment of the present invention;

[0045] Figure 5 This is a schematic diagram illustrating the change of torque over time under torque intervention in one embodiment of the present invention;

[0046] Figure 6 This is a schematic diagram of the structure of an electronic device according to an embodiment of the present invention;

[0047] Figure 7 This is a structural block diagram of a motor zero-crossing control system according to an embodiment of the present invention. Specific implementation methods

[0048] The following specific examples illustrate the implementation methods of the present invention. Those skilled in the art can easily understand other advantages and effects of the present invention from the content disclosed in this specification. The present invention can also be implemented or applied through other different specific implementation methods, and various details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of the present invention. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. It should also be understood that the terminology used in the embodiments of the present invention is for describing specific implementation schemes and not for limiting the scope of protection of the present invention. Test methods in the following embodiments that do not specify specific conditions are generally performed under conventional conditions or according to the conditions recommended by the respective manufacturers.

[0049] When numerical ranges are given in the embodiments, it should be understood that, unless otherwise stated in the present invention, both endpoints of each numerical range and any value between the two endpoints may be selected. Unless otherwise defined, all technical and scientific terms used in this invention, as well as the prior art known to those skilled in the art and the description of this invention, may be implemented using any prior art methods, devices, and materials similar to or equivalent to those described, used, or made of materials in the embodiments of this invention.

[0050] It should be noted that the terms such as "upper", "lower", "left", "right", "middle" and "one" used in this specification are only for clarity of description and are not intended to limit the scope of the invention. Changes or adjustments to their relative relationships, without substantially altering the technical content, should also be considered as part of the scope of the invention.

[0051] Please see Figures 1 to 7 A method, system, electronic device, and storage medium for zero-crossing control of an electric motor are disclosed. This method determines whether the motor is in a zero-crossing state based on its output torque, and adjusts the motor torque by controlling the magnitude of angular acceleration when the motor is in a zero-crossing state. This includes limiting the slope of torque change during zero-crossing and limiting the magnitude of torque during zero-crossing. This method effectively mitigates torque impact, avoids zero-crossing vibration and noise, reduces torque response delay, and improves the comfort and drivability of new energy vehicles under different zero-crossing scenarios.

[0052] Under different zero-crossing torque conditions, the resulting torque impact, speed fluctuations, and zero-crossing time all vary. When the torque change is large, the zero-crossing torque impact is large, the zero-crossing time is short, and the angular acceleration is large; when the zero-crossing torque change is small, the torque impact is small, the zero-crossing time is long, and the angular acceleration is small. The magnitude of the torque impact determines the vehicle's comfort. A large torque impact causes the vehicle to vibrate and produce grinding noise, significantly affecting vehicle comfort and driving smoothness. A small torque impact results in little or no vibration and low noise, without affecting vehicle comfort and driving smoothness. Therefore, reducing the torque impact during zero-crossing can improve vehicle comfort and driving smoothness. The angular acceleration of the vehicle's motor is related to torque; specifically, J... c ·α=T t -T load Where α is angular acceleration, J c Let T be the moment of inertia. t T represents the motor torque. load For the load torque, during the zero-crossing period, the motor moves between the teeth, T load =0, angular acceleration α directly reflects the change in torque. Furthermore, the time to zero-crossing is also related to angular acceleration. Specifically, the zero-crossing process changes much faster than wheel speed; at this point, the wheel speed is assumed to be constant. Here, Δt represents the duration of the zero-crossing state, Δθ is the backlash length, and angular acceleration α directly reflects the duration of the zero-crossing. Therefore, this invention controls the change in motor torque by monitoring the value of angular acceleration and adjusting the motor torque accordingly. Reducing the change in motor torque decreases the zero-crossing torque impact, thereby improving vehicle comfort and driving smoothness.

[0053] Please see Figure 1 The zero-crossing control method for this motor includes steps S1 to S4, which are detailed below:

[0054] Step S1: Detect the change in the torque output by the motor.

[0055] Step S2: Determine the motor's operating status based on torque changes.

[0056] In one embodiment of the present invention, the output torque and torque change of the motor are monitored in real time to determine whether the motor has entered a zero-crossing state. The vehicle control center can be directly electrically connected to the motor to directly obtain the output torque and torque change of the motor. When the torque change decreases from positive output to zero, the motor is in a zero-crossing state, and then the angular acceleration is obtained and the torque is adjusted according to the angular acceleration.

[0057] Step S3: When the motor is in a zero-crossing state, detect and collect the angular acceleration after a preset first time; where the first time is set according to the motor.

[0058] In one embodiment of the present invention, the angular acceleration at the first moment after the motor reaches the zero-crossing state is acquired, and used for subsequent adjustment of the motor torque. The first moment is set according to the motor parameters to suit different vehicles. For example, the first moment is the 1.10th second after the motor reaches the zero-crossing state, the angular acceleration at the 1.1th second after the motor changes to the zero-crossing state is acquired, and the motor torque is adjusted according to the value of the angular acceleration at that moment.

[0059] Step S4: Adjust the motor torque according to the angular acceleration.

[0060] In one embodiment of the present invention, when the angular acceleration is less than a preset first threshold, the zero-crossing torque impact is relatively small, resulting in minimal vibration and noise. The zero-crossing time is relatively long, and the speed fluctuations, torque impacts, and gear knocking noise caused by the motor torque crossing to zero are all within acceptable limits and will not be perceived by the driver. Therefore, no additional torque adjustment is required. Not adjusting the torque, allowing it to change according to torque requests, does not affect the vehicle's comfort and driving smoothness.

[0061] Please see Figures 2 to 3 In one embodiment of the present invention, when the angular acceleration is greater than a preset first threshold and less than a preset second threshold, the rate of change of the motor's torque is limited during the zero-crossing time period, so that the rate of change of the motor's torque does not exceed a set value, wherein the zero-crossing time period is calculated from the angular acceleration. At this time, there is a certain impact torque, but the impact is not significant. By limiting the zero-crossing torque slope, the impact can be reduced to an acceptable range. Specifically, this includes:

[0062] Based on the zero-crossing time period and the first time ( Figure 3 (t1) Obtain the end time of the motor being in the zero-crossing state. Figure 3 (t2).

[0063] At the first time ( Figure 3 From t1 to the end time ( Figure 3 Within t2), the torque change rate of the motor is set to be less than the preset slope threshold.

[0064] Please see Figures 2 to 3 In one embodiment of the present invention, when the torque of the motor decreases from positive output to zero, the motor is in a zero-crossing state. Figure 3 (t0). Based on the first time after the motor reaches the zero-crossing state ( Figure 3 The angular acceleration at t1) is used to determine the end time of the motor's zero-crossing state. Figure 3 (t2 in the middle).

[0065] At the end time ( Figure 3 After t2), adjust the torque according to the torque request.

[0066] Please see Figures 2 to 3 When the angular acceleration is greater than a preset first threshold but less than a preset second threshold, there is a certain torque impact. However, since the impact is small, it is only necessary to limit the zero-crossing torque slope to reduce the impact to an acceptable range. Figure 3 As shown, the slope of the torque transformation between t1 and t2 is limited to reduce the slope of the torque change, thereby reducing torque impact. The duration of the zero-crossing time is determined based on angular acceleration, thus obtaining the end time of the zero-crossing state. Figure 3 This avoids the continued effect of the zero-crossing torque limit after the zero-crossing process ends, preventing the driver from experiencing a delay in torque response and thus avoiding affecting vehicle comfort. Figure 2 As shown, during the zero-crossing state, the slope of the torque change is slower than that of the normal zero-crossing torque change, the torque change amplitude is smaller, the duration of the zero-crossing state (from the start of backlash change to the end of the change) is longer, and the speed fluctuation is smaller. This reduces the torque impact during the zero-crossing state, reduces speed fluctuation, and makes the vehicle vibrate less or not at all, reduces noise, and does not affect the comfort of the vehicle and the smoothness of driving.

[0067] Please see Figures 4 to 5 In one embodiment of the present invention, when the angular acceleration is greater than a preset second threshold, the motor torque is set to zero during the zero-crossing time period, wherein the zero-crossing time period is calculated from the angular acceleration. At this point, simply limiting the torque slope would still cause unacceptable torque shocks and noise. Torque intervention is then performed to directly limit the magnitude of the torque in the zero-crossing state, ensuring that the two teeth maintain a specific value during zero-crossing when in contact. Specifically, this includes:

[0068] Based on the zero-crossing time period and the first time ( Figure 5 (t1) Obtain the end time of the motor being in the zero-crossing state. Figure 5 (t3).

[0069] At the first time ( Figure 5 From t1 to the end time ( Figure 5 Within t3), the motor torque is reduced to zero and maintained at zero.

[0070] Please see Figures 4 to 5 In one embodiment of the present invention, when the torque of the motor decreases from positive output to zero, the motor is in a zero-crossing state. Figure 5 (t0). Based on the first time after the motor reaches the zero-crossing state ( Figure 5 The angular acceleration at t1) is used to determine the end time of the motor's zero-crossing state. Figure 5 (t3 in the text).

[0071] Please see Figure 5 In one embodiment of the present invention, the duration of the zero-crossing time period is obtained based on the angular acceleration, thereby obtaining the end time of the zero-crossing state. Figure 5 t3 in the middle), and in the first time ( Figure 5 From t1 to the end time ( Figure 5 During the zero-crossing period of t3, the torque is set to zero, thereby reducing or even eliminating the torque impact at zero. Setting the torque to zero during the zero-crossing period reduces or eliminates vehicle vibration, decreases noise, and improves vehicle comfort and driving smoothness.

[0072] After the end time, adjust the torque according to the torque request. This prevents the torque from remaining near 0 after the zero-crossing state ends, which would cause the tooth surface to oscillate repeatedly between the tooth backlashes and generate multiple impacts.

[0073] Please see Figure 4 and Figure 5 In one embodiment of the present invention, reducing the torque of the motor to zero and maintaining it at zero during the first time period to the end time period specifically includes:

[0074] The second time is obtained based on angular acceleration. Figure 5 (t2).

[0075] At the first time ( Figure 5 From time t1 to the second time ( Figure 5 Within t2), the motor torque is reduced to zero.

[0076] In the second time ( Figure 5 From t2 to the end time ( Figure 5 Within t3), the motor torque is kept at zero.

[0077] When the motor enters the zero-crossing state ( Figure 5 After t0), obtain the first time ( Figure 5 The angular acceleration at time t1 is greater than the preset second threshold. The second time (t1) is calculated based on the angular acceleration. Figure 5 (t2) and end time ( Figure 5 (t3). From the first moment ( Figure 5(t1) Reduce zero-crossing torque until the second time ( Figure 5 The value of t2 decreases to zero, and at the second time ( Figure 5 From t2 to the end time ( Figure 5 The zero-crossing torque remains zero within the range of t3. For example... Figure 5 As shown, compared to not limiting the zero-crossing torque and limiting the rate of torque change, limiting the zero-crossing torque to zero reduces torque change, increases the zero-crossing time (from the start of backlash change to its end), and reduces speed fluctuation. However, limiting the rate of torque change in this case cannot guarantee the smoothness and comfort of the vehicle during driving. Using torque intervention to reduce the torque to zero and maintain it at zero reduces the amount of torque change, increases the duration of the zero-crossing, and minimizes speed fluctuation. This reduces the torque impact during the zero-crossing period and weakens speed fluctuation, thereby reducing vehicle noise during the zero-crossing process and reducing vehicle vibration, thus improving driving smoothness and comfort.

[0078] In one embodiment of the present invention, the first time is determined based on the specific conditions of the motor; different first times are selected for different motors, thereby ensuring that the acquired angular acceleration can accurately determine the adjustment method for the motor torque. A first threshold and a second threshold are determined based on the first time so that the torque adjustment method can be accurately determined through angular acceleration.

[0079] Please see Figure 7 In one embodiment of the present invention, a zero-crossing control system 700 for a motor is also provided, comprising: a torque detection module 710 for detecting changes in the torque output of the motor; a state judgment module 720 for judging the working state of the motor based on the torque change; an angular acceleration acquisition module 730 for detecting and acquiring the angular acceleration after a preset first time when the motor is in a zero-crossing state; wherein the first time is set according to the motor; and a torque adjustment module 740 for adjusting the torque of the motor based on the angular acceleration.

[0080] It should be noted that the zero-crossing control method and system for the motor provided in the above embodiments belong to the same concept, and the specific operation methods of each module have been described in detail in the method embodiments, and will not be repeated here. In practical applications, the energy management system for hybrid vehicles provided in the above embodiments can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above, and this is not a limitation here.

[0081] Embodiments of this application also provide an electronic device, including: one or more processors; and a storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the zero-crossing control method for a motor as described above.

[0082] Figure 6 A schematic diagram of an electronic device suitable for implementing embodiments of this application is shown. It should be noted that... Figure 6 The computer system of the electronic device shown is merely one embodiment and should not impose any limitation on the functionality and scope of use of the embodiments in this application.

[0083] like Figure 6 As shown, the computer system includes a Central Processing Unit (CPU) 601, which can perform various appropriate actions and processes based on programs stored in Read-Only Memory (ROM) 602 or programs loaded from storage portion 608 into Random Access Memory (RAM) 603, such as performing the methods described in the above embodiments. The RAM 603 also stores various programs and data required for system operation. The CPU 601, ROM 602, and RAM 603 are interconnected via a bus 604. An Input / Output (I / O) interface 605 is also connected to the bus 604.

[0084] The following components are connected to I / O interface 605: an input section 606 including a keyboard, mouse, etc.; an output section 607 including a cathode ray tube (CRT), liquid crystal display (LCD), etc., and speakers, etc.; a storage section 608 including a hard disk, etc.; and a communication section 609 including a network interface card such as a LAN (Local Area Network) card, modem, etc. The communication section 609 performs communication processing via a network such as the Internet. A drive 610 is also connected to I / O interface 605 as needed. A removable medium 611, such as a disk, optical disk, magneto-optical disk, semiconductor memory, etc., is installed on drive 610 as needed so that computer programs read from it can be installed into storage section 608 as needed.

[0085] Specifically, according to embodiments of this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program including a computer program for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via communication section 609, and / or installed from removable medium 611. When the computer program is executed by central processing unit (CPU) 601, it performs various functions defined in the system of this application.

[0086] It should be noted that the computer-readable medium shown in the embodiments of this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. A computer-readable storage medium can be, for example, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of a computer-readable storage medium may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), flash memory, optical fiber, portable compact disc read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this application, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying a computer-readable computer program. Such propagated data signals can take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media can also be any computer-readable medium other than computer-readable storage media, which can send, propagate, or transmit a program for use by or in connection with an instruction execution system, apparatus, or device. The computer program contained on the computer-readable medium can be transmitted using any suitable medium, including but not limited to wireless, wired, etc., or any suitable combination thereof.

[0087] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. Each block in a flowchart or block diagram may represent a module, segment, or portion of code, which contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram or flowchart, and combinations of blocks in a block diagram or flowchart, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.

[0088] The units described in the embodiments of this application can be implemented in software or hardware, and the described units can also be located in a processor. The names of these units do not necessarily limit the specific unit itself.

[0089] Another aspect of this application provides a computer-readable storage medium storing a computer program that, when executed by a computer's processor, causes the computer to perform the zero-crossing control method for a motor as described above. This computer-readable storage medium may be included in the electronic device described in the above embodiments, or it may exist independently and not incorporated into that electronic device.

[0090] This invention provides a method, system, electronic device, and storage medium for zero-crossing control of a motor. The method determines whether the motor has entered a zero-crossing state by measuring torque changes, and after the motor enters the zero-crossing state, it obtains the specific adjustment method of the motor torque through angular acceleration. This effectively mitigates torque impact and avoids zero-crossing vibration and noise in different zero-crossing scenarios, improving the comfort and drivability of new energy vehicles. Therefore, this invention effectively overcomes some practical problems in the prior art and has high utilization value and significance. The above embodiments are merely illustrative of the principles and effects of this invention and are not intended to limit the invention. Any person skilled in the art can modify or change the above embodiments without departing from the spirit and scope of this invention. Therefore, all equivalent modifications or changes made by those skilled in the art without departing from the spirit and technical concept disclosed in this invention should still be covered by the claims of this invention.

Claims

1. A method for zero-crossing control of a motor, characterized in that, include: Detect changes in the torque output of the motor; The operating state of the motor is determined based on the torque change; When the motor is in a zero-crossing state, the angular acceleration after a preset first time is detected and collected; The first time is set according to the motor; Adjusting the torque of the motor according to the angular acceleration includes: When the angular acceleration is less than a preset first threshold, the torque is adjusted according to the torque request; When the angular acceleration is greater than a preset first threshold and less than a preset second threshold, the rate of change of the motor torque is limited during the zero-crossing time period; When the angular acceleration is greater than a preset second threshold, the torque of the motor is set to zero during the zero-crossing time period, including: The end time of the motor being in the zero-crossing state is obtained based on the zero-crossing time period and the first time. During the period from the first time to the end time, reducing the torque of the motor to zero and maintaining it at zero includes: The second time is obtained based on the angular acceleration; During the first time interval to the second time interval, the torque of the motor is reduced to zero; During the second time period until the end of the time period, the torque of the motor is kept at zero; After the said end time, the torque is adjusted according to the torque request.

2. The zero-crossing control method for a motor according to claim 1, characterized in that, The step of determining the operating state of the motor based on the torque change includes: The motor is in a zero-crossing state when the torque change is from positive output to zero.

3. The zero-crossing control method for a motor according to claim 1, characterized in that, The zero-crossing time period is obtained based on the angular acceleration.

4. The zero-crossing control method for a motor according to claim 1, characterized in that, When the angular acceleration is greater than a preset first threshold and less than a preset second threshold, limiting the rate of change of the motor's torque during the zero-crossing time includes: The end time of the motor being in the zero-crossing state is obtained based on the zero-crossing time period and the first time. During the period from the first time to the end time, the torque change rate of the motor is set to be less than a preset slope threshold. After the said end time, the torque is adjusted according to the torque request.

5. A zero-crossing control system for a motor, characterized in that, include: The torque detection module is used to detect changes in the torque output by the motor. A status determination module is used to determine the operating status of the motor based on the torque change; An angular acceleration acquisition module is used to detect and acquire the angular acceleration after a preset first time when the motor is in a zero-crossing state. The first time is set according to the motor; A torque adjustment module, used to adjust the torque of the motor according to the angular acceleration, includes: When the angular acceleration is less than a preset first threshold, the torque is adjusted according to the torque request; When the angular acceleration is greater than a preset first threshold and less than a preset second threshold, the rate of change of the motor torque is limited during the zero-crossing time period; When the angular acceleration is greater than a preset second threshold, the torque of the motor is set to zero during the zero-crossing time period, including: The end time of the motor being in the zero-crossing state is obtained based on the zero-crossing time period and the first time. During the period from the first time to the end time, reducing the torque of the motor to zero and maintaining it at zero includes: The second time is obtained based on the angular acceleration; During the first time interval to the second time interval, the torque of the motor is reduced to zero; During the second time period until the end of the time period, the torque of the motor is kept at zero; After the said end time, the torque is adjusted according to the torque request.

6. An electronic device, characterized in that, The electronic device includes: One or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, cause the electronic device to implement the zero-crossing control method for a motor as described in any one of claims 1 to 4.

7. A computer-readable storage medium, characterized in that, It stores a computer program, which, when executed by the computer's processor, causes the computer to perform the zero-crossing control method of the motor as described in any one of claims 1 to 4.

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