A torque control method and device, electronic equipment and storage medium
By acquiring the torque parameters and required gear of the front and rear axle motors, and combining them with vehicle intervention information, the pre-execution torque is calculated and precisely controlled. This solves the problem that existing torque adjustment methods fail to effectively consider multiple factors, thereby improving the success rate and stability of vehicle torque control.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- GAC AION NEW ENERGY AUTOMOBILE CO LTD
- Filing Date
- 2024-02-06
- Publication Date
- 2026-05-29
Smart Images
Figure CN117755102B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle control technology, and more specifically, to a torque control method, apparatus, electronic device, and computer-readable storage medium. Background Technology
[0002] Currently, there are three methods for adjusting vehicle motor torque: the first is to determine the torque distribution coefficient based on the torque of the front and rear motors, the current speed, and the reduction ratio; the second is to determine the target torque distribution coefficient based on the vehicle speed change rate and the vehicle slip rate; and the third is to obtain the torque distribution coefficient based on the driver's total torque demand. This method only considers the impact of inter-axle distribution on torque distribution control and does not consider the impact of other factors on the shift success rate. This can easily cause a delay in torque request during the torque transfer process, which can further lead to torque loss or torque termination, affecting the success rate of the vehicle's torque control. Summary of the Invention
[0003] The purpose of this application is to provide a torque control method, device, electronic device, and storage medium that combines multiple factors to control torque, thereby improving the success rate of torque control.
[0004] In a first aspect, embodiments of this application provide a torque control method, including:
[0005] In response to shifting requirements, obtain the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle;
[0006] Perform a gear shifting operation based on the required gear position of the front axle and the required gear position of the rear axle;
[0007] Obtain vehicle intervention information;
[0008] The vehicle's torque adjustment information is obtained based on the vehicle's intervention information;
[0009] The torque of the motor is controlled based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information.
[0010] In the above implementation process, there is a time difference in the switching from the actual gear position of the front and rear axles to the required gear position. This time difference may cause the torque transmission of the entire vehicle to be interrupted or fall below or exceed the required torque request. Therefore, unlike the simultaneous execution method of the prior art, this application first performs gear switching. When the inter-axle gear switching is completed, the torque of the motor is controlled according to the torque parameters of the front axle motor and the torque parameters of the rear axle motor. On this basis, the torque of the motor is controlled according to the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information, so as to achieve the required torque in a single gear shift and ensure the stability of the entire vehicle.
[0011] Furthermore, the torque parameters of the front axle motor and the rear axle motor are obtained using the following method:
[0012] Obtain the total required torque;
[0013] The pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are obtained based on the total required torque.
[0014] The step of controlling the motor torque based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information includes:
[0015] The torque of the motor is controlled based on the torque adjustment information, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor.
[0016] In the above implementation process, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are first calculated. Based on the torque adjustment information, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor, the torque of the motor is controlled, which realizes precise control of the motor torque. It can meet the torque requirements of the vehicle with a single gear shift, ensuring the stability of the whole vehicle.
[0017] Further, the step of controlling the motor torque based on the torque adjustment information, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor includes:
[0018] Get the current torque of the front axle motor and the current torque of the rear axle motor;
[0019] Obtain the front axle torque transfer difference between the current torque of the front axle motor and the pre-execution torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-execution torque of the rear axle motor;
[0020] The torque of the motor is controlled based on the torque adjustment information, the front axle torque transfer difference between the current torque of the front axle motor and the pre-executed torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-executed torque of the rear axle motor.
[0021] In the above implementation process, the front axle torque transfer difference between the current torque of the front axle motor and the pre-execution torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-execution torque of the rear axle motor are obtained. Through the torque transfer difference, each motor of the vehicle can be precisely adjusted, so that the required torque of the vehicle can be met with a single gear shift, ensuring the stability of the whole vehicle.
[0022] Further, the step of performing motor torque control based on the torque adjustment information, the front axle torque transfer difference between the current torque of the front axle motor and the pre-executed torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-executed torque of the rear axle motor, includes:
[0023] Adjust the front axle torque transfer difference and / or the rear axle torque transfer difference according to the torque adjustment information to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference;
[0024] Motor torque control is performed based on the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference.
[0025] In the above implementation process, the torque control of the motor is performed based on the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference, which can meet the vehicle's torque requirements with a single gear shift, ensuring the stability of the entire vehicle.
[0026] Further, obtaining the front axle torque transfer difference between the current torque of the front axle motor and the pre-executed torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-executed torque of the rear axle motor, includes:
[0027] The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum working capacity of the front axle motor, the maximum working capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor.
[0028] In the above implementation process, the maximum working capacity of the vehicle's motor affects the torque and the torque control performance of the vehicle. In order to ensure the smoothness of the vehicle during gear shifting and to fully meet the gear shifting requirements, the front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum working capacity of the front axle motor, the maximum working capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor.
[0029] Furthermore, the front axle motor has multiple units, and the rear axle motor has multiple units;
[0030] The step of obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor includes:
[0031] Obtain the maximum operating capacity of multiple front axle motors and the maximum operating capacity of multiple rear axle motors;
[0032] The executable torque of multiple front axle motors is obtained based on the maximum operating capacity of multiple front axle motors and the current torque of multiple front axle motors;
[0033] The front axle torque transfer difference is obtained based on the executable torque of the plurality of front axle motors, the current torque of the plurality of front axle motors, and the pre-execution torque of the plurality of front axle motors.
[0034] And / or,
[0035] The executable torque of the multiple rear axle motors is obtained based on the maximum operating capacity of the multiple rear axle motors and the current torque of the multiple rear axle motors;
[0036] The rear axle torque transfer difference is obtained based on the executable torque of the plurality of rear axle motors, the current torque of the plurality of rear axle motors, and the pre-execution torque of the plurality of rear axle motors.
[0037] Furthermore, the step of obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor also includes:
[0038] The executable torque of each motor is obtained based on the maximum operating capacity of each motor and the current torque of each motor;
[0039] The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the maximum executable torque of each motor, the current torque of each motor, and the pre-executed torque of each motor.
[0040] The motor includes a front axle motor and a rear axle motor.
[0041] Secondly, embodiments of this application provide a torque control device, comprising:
[0042] The parameter acquisition module is used to acquire the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle in response to gear shifting requirements.
[0043] The shift module is used to perform shifting operations according to the required gear of the front axle and the required gear of the rear axle;
[0044] The intervention information acquisition module is used to acquire intervention information about the vehicle.
[0045] The torque adjustment information acquisition module is used to acquire the vehicle's torque adjustment information based on the vehicle's intervention information.
[0046] The torque control module is used to control the torque of the motors based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information.
[0047] Thirdly, an electronic device provided in this application includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor executes the computer program to implement the steps of the method as described in any of the first aspects.
[0048] Fourthly, embodiments of this application provide a computer-readable storage medium storing instructions that, when executed on a computer, cause the computer to perform the method described in any of the first aspects.
[0049] Other features and advantages disclosed in this application will be set forth in the following description, or some features and advantages may be inferred from the description or determined without doubt, or may be learned by practicing the above-described technology disclosed in this application.
[0050] To make the above-mentioned objectives, features and advantages of this application more apparent and understandable, preferred embodiments are described below in detail with reference to the accompanying drawings. Attached Figure Description
[0051] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.
[0052] Figure 1 A schematic flowchart of the torque control method provided in the embodiments of this application;
[0053] Figure 2 This is a schematic diagram of the torque control device provided in the embodiments of this application;
[0054] Figure 3 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation
[0055] The technical solutions in the embodiments of this application will now be described with reference to the accompanying drawings.
[0056] It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures. Furthermore, in the description of this application, terms such as "first," "second," etc., are used only to distinguish descriptions and should not be construed as indicating or implying relative importance.
[0057] See Figure 1 This application provides a torque control method that can be applied to vehicles or electronic devices. The method includes:
[0058] S1: In response to gear shifting requirements, obtain the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle;
[0059] S2: Perform a gear shifting operation according to the required gear of the front axle and the required gear of the rear axle;
[0060] S3: Obtain vehicle intervention information;
[0061] S4: Obtain the vehicle's torque adjustment information based on the vehicle's intervention information;
[0062] S5: Perform torque control of the motor based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information.
[0063] In some embodiments, the torque parameter may include one or more of the following: current torque, pre-executed torque, and torque difference.
[0064] In some embodiments, the intervention information may be external intervention information, such as road surface smoothness or road congestion.
[0065] Intervention information can also be vehicle-specific intervention information, including: battery capacity, overall vehicle driving attitude (overall vehicle, fishtailing, skidding, etc.).
[0066] In some embodiments, the current road surface flatness is identified using a machine learning algorithm, and torque adjustment information pre-associated with the current road surface flatness is determined.
[0067] In some embodiments, the corresponding torque adjustment information can be determined based on the current road congestion level sent from the background.
[0068] In some embodiments, corresponding torque adjustment information can be determined based on different battery capabilities (which may be state of charge) and vehicle driving posture.
[0069] In some embodiments, the torque adjustment information includes at least: the maximum torque of each motor, the maximum transfer torque of each motor, etc.
[0070] Maximum torque refers to the maximum torque that the motor can currently achieve; maximum transfer torque refers to the maximum amount of torque that the motor can transfer to other motors in response to shifting requirements.
[0071] In the above implementation process, there is a time difference in the switching from the actual gear position of the front and rear axles to the required gear position. This time difference may cause the torque transmission of the entire vehicle to be interrupted or fall below or exceed the required torque request. Therefore, unlike the simultaneous execution method of the prior art, this application first performs gear switching. When the inter-axle gear switching is completed, the torque of the motor is controlled according to the torque parameters of the front axle motor and the torque parameters of the rear axle motor. On this basis, the torque of the motor is controlled according to the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information, so as to achieve the required torque in a single gear shift and ensure the stability of the entire vehicle.
[0072] In some embodiments, the torque parameters of the front axle motor and the torque parameters of the rear axle motor are obtained according to the following method: obtaining the total required torque; obtaining the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor based on the total required torque; S5 includes: performing torque control of the motor based on the torque adjustment information, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor.
[0073] In the above embodiments, the total required torque is the sum of the torques currently required by the vehicle.
[0074] In the above implementation process, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are first calculated. Based on the torque adjustment information, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor, the torque of the motor is controlled, which realizes precise control of the motor torque. It can meet the torque requirements of the vehicle with a single gear shift, ensuring the stability of the whole vehicle.
[0075] In some embodiments, obtaining the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor based on the total required torque includes:
[0076] The pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are obtained based on different combinations of candidate torque ratios and the total required torque.
[0077] Candidate torque ratio combinations include: torque ratio between the front axle motor and the rear axle motor, torque ratio between the front axle motors, and torque ratio between the rear axle motors.
[0078] In some embodiments, the front axle motor includes: a first front axle motor and a second front axle motor; the rear axle motor includes: a first rear axle motor and a second rear axle motor.
[0079] Candidate torque ratio combinations can be determined in the following way:
[0080] A first target candidate value is selected from a set of preset first candidate values as the ratio value of the front axle motor; a second target candidate value is selected from a set of preset second candidate values as the ratio value of the rear axle motor, and the ratio of the ratio value of the front axle motor to the ratio value of the rear axle motor is determined as the torque ratio between the front axle motor and the rear axle motor in the candidate torque ratio combination; a third target candidate value is selected from a set of preset third candidate values as the ratio value of the first front axle motor, and a fourth target candidate value is selected from a set of preset fourth candidate values as the ratio value of the second front axle motor, and the ratio of the ratio value of the first front axle motor to the ratio value of the second front axle motor is determined as the torque ratio between the front axle motors in the candidate torque ratio combination; a fifth target candidate value is selected from a set of preset fifth candidate values as the ratio value of the first rear axle motor, and a sixth target candidate value is selected from a set of preset sixth candidate values as the ratio value of the second rear axle motor, and the ratio of the ratio value of the first rear axle motor to the ratio value of the second rear axle motor is determined as the torque ratio between the rear axle motors in the candidate torque ratio combination.
[0081] In some embodiments, by iterating through and combining all target candidate values of the front axle motor, rear axle motor, first front axle motor, second front axle motor, first rear axle motor, and second rear axle motor, all torque ratio combinations can be obtained.
[0082] In some embodiments, obtaining the pre-executed torque of the front axle motor and the pre-executed torque of the rear axle motor based on predetermined combinations of different candidate torque ratios and total required torque includes:
[0083] Multiple candidate pre-execution torque combinations are obtained based on the different candidate torque ratio combinations and the total required torque, wherein the candidate pre-execution torque combinations include: the torque of the front axle motor and the torque of the rear axle motor;
[0084] The vehicle energy consumption corresponding to different candidate torque combinations is determined based on the demand gear and the pre-execution combination;
[0085] The pre-execution torque combination is determined from multiple candidate torque combinations based on the vehicle energy consumption corresponding to different candidate torque combinations.
[0086] For example, different demand gears correspond to different motor reduction ratios, and different vehicle energy consumptions can be determined based on the demand gear and the combination of pre-executed torque.
[0087] In some embodiments, vehicle energy consumption calculation formulas corresponding to different demand levels and different combinations of candidate torque ratios can be pre-constructed.
[0088] Based on the vehicle energy consumption corresponding to different candidate torque combinations, the pre-execution torque combination is determined from multiple candidate torque combinations, including:
[0089] Obtain the vehicle energy consumption calculation formulas corresponding to the current required gear and different candidate torque combinations;
[0090] Based on the current demand gear, the vehicle energy consumption calculation formula corresponding to different candidate torque combinations, and the energy consumption corresponding to different candidate torque combinations;
[0091] The candidate torque combination corresponding to the minimum energy consumption is determined as the torque combination.
[0092] In some embodiments, vehicle energy consumption corresponding to different demand levels and different combinations of candidate torque ratios can be pre-constructed;
[0093] Based on the vehicle energy consumption corresponding to different candidate torque combinations, the pre-execution torque combination is determined from multiple candidate torque combinations, including:
[0094] Obtain the vehicle energy consumption corresponding to the current required gear and different candidate torque combinations;
[0095] The candidate torque combination corresponding to the minimum energy consumption is determined as the torque combination.
[0096] In some embodiments, the pre-execution torque of the first front axle motor, the second front axle motor, the first rear axle motor, and the second rear axle motor can be obtained according to the following formula:
[0097] Tmy1 = Tq * Rq11 * Rq21;
[0098] Tmy2=Tq*Rq11*(1-Rq21);
[0099] Tmy3=Tq*(1-Rq11)*Rq31;
[0100] Tmy4=Tq*(1-Rq11)*(1-Rq31);
[0101] Wherein, Rq11 = proportional value of the front axle motor / (proportional value of the front axle motor + proportional value of the rear axle motor); Rq21 = proportional value of the first front axle motor / (proportional value of the first front axle motor + proportional value of the second front axle motor); Rq31 = proportional value of the first rear axle motor / (proportional value of the first rear axle motor + proportional value of the second rear axle motor).
[0102] Tmy1 is the pre-execution torque of the first front axle motor; Tmy2 is the pre-execution torque of the second front axle motor; Tmy3 is the pre-execution torque of the first rear axle motor; and Tmy4 is the pre-execution torque of the second rear axle motor.
[0103] In the above implementation process, the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are first calculated. Based on the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor, the torque of the motor is controlled, thereby achieving precise control of the motor torque and ensuring the stability of the whole vehicle.
[0104] In some embodiments, the step of controlling the motor torque based on the torque adjustment information, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor includes: obtaining the current torque of the front axle motor and the current torque of the rear axle motor; obtaining the front axle torque transfer difference between the current torque of the front axle motor and the pre-execution torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-execution torque of the rear axle motor; and performing motor torque control based on the torque adjustment information, the front axle torque transfer difference between the current torque of the front axle motor and the pre-execution torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-execution torque of the rear axle motor.
[0105] For example, the vehicle has a first front axle motor, a second front axle motor, a first rear axle motor, and a second rear axle motor. Each of these motors has a current torque, a pre-executed torque, and a torque transfer difference. The torque transfer difference for the first front axle motor is the difference between its pre-executed torque and current torque; the torque transfer difference for the second front axle motor is the difference between its pre-executed torque and current torque; the torque transfer difference for the first rear axle motor is the difference between its pre-executed torque and current torque; and the torque transfer difference for the second rear axle motor is the difference between its pre-executed torque and current torque.
[0106] In the above implementation process, the front axle torque transfer difference between the current torque of the front axle motor and the pre-execution torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-execution torque of the rear axle motor are obtained. Through the torque transfer difference, each motor of the vehicle can be precisely adjusted, so that the required torque of the vehicle can be met with a single gear shift, ensuring the stability of the whole vehicle.
[0107] In some embodiments, the step of controlling the motor torque based on the torque adjustment information, the front axle torque transfer difference between the current torque of the front axle motor and the pre-executed torque of the front axle motor, and the rear axle torque transfer difference between the current torque of the rear axle motor and the pre-executed torque of the rear axle motor, includes: adjusting the front axle torque transfer difference and / or the rear axle torque transfer difference based on the torque adjustment information to obtain adjusted front axle torque transfer difference and / or adjusted rear axle torque transfer difference; and controlling the motor torque based on the adjusted front axle torque transfer difference and / or adjusted rear axle torque transfer difference.
[0108] In some embodiments, when the torque adjustment information includes the maximum torque of each motor, adjusting the front axle torque transfer difference and / or the rear axle torque transfer difference according to the torque adjustment information to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference includes: obtaining the maximum torque transfer difference of each motor according to the maximum torque of each motor, adjusting the front axle torque transfer difference and / or the rear axle torque transfer difference according to the maximum torque transfer difference of each motor to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference.
[0109] For example, the maximum torque of each motor is subtracted from the current torque to obtain the maximum torque transfer difference of each motor. If the torque transfer difference of a motor is greater than the maximum torque transfer difference, the torque transfer difference of the motor is adjusted to the maximum torque transfer difference to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference.
[0110] In some embodiments, adjusting the front axle torque transfer difference and / or the rear axle torque transfer difference based on the torque adjustment information to obtain adjusted front axle torque transfer difference and / or adjusted rear axle torque transfer difference further includes:
[0111] Adjust the torque transfer difference of each motor so that the torque transfer difference of each motor is less than or equal to the maximum torque transfer difference, to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference, and the sum of the adjusted front axle torque transfer difference and the adjusted rear axle torque transfer difference is the same as the sum of the front axle torque transfer difference and the rear axle torque transfer difference.
[0112] In this embodiment, the motor includes a front axle motor and a rear axle motor. The torque transfer difference of the front axle motor is the front axle torque transfer difference, and the torque transfer difference of the rear axle motor is the rear axle torque transfer difference.
[0113] In the above implementation process, the torque control of the motor is performed based on the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference, which can meet the vehicle's torque requirements with a single gear shift, ensuring the stability of the entire vehicle.
[0114] In some embodiments, obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor further includes: simultaneously adjusting the pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor based on the maximum operating capacity of the front axle motor and the maximum operating capacity of the rear axle motor to obtain adjusted pre-execution torques of the front axle motor and the rear axle motor; and obtaining the rear axle torque transfer difference based on the executable torque of the plurality of rear axle motors, the current torque of the plurality of rear axle motors, and the pre-execution torque of the plurality of rear axle motors.
[0115] In some embodiments, the maximum operating capacity of the motor can be determined based on one or more influencing factors, such as motor temperature and battery capacity. Different motor temperatures and / or motor capacities correspond to different maximum operating capacities of the motor.
[0116] In some embodiments, the maximum operating capacity of the motor may include the maximum pre-execution torque of the motor.
[0117] In some embodiments, obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor includes:
[0118] If the motor's pre-execution torque is greater than the maximum pre-execution torque, the motor's pre-execution torque is updated to the motor's maximum pre-execution torque, and the difference between the updated motor's pre-execution torque and the motor's current torque is determined as the motor's torque transfer difference.
[0119] In some embodiments, the front axle motor has multiple components, and the rear axle motor has multiple components; obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-executed torque of the front axle motor, and the pre-executed torque of the rear axle motor includes: obtaining the maximum operating capacity of the multiple front axle motors and the maximum operating capacity of the multiple rear axle motors; obtaining the executable torque of the multiple front axle motors based on the maximum operating capacity and the current torque of the multiple front axle motors; obtaining the front axle torque transfer difference based on the executable torque of the multiple front axle motors, the current torque of the multiple front axle motors, and the pre-executed torque of the multiple front axle motors; and / or obtaining the executable torque of the multiple rear axle motors based on the maximum operating capacity and the current torque of the multiple rear axle motors; obtaining the rear axle torque transfer difference based on the executable torque of the multiple rear axle motors, the current torque of the multiple rear axle motors, and the pre-executed torque of the multiple rear axle motors.
[0120] In some embodiments, the maximum operating capacity of the motor is the maximum operating torque of the motor.
[0121] The executable torque of each motor is obtained by subtracting the motor's current torque from its maximum operating capacity.
[0122] The front axle torque transfer difference is obtained based on the executable torque of the plurality of front axle motors, the current torque of the plurality of front axle motors, and the pre-execution torque of the plurality of front axle motors, including:
[0123] Obtain the first torque transfer difference between the pre-executed torque and the current torque for each front axle motor;
[0124] The sum of the first torque transfer differences of multiple front axle motors is obtained to get the total torque transfer difference of the front axle motors;
[0125] Each front axle motor is assigned a corresponding front axle torque transfer difference based on the total torque transfer difference of the front axle motors. The front axle torque transfer difference for each front axle motor is less than the executable torque of each front axle motor.
[0126] The rear axle torque transfer difference is obtained based on the executable torque of the plurality of rear axle motors, the current torque of the plurality of rear axle motors, and the pre-execution torque of the plurality of rear axle motors, including:
[0127] Obtain the second torque transfer difference between the pre-execution torque and the current torque of each rear axle motor;
[0128] The sum of the second torque transfer differences of multiple rear axle motors is obtained to get the total torque transfer difference of the rear axle motors;
[0129] Each rear axle motor is assigned a corresponding rear axle torque transfer difference based on the total torque transfer difference of the rear axle motors. The rear axle torque transfer difference for each rear axle motor is less than the executable torque of each rear axle motor.
[0130] It is understandable that the sum of the torque transfer differences of all front axle motors equals the total torque transfer difference of the front axle motors, and the sum of the torque transfer differences of all rear axle motors equals the total torque transfer difference of the rear axle motors.
[0131] In the above process, the smoothness of the vehicle during gear shifting is ensured to the greatest extent possible, while meeting the gear shifting requirements.
[0132] In some embodiments, obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor can be achieved through a second method:
[0133] The executable torque of each motor is obtained based on the maximum operating capacity of each motor and the current torque of each motor;
[0134] The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the maximum executable torque of each motor, the current torque of each motor, and the pre-executed torque of each motor.
[0135] The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the maximum executable torque of each motor, the current torque of each motor, and the pre-executed torque of each motor, including:
[0136] Obtain the third torque transfer difference between the pre-execution torque and the current torque for each motor;
[0137] The sum of the third torque transfer differences of multiple motors is obtained to get the total torque transfer difference of the motors;
[0138] Each motor is assigned a corresponding torque transfer difference based on the total torque transfer difference of the motors, and the front axle torque transfer difference for each motor is less than the executable torque of each motor.
[0139] The motors include a front axle motor and a rear axle motor.
[0140] It is understandable that the sum of the torque transfer differences of all motors equals the total torque transfer difference of the motors.
[0141] In some embodiments, the first method may be performed first to obtain the front axle torque transfer difference and the rear axle torque transfer difference. When the first method fails to ensure that the adjusted torque transfer difference of each motor is less than or equal to the executable torque of each motor, the second method is performed.
[0142] In some embodiments, the first method and the second method can be used simultaneously for adjustment.
[0143] In some embodiments, if it is not possible to make the pre-execution torque of the adjusted front axle motor less than or equal to the maximum operating capacity of the front axle motor, and the pre-execution torque of the adjusted rear axle motor less than or equal to the maximum operating capacity of the rear axle motor, then the pre-execution torque of the adjusted front axle motor may be less than or equal to the maximum operating capacity of the front axle motor, and the pre-execution torque of the adjusted rear axle motor may be less than or equal to the maximum operating capacity of the rear axle motor.
[0144] In the above implementation process, by simultaneously adjusting the torque transfer difference between the front axle motor and the rear axle motor based on the maximum torque of the front axle motor and the maximum torque of the rear axle motor, the smoothness of the vehicle during gear shifting is ensured, while meeting the gear shifting requirements.
[0145] See Figure 2 This application also provides a torque control device, including:
[0146] Parameter acquisition module 1 is used to acquire the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle in response to gear shifting requirements.
[0147] Shift module 2 is used to perform shift operations according to the required gear of the front axle and the required gear of the rear axle;
[0148] Intervention information acquisition module 3 is used to acquire intervention information of the vehicle;
[0149] The torque adjustment information acquisition module 4 is used to acquire the torque adjustment information of the vehicle based on the intervention information of the vehicle.
[0150] The torque control module 5 is used to control the torque of the motor based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information.
[0151] The apparatus is also used to perform the method embodiments described above, which will not be repeated here.
[0152] This application also provides an electronic device, please refer to [link to application]. Figure 3 , Figure 3This is a structural block diagram of an electronic device provided in an embodiment of this application. The electronic device may include a processor 31, a communication interface 32, a memory 33, and at least one communication bus 34. The communication bus 34 is used to enable direct communication between these components. In this embodiment, the communication interface 32 of the electronic device is used for signaling or data communication with other node devices. The processor 31 may be an integrated circuit chip with signal processing capabilities.
[0153] The processor 31 described above can be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.; it can also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), an off-the-shelf programmable gate array (FPGA), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components. It can implement or execute the methods, steps, and logic block diagrams disclosed in the embodiments of this application. The general-purpose processor can be a microprocessor, or the processor 31 can be any conventional processor.
[0154] The memory 33 may be, but is not limited to, random access memory (RAM), read-only memory (ROM), programmable read-only memory (PROM), erasable programmable read-only memory (EPROM), electrically erasable programmable read-only memory (EEPROM), etc. The memory 33 stores computer-readable instructions, which, when executed by the processor 31, allow the electronic device to perform the various steps involved in the above method embodiments.
[0155] Alternatively, the electronic device may also include a storage controller and an input / output unit.
[0156] The memory 33, storage controller, processor 31, peripheral interface, and input / output unit are electrically connected directly or indirectly to achieve data transmission or interaction. For example, these components can be electrically connected to each other through one or more communication buses 34. The processor 31 is used to execute executable modules stored in the memory 33, such as software function modules or computer programs included in electronic devices.
[0157] The input / output unit is used to provide users with the ability to create tasks and to set optional start periods or preset execution times for those tasks, thereby enabling user-server interaction. The input / output unit may be, but is not limited to, a mouse and keyboard.
[0158] Understandable. Figure 3 The structure shown is for illustrative purposes only; the electronic device may also include components that are more advanced than those shown. Figure 3 The more or fewer components shown, or having the same Figure 3 The different configurations shown. Figure 3 The components shown can be implemented using hardware, software, or a combination thereof.
[0159] This application also provides a storage medium storing instructions. When the instructions are run on a computer, the computer program is executed by a processor to implement the method described in the method embodiment. To avoid repetition, the method will not be described again here.
[0160] This application also provides a computer program product that, when run on a computer, causes the computer to perform the method described in the method embodiment.
[0161] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can also be implemented in other ways. The apparatus embodiments described above are merely illustrative. For example, the flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of apparatus, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions marked in the blocks may occur in a different order than those marked in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in a block diagram and / or flowchart, and combinations of blocks in block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.
[0162] In addition, the functional modules in the various embodiments of this application can be integrated together to form an independent part, or each module can exist independently, or two or more modules can be integrated to form an independent part.
[0163] If the aforementioned functions are implemented as software functional modules and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0164] The above description is merely an embodiment of this application and is not intended to limit the scope of protection of this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of protection of this application. It should be noted that similar reference numerals and letters in the following figures indicate similar items; therefore, once an item is defined in one figure, it does not need to be further defined and explained in subsequent figures.
[0165] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0166] It should be noted that, in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.
Claims
1. A torque control method, characterized in that, include: In response to shifting requirements, obtain the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle; Perform a gear shifting operation based on the required gear position of the front axle and the required gear position of the rear axle; Obtain vehicle intervention information; The vehicle's torque adjustment information is obtained based on the vehicle's intervention information; The torque of the motor is controlled based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information. The torque parameters of the front axle motor and the rear axle motor are obtained using the following method: Obtain the total required torque; The pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are obtained based on the total required torque. The step of controlling the motor torque based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information includes: Get the current torque of the front axle motor and the current torque of the rear axle motor; The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum working capacity of the front axle motor, the maximum working capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor. Adjust the front axle torque transfer difference and / or the rear axle torque transfer difference according to the torque adjustment information to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference; Motor torque control is performed based on the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference.
2. The torque control method according to claim 1, characterized in that, The front axle motor has multiple motors, and the rear axle motor has multiple motors; The step of obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor includes: Obtain the maximum operating capacity of multiple front axle motors and the maximum operating capacity of multiple rear axle motors; The executable torque of multiple front axle motors is obtained based on the maximum operating capacity of multiple front axle motors and the current torque of multiple front axle motors; The front axle torque transfer difference is obtained based on the executable torque of the plurality of front axle motors, the current torque of the plurality of front axle motors, and the pre-execution torque of the plurality of front axle motors. And / or, The executable torque of the multiple rear axle motors is obtained based on the maximum operating capacity of the multiple rear axle motors and the current torque of the multiple rear axle motors; The rear axle torque transfer difference is obtained based on the executable torque of the plurality of rear axle motors, the current torque of the plurality of rear axle motors, and the pre-execution torque of the plurality of rear axle motors.
3. The torque control method according to claim 2, characterized in that, The method of obtaining the front axle torque transfer difference and the rear axle torque transfer difference based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum operating capacity of the front axle motor, the maximum operating capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor further includes: The executable torque of each motor is obtained based on the maximum operating capacity of each motor and the current torque of each motor; The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the maximum executable torque of each motor, the current torque of each motor, and the pre-executed torque of each motor. The motor includes a front axle motor and a rear axle motor.
4. A torque control device, characterized in that, include: The parameter acquisition module is used to acquire the torque parameters of the front axle motor, the torque parameters of the rear axle motor, the required gear of the front axle, and the required gear of the rear axle in response to gear shifting requirements. The shift module is used to perform shifting operations according to the required gear of the front axle and the required gear of the rear axle; The intervention information acquisition module is used to acquire intervention information about the vehicle. The torque adjustment information acquisition module is used to acquire the vehicle's torque adjustment information based on the vehicle's intervention information. A torque control module is used to control the torque of the motors based on the torque parameters of the front axle motor, the torque parameters of the rear axle motor, and the torque adjustment information. Specifically, the parameter acquisition module is used for: Obtain the total required torque; The pre-execution torque of the front axle motor and the pre-execution torque of the rear axle motor are obtained based on the total required torque. The torque control module is specifically used for: Get the current torque of the front axle motor and the current torque of the rear axle motor; The front axle torque transfer difference and the rear axle torque transfer difference are obtained based on the current torque of the front axle motor, the current torque of the rear axle motor, the maximum working capacity of the front axle motor, the maximum working capacity of the rear axle motor, the pre-execution torque of the front axle motor, and the pre-execution torque of the rear axle motor. Adjust the front axle torque transfer difference and / or the rear axle torque transfer difference according to the torque adjustment information to obtain the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference; Motor torque control is performed based on the adjusted front axle torque transfer difference and / or the adjusted rear axle torque transfer difference.
5. An electronic device, characterized in that, include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor, when executing the computer program, implements the steps of the method as described in any one of claims 1-3.
6. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores instructions that, when executed on a computer, cause the computer to perform the method as described in any one of claims 1-3.