Motor torque control method and device, electric vehicle and readable storage medium

Abstract

The application discloses a motor torque control method and device, an electric vehicle and a readable storage medium. The motor torque control method comprises the following steps: acquiring the actual torque and the actual temperature of the motor in real time; in the case that the actual torque is greater than or equal to the peak torque of the motor, determining the first overload time of the motor according to the first unit time, the first initial time and the first actual temperature; starting the torque limitation of the motor according to the first overload time; after the torque limitation of the motor is started, determining the second overload time of the motor according to the second unit time, the second initial time and the second actual temperature of the motor; and closing the torque limitation of the motor according to the second overload time. Therefore, the timeliness and accuracy of the motor torque control are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of motor torque control, in particular to a motor torque control method and device, an electric vehicle and a readable storage medium. BACKGROUND

[0002] The motor torque refers to the torque generated by the motor, and is the key to the conversion of electrical energy into mechanical motion by the motor. In the design of electric vehicles, in addition to the protection of the motor by the motor controller itself, the vehicle controller also limits the torque according to the motor characteristics when calculating the motor demand torque to protect the motor.

[0003] In the prior art, the vehicle controller first determines whether the motor overload time exceeds a threshold value to determine whether to start the torque overload protection limit. Then, it determines whether the motor temperature reaches a threshold value to determine whether to start the torque overload protection limit. The two conditions are independently determined, which may cause the motor torque to be limited too early or too late, resulting in motor overheating failure. There is also a technology that does not consider the motor temperature and only limits the motor torque according to the overload time. This way, the motor is not limited too early, but there is a risk of starting the limit protection too late.

[0004] It can be seen that the existing motor torque has the technical problem of being unable to limit in time and accurately. SUMMARY

[0005] The purpose of the embodiments of the present application is to provide a motor torque control method to solve the technical problem of the existing motor torque being unable to limit in time and accurately.

[0006] To achieve the above-mentioned purpose, the first aspect of the present application provides a motor torque control method, which comprises:

[0007] real-time acquisition of the actual torque and the actual temperature of the motor;

[0008] In the case that the actual torque is greater than or equal to the peak torque of the motor, the first overload time of the motor is determined according to the first unit time, the first initial time and the first actual temperature, wherein the first initial time is the time when the actual torque is detected to be greater than or equal to the peak torque of the motor, and the first actual temperature is the actual temperature when the actual torque is detected to be greater than or equal to the peak torque of the motor;

[0009] The torque limit of the motor is started according to the first overload time;

[0010] After starting the torque limit of the motor, the second overload time of the motor is determined according to the second unit time, the second initial time and the second actual temperature, wherein the second initial time is the time after starting the torque limit of the motor, and the second actual temperature is the actual temperature after starting the torque limit of the motor;

[0011] According to the second overload time, the torque limit of the motor is closed.

[0012] In the embodiment of the present application, in the case that the actual torque is greater than or equal to the peak torque of the motor, the first overload time of the motor is determined according to the first unit time, the first initial time and the first actual temperature, wherein the first initial time is the time when the actual torque greater than or equal to the peak torque of the motor is detected, and the first actual temperature is the actual temperature when the actual torque greater than or equal to the peak torque of the motor is detected, comprising:

[0013] In the case that the actual torque is greater than or equal to the peak torque of the motor, the accumulated time step is determined according to the first actual temperature and the accumulated time step function.

[0014] The first overload time is determined according to the product of the first unit time and the accumulated time step and the first initial time.

[0015] In the embodiment of the present application, the torque limit of the motor is opened according to the first overload time, comprising:

[0016] In the case that the first overload time is greater than or equal to the maximum allowable overload time of the motor, the torque limit of the motor is opened.

[0017] In the embodiment of the present application, in the case that the first overload time is greater than or equal to the maximum allowable overload time of the motor, the torque limit of the motor is opened, comprising:

[0018] In the case that the first overload time is greater than or equal to the maximum allowable overload time of the motor, the actual torque is filtered to reduce the actual torque to less than or equal to the rated torque of the motor.

[0019] In the embodiment of the present application, after the torque limit of the motor is opened, the second overload time of the motor is determined according to the second unit time, the second initial time and the second actual temperature, wherein the second initial time is the time after the torque limit of the motor is opened, and the second actual temperature is the actual temperature after the torque limit of the motor is opened, comprising:

[0020] After the torque limit of the motor is opened, the accumulated time step is determined according to the second actual temperature and the accumulated time step function.

[0021] The second overload time is determined according to the product of the second unit time and the accumulated time step and the second initial time.

[0022] In the embodiment of the present application, the torque limit of the motor is closed according to the second overload time, comprising:

[0023] In the case that the second overload time is less than or equal to the minimum limit torque time of the motor, the torque limit of the motor is closed.

[0024] In the embodiment of the present application, in the case that the second overload time is less than or equal to the minimum limit torque time of the motor, the torque limit of the motor is closed, including:

[0025] In the case that the second overload time is less than or equal to the minimum limit torque time of the motor, the actual torque is filtered to increase the actual torque to be less than or equal to the peak torque of the motor.

[0026] The second aspect of the present application provides a motor torque control device, characterized in that, comprising:

[0027] a memory configured to store instructions; and

[0028] a processor configured to call the instructions from the memory and capable of implementing the motor torque control method according to any one of the first aspect when executing the instructions.

[0029] The third aspect of the present application provides an electric vehicle, characterized in that, comprising:

[0030] The motor torque control device according to the second aspect.

[0031] The fourth aspect of the present application provides a machine readable storage medium, characterized in that, the machine readable storage medium has instructions stored thereon, the instructions being used to make the machine execute the motor torque control method according to any one of the first aspect.

[0032] Through the above technical solution, the first overload time of the motor is determined in combination with the first actual temperature of the motor, the second overload time of the motor is determined in combination with the second actual temperature of the motor, and the influence of temperature on the overload time and the torque limit time of the motor is considered; by opening the torque limit of the motor according to the first overload time, the torque limit of the motor can be accurately opened in combination with the temperature of the motor, and the situation that the torque of the motor is limited too early or the torque limit is opened too late to cause the motor to overheat and fail is avoided; by closing the torque limit of the motor according to the second overload time, the performance of the motor caused by excessive opening of the torque limit of the motor is avoided, thereby improving the timeliness and accuracy of the torque control of the motor.

[0033] Other features and advantages of the embodiments of the present application will be described in detail in the following specific embodiments. BRIEF DESCRIPTION OF DRAWINGS

[0034] The accompanying drawings are included to provide a further understanding of the embodiments of the present application, and constitute a part of the specification, and are used together with the following specific embodiments to explain the embodiments of the present application, but do not constitute a limitation on the embodiments of the present application. In the drawings:

[0035] Figure 1 The flowchart of the motor torque control method according to the embodiments of the present application is schematically shown.

[0036] Figure 2 Fig. 1 schematically shows a structural schematic diagram of a motor torque control device according to an embodiment of the present application. DETAILED DESCRIPTION

[0037] In order to make the objectives, technical solutions and advantages of the embodiments of the present application clearer, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. It should be understood that the specific embodiments described herein are merely used to explain and illustrate the embodiments of the present application and should not be used to limit the embodiments of the present application. Based on the embodiments in the present application, all other embodiments obtained by those of ordinary skill in the art without creative effort fall within the scope of protection of the present application.

[0038] It should be noted that if the embodiments of the present application involve directional indications (such as up, down, left, right, front, back, etc.), the directional indications are merely used to explain the relative positional relationship, movement condition, etc. between components in a certain posture (as shown in the drawings), and if the certain posture changes, the directional indications also change accordingly.

[0039] In addition, if the embodiments of the present application involve descriptions such as “first”, “second”, etc., the descriptions of “first”, “second”, etc. are merely for description purposes and should not be understood as indicating or implying the relative importance of the technical features indicated or implying the number of the technical features indicated. Therefore, the features limited by “first”, “second” can explicitly or implicitly include at least one of the features. In addition, the technical solutions of each embodiment can be combined with each other, but it must be based on the fact that a person of ordinary skill in the art can realize it, and when the combination of technical solutions contradicts each other or cannot be realized, it should be considered that the combination of technical solutions does not exist and is not within the scope of protection claimed by the present application.

[0040] Figure 1 Fig. 2 schematically shows a flowchart of a motor torque control method according to an embodiment of the present application. As shown in Fig. 2, the embodiment of the present application provides a motor torque control method, which can include the following steps. Figure 1

[0041] Step 110: acquiring actual torque and actual temperature of the motor in real time;

[0042] ​It can be understood that the actual torque of the motor and the actual temperature are both constantly changing values. When the actual temperature of the motor rises, thermal expansion and contraction of internal components of the motor will occur, thereby affecting the mechanical structure and electrical characteristics of the motor, and further affecting the torque output capability of the motor, increasing the risk of motor torque overload. In order to avoid the torque overload of the motor due to the excessively high temperature, the actual torque and the actual temperature of the motor need to be obtained in real time, and the motor torque limit needs to be started or stopped under appropriate conditions, so that the motor can run in a safe and stable working state without affecting the performance of the motor.

[0043] Specifically, the actual torque of the motor can be obtained in real time by using a torque sensor installed on the shaft of the motor, and the actual temperature of the motor can be obtained in real time by using a temperature sensor. The actual torque and the actual temperature of the motor can also be monitored by using a motor controller with temperature and torque monitoring functions, and a corresponding data interface can be provided for subsequent embodiments to control the motor torque according to the actual torque and the actual temperature of the motor.

[0044] Step 120: In the case that the actual torque is greater than or equal to the peak torque of the motor, the first overload time of the motor is determined according to the first unit time, the first initial time and the first actual temperature, wherein the first initial time is the time when the actual torque is greater than or equal to the peak torque of the motor, and the first actual temperature is the actual temperature when the actual torque is greater than or equal to the peak torque of the motor.

[0045] It can be understood that, under normal circumstances, the peak torque of the motor refers to the maximum torque that can be provided in a short time (for example, within a few seconds to a few minutes). The peak torque of the motor is often used to cope with transient conditions or special conditions, such as starting, accelerating, sudden load increase, etc. In these cases, the motor needs additional torque to overcome inertia, overcome starting resistance or cope with sudden load, and the peak torque provides additional power output. It should be noted that the peak torque of the motor can only be output for a very short time, and may cause overload of the motor and the transmission system, so in the case that the actual torque is greater than or equal to the peak torque of the motor for a long time, the actual torque of the motor needs to be adjusted according to the overload time of the motor.

[0046] Specifically, in the case that the actual torque is greater than or equal to the peak torque of the motor, it indicates that the motor is in an overload state, the actual temperature of the motor will gradually increase, the motor overload timing is started, and the actual temperature when the actual torque is greater than or equal to the peak torque is taken as the first actual temperature, and the first overload time of the motor is determined according to the first unit time, the first initial time and the first actual temperature. The first initial time is the time when the actual torque is detected to be greater than or equal to the peak torque of the motor, for example, in the case that the actual torque of the motor is greater than or equal to the peak torque of the motor for the first time, the first initial time is 0, and in the case that the motor has passed the start torque limit and the stop torque limit, the first initial time is the minimum limited torque time of the motor, which will be described in subsequent embodiments. By determining the first overload time in combination with the first actual temperature of the motor, and starting the motor torque limit according to the first overload time, the motor torque limit can be started too early or too late, so that the motor torque can be controlled in time and accurately.

[0047] It should be noted that the first unit time can be set according to actual conditions, and the embodiments of the present application do not limit this.

[0048] In the embodiments of the present application, step 120 comprises:

[0049] In the case that the actual torque is greater than or equal to the peak torque of the motor, the accumulated time step is determined according to the first actual temperature and the accumulated time step function;

[0050] The first overload time is determined according to the product of the first unit time and the accumulated time step plus the first initial time.

[0051] Specifically, in the case that the actual torque is greater than or equal to the peak torque of the motor, the first motor temperature signal of the motor is obtained, and a temperature-related accumulated time step function is set according to the first motor temperature signal. The first actual temperature is determined by the real-time first motor temperature signal, and the accumulated time step function is looked up by using the first actual temperature, so that the accumulated time step S+ corresponding to the current first actual temperature can be obtained. The accumulated time step function shows the corresponding relationship between the first actual temperature and the accumulated time step, and in the case that the actual torque is greater than or equal to the peak torque of the motor, the first actual temperature of the motor will gradually increase, and the accumulated time step corresponding to the first actual temperature will also increase, so as to more accurately determine the accumulated time step according to the first actual temperature.

[0052] After the current accumulated time step is determined according to the first actual temperature and the accumulated time step function, the first overload time is determined according to the product of the first unit time and the accumulated time step plus the first initial time. Specifically, the first overload time can be determined by the following formula:

[0053] t1=t a +t x *S +

[0054] In the formula, t1 represents the first overload time, t a represents the first initial time, t x represents the first unit time, S + represents the cumulative time step.

[0055] In the above formula, the first initial time and the first unit time are constants, the cumulative time step is a value greater than or equal to 0, and as the first actual temperature continuously increases, the cumulative time step corresponding to the first actual temperature also increases, and then the first overload time also continuously increases, so that the overload time can be more accurately determined according to the temperature, and the motor torque limit can be prevented from being started at an inappropriate temperature.

[0056] Step 130: starting the motor torque limit according to the first overload time;

[0057] Specifically, the motor torque limit can be started according to the first overload time, and since the first overload time of the present application is determined in combination with the first actual temperature of the motor, compared with starting the motor torque limit according to the actual overload time of the motor alone, the overload time can be more accurately determined in combination with the temperature, so as to avoid starting the motor torque limit too early or too late, thereby timely and accurately controlling the motor torque.

[0058] In the embodiment of the present application, step 130 comprises:

[0059] In the case where the first overload time is greater than or equal to the maximum allowable overload time of the motor, the motor torque limit is started.

[0060] It should be noted that the maximum allowable overload time of the motor refers to the maximum allowable time value of the motor in the overload state, which can be set according to the actual situation, and the present application does not limit it.

[0061] Specifically, the first overload time is compared with the maximum allowed overload time of the motor. In the case that the first overload time is less than the maximum allowed overload time of the motor, it indicates that the motor is in an overload state but has not reached the limit value of overload, and the torque of the motor does not need to be started at this time. In the case that the first overload time is greater than or equal to the maximum allowed overload time of the motor, it indicates that the motor has reached the limit value of overload. When the motor is in an overload state for a long time, that is, the actual torque of the motor is greater than or equal to the peak torque of the motor for a long time, the temperature of the motor continuously rises, which may cause the motor to overheat and fail. Therefore, in the case that the first overload time is greater than or equal to the maximum allowed overload time of the motor, the torque of the motor needs to be started to limit the torque of the motor, so as to reduce the actual torque of the motor and restore the motor to a rated working state.

[0062] In the embodiment of the present application, in the case that the first overload time is greater than or equal to the maximum allowed overload time of the motor, the torque of the motor is started to limit the torque of the motor, including:

[0063] In the case that the first overload time is greater than or equal to the maximum allowed overload time of the motor, the actual torque is filtered to reduce the actual torque to be less than or equal to the rated torque of the motor.

[0064] Specifically, in the case that the first overload time is greater than or equal to the maximum allowed overload time of the motor, it indicates that the motor has reached the limit value of overload. The actual torque of the motor can be filtered by using a moving average filtering method, a Kalman filtering method or the like, so as to gradually reduce the actual torque of the motor to be less than or equal to the rated torque of the motor, thereby restoring the motor from an overload state to a rated working state and preventing the motor from overheating and failing due to the first overload time of the motor being too long. The rated torque of the motor refers to the maximum torque that the motor can provide in a rated working state, so as to ensure that the motor can work stably in the rated working state and meet the torque output requirement of the motor. It should be noted that the peak torque of the motor is greater than the rated torque of the motor, and the rated torque can be set according to actual conditions, which is not limited in the embodiment of the present application.

[0065] Step 140: determining the second overload time of the motor according to the second unit time, the second initial time and the second actual temperature of the motor after starting the torque limitation of the motor, wherein the second initial time is a time after starting the torque limitation of the motor, and the second actual temperature is an actual temperature after starting the torque limitation of the motor.

[0066] It is understandable that after the torque limit is turned on for the motor, the actual temperature of the motor will continue to decrease and the actual torque will continue to decrease. When the motor torque is excessively limited, that is, the actual torque of the motor is too low, it will affect the working performance of the motor. Therefore, in order to make the whole vehicle obtain better power and maximize the performance of the motor, it is necessary to gradually turn off the torque limit after a period of time after the motor is turned on to enable the motor to restore the output peak torque, that is, determine the torque limit time of the motor according to the second actual temperature of the motor, where the torque limit time of the motor is the second overload time mentioned in the embodiment of the present application, so that a suitable second overload time can be determined, and the torque of the motor can be controlled according to the second overload time, which can not only protect the motor from high temperature damage, but also ensure the good working performance of the motor.

[0067] Specifically, after the torque limit is turned on for the motor, the motor starts to count the torque limit, and the actual temperature after the torque limit is turned on for the motor is used as the second actual temperature, and the second overload time of the motor is determined based on the second unit time of the motor, the second initial time and the second actual temperature. Among them, the second initial time is the time after the torque limit is turned on for the motor, and the value of the second initial time is equal to the maximum allowable overload time. By determining the second overload time in combination with the second actual temperature of the motor, and then turning off the motor torque limit according to the second overload time of the motor, it is possible to avoid the degradation of motor performance caused by excessive opening of the motor torque limit, thereby controlling the motor torque in a timely and accurate manner. It should be noted that the second unit time can be set according to actual conditions, and the embodiments of the present application do not limit this.

[0068] In the embodiment of the present application, step 140 includes:

[0069] After the torque limit is turned on for the motor, the cumulative time step is determined according to the second actual temperature and the cumulative time step function;

[0070] The second overload time is determined according to the product of the second unit time and the cumulative time step plus the second initial time.

[0071] Specifically, after the motor is torque-limited, a second motor temperature signal is obtained, and a temperature-related cumulative time step function is set based on the second motor temperature signal. The continuously changing second actual temperature is determined by the real-time acquired second motor temperature signal. The cumulative time step function is then used to look up the second actual temperature in a table to obtain the cumulative time step S- corresponding to the current second actual temperature. The cumulative time step function indicates the corresponding relationship between the second actual temperature and the cumulative time step. Furthermore, after the motor is torque-limited, the second actual temperature gradually decreases, and the cumulative time step corresponding to the second actual temperature also decreases accordingly, so that the cumulative time step can be more accurately determined based on the second actual temperature.

[0072] After the current decrement time step is determined according to the second actual temperature and the decrement time step function, the second overload time is determined according to the product of the second unit time and the decrement time step plus the second initial time, specifically, the second overload time can be determined by the following formula:

[0073] t2=t b +t y *S -

[0074] In the formula, t2 represents the second overload time, t b represents the second initial time, t y represents the second unit time, S - represents the decrement time step.

[0075] In the above formula, the second initial time and the second unit time are constants, the decrement time step is a value less than 0, and as the second actual temperature continuously decreases, the decrement time step corresponding to the second actual temperature will also decrease, and then the second overload time will also continuously decrease, so that the second overload time can be more accurately determined according to the temperature, avoiding the performance degradation of the motor caused by excessive opening of the motor torque limitation, and improving the timeliness and accuracy of the motor torque control.

[0076] Step 150: According to the second overload time, the motor torque limitation is closed.

[0077] Specifically, the motor torque limitation can be closed according to the second overload time, and since the second overload time of the present application is determined in combination with the second actual temperature of the motor, compared with closing the motor torque limitation according to the torque limitation time of the motor alone, the temperature can be combined to more accurately determine the limitation time of the actual torque, avoid closing the motor torque limitation too early or too late, and thus timely and accurately control the motor torque.

[0078] In the embodiment of the present application, according to the second overload time, the motor torque limitation is closed, including:

[0079] In the case where the second overload time is less than or equal to the minimum torque limiting time of the motor, the motor torque limitation is closed.

[0080] It should be noted that the minimum torque limiting time of the motor refers to the minimum time value required to open the torque limitation of the motor, which can be set according to the actual situation, and the present application does not limit it.

[0081] Specifically, the second overload time is compared with the minimum limit torque time of the motor. In the case that the second overload time is greater than the minimum limit torque time of the motor, it indicates that the torque limit of the motor has not reached the requirement, and the torque limit of the motor still needs to be continued. In the case that the second overload time is less than or equal to the minimum limit torque time of the motor, it indicates that the torque limit of the motor has reached the requirement. When the torque limit of the motor is long, the actual torque of the motor will gradually decrease to be much less than the rated torque of the motor, and thus the working performance of the motor will also decrease. Therefore, the torque limit of the motor needs to be closed to increase the actual torque of the motor, so that the motor gradually recovers the peak torque.

[0082] In the embodiment of the present application, in the case that the second overload time is less than or equal to the minimum limit torque time of the motor, the torque limit of the motor is closed, which includes:

[0083] In the case that the second overload time is less than or equal to the minimum limit torque time of the motor, the actual torque is filtered to increase the actual torque to be less than or equal to the peak torque of the motor.

[0084] Specifically, in the case that the second overload time is less than or equal to the minimum limit torque time of the motor, it indicates that the torque limit of the motor has reached the requirement. The actual torque of the motor can be filtered by using a moving average filter, a Kalman filter or the like, so that the actual torque of the motor gradually increases from less than or equal to the rated torque of the motor to less than or equal to the peak torque of the motor. The performance of the motor caused by excessive opening of the torque limit of the motor is avoided, and the timeliness and accuracy of the torque control of the motor are improved.

[0085] The motor torque control method provided by the embodiment of the present application considers the influence of temperature on the overload time and the torque limit time of the motor by determining the first overload time of the motor in combination with the first actual temperature of the motor and determining the second overload time of the motor in combination with the second actual temperature of the motor. The torque limit of the motor is opened according to the first overload time, so that the torque limit of the motor can be accurately opened in combination with the temperature of the motor, and the situation that the torque of the motor is limited too early or the torque limit of the motor is opened too late to cause the motor to overheat and fail is avoided. The performance of the motor caused by excessive opening of the torque limit of the motor is avoided, and thus the timeliness and accuracy of the torque control of the motor are improved.

[0086] Figure 2 The structure of a motor torque control device according to the embodiment of the present application is schematically shown. As shown in Figure 2 The motor torque control device provided by the embodiment of the present application can include:

[0087] The memory 210 is configured to store instructions; and

[0088] The processor 220 is configured to call instructions from the memory 210 and implement the motor torque control method provided by the method embodiments when the instructions are executed.

[0089] Specifically, in the embodiments of the present application, the processor 220 can be configured to:

[0090] acquire the actual torque and the actual temperature of the motor in real time;

[0091] in the case that the actual torque is greater than or equal to the peak torque of the motor, determine a first overload time of the motor according to a first unit time, a first initial time and a first actual temperature, wherein the first initial time is the time when the actual torque is detected to be greater than or equal to the peak torque of the motor, and the first actual temperature is the actual temperature when the actual torque is detected to be greater than or equal to the peak torque of the motor;

[0092] turn on the torque limit for the motor according to the first overload time;

[0093] after turning on the torque limit for the motor, determine a second overload time of the motor according to a second unit time, a second initial time and a second actual temperature, wherein the second initial time is the time after turning on the torque limit for the motor, and the second actual temperature is the actual temperature after turning on the torque limit for the motor;

[0094] turn off the torque limit for the motor according to the second overload time.

[0095] It can be understood that the motor torque control device provided by the embodiments of the present application can implement each process of the motor torque control method in the method embodiments and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0096] The embodiments of the present application also provide an electric vehicle, which can include:

[0097] the motor torque control device provided by the above-mentioned embodiments.

[0098] It can be understood that the electric vehicle provided by the embodiments of the present application includes the motor torque control device and achieves the same technical effects. To avoid repetition, details are not repeated here.

[0099] The embodiments of the present application also provide a machine readable storage medium, which stores instructions for causing a machine to execute the motor torque control method provided by the method embodiments and achieve the same technical effects. To avoid repetition, details are not repeated here.

[0100] Those skilled in the art will appreciate that embodiments of the application can be readily used as a method, a system or a computer program product. Accordingly, the application can take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the application can take the form of a computer program product on one or more computer readable storage media (including, but not limited to, disk memory, CD-ROMs, optical storage devices, etc.) embodying computer readable program code.

[0101] The application is described herein with reference to the Figures, which illustrate the described embodiments. The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in conjunction with the flowcharts described herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein.

[0102] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in conjunction with the flowcharts described herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein.

[0103] The computer program instructions can also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart block or blocks or in conjunction with the flowcharts described herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein. Figure 1 The flowchart blocks or steps can also represent a means for implementing the functions specified in the flowchart block(s) or step(s) or a step for implementing the functions specified in the flowchart block(s) or step(s) specified herein.

[0104] In one typical configuration, a computing device includes one or more processors (CPU's), input / output interfaces, network interfaces, and memory.

[0105] The memory can include non-persistent memory and / or persistent memory, such as flash memory, or other non-volatile memory. The memory is an example of computer readable media. The memory can also include volatile memory, such as random access memory (RAM), and / or the like.

[0106] Computer-readable media includes permanent and non-permanent, movable and non-movable media that can be implemented by any method or technology to store information. The information can be computer-readable instructions, data structures, program modules or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, magnetic tape disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information accessible to a computing device. According to the definition herein, computer-readable media does not include transitory media such as modulated data signals and carriers.

[0107] It should also be noted that the terms "comprising", "containing", or any other variant thereof are intended to cover non-exclusive inclusions, so that a process, method, article or apparatus that includes a list of elements does not only include those elements, but also includes other elements not explicitly listed, or further includes elements inherent in such a process, method, article or apparatus. Without more limitations, the element defined by the statement "comprising a" does not exclude the presence of additional identical elements in the process, method, article or apparatus that includes the element.

[0108] The above only is an embodiment of the present application, and is not used to limit the present application. The present application can have various changes and variations for those skilled in the art. Any modification, equivalent replacement, improvement, etc. within the spirit and principle of the present application shall be included in the scope of claims of the present application.

Claims

1. A motor torque control method, characterized in that: The method comprises: Acquiring the actual torque and actual temperature of the motor in real time; When the actual torque is greater than or equal to the peak torque of the motor, determining a first overload time of the motor according to a first unit time, a first initial time, and a first actual temperature, wherein the first initial time is the time when it is detected that the actual torque is greater than or equal to the peak torque of the motor, and the first actual temperature is the actual temperature when it is detected that the actual torque is greater than or equal to the peak torque of the motor; Starting torque limitation on the motor according to the first overload time; After the motor is torque-limited, determining a second overload time of the motor according to a second unit time, a second initial time, and a second actual temperature of the motor, wherein the second initial time is the time after the motor is torque-limited, and the second actual temperature is the actual temperature after the motor is torque-limited; closing the torque limit on the motor according to the second overload time; Wherein, when the actual torque is greater than or equal to the peak torque of the motor, determining the first overload time of the motor according to a first unit time, a first initial time, and a first actual temperature, wherein the first initial time is the time when it is detected that the actual torque is greater than or equal to the peak torque of the motor, and the first actual temperature is the actual temperature when it is detected that the actual torque is greater than or equal to the peak torque of the motor, including: When the actual torque is greater than or equal to the peak torque of the motor, determining an accumulated time step according to the first actual temperature and an accumulated time step function; determining the first overload time according to the product of the first unit time and the accumulated time step plus the first initial time; The limiting the start-up torque of the motor according to the first overload time includes: When the first overload time is greater than or equal to the maximum allowable overload time of the motor, filtering the actual torque to reduce the actual torque to less than or equal to the rated torque of the motor; After limiting the torque of the motor, determining a second overload time of the motor according to a second unit time, a second initial time, and a second actual temperature of the motor, wherein the second initial time is the time after limiting the torque of the motor, and the second actual temperature is the actual temperature after limiting the torque of the motor, includes: After the torque limit is turned on for the motor, determining a decreasing time step according to the second actual temperature and a decreasing time step function; The second overload time is determined according to the product of the second unit time and the cumulative time step plus the second initial time.

2. The motor torque control method according to claim 1, characterized in that: The shutting down torque limit of the motor according to the second overload time includes: When the second overload time is less than or equal to the minimum torque limit time of the motor, the torque limit of the motor is turned off.

3. The motor torque control method according to claim 2, characterized in that: When the second overload time is less than or equal to the minimum torque limit time of the motor, closing the torque limit of the motor includes: When the second overload time is less than or equal to the minimum torque limit time of the motor, the actual torque is filtered to increase the actual torque to be less than or equal to the peak torque of the motor.

4. A motor torque control device, characterized in that: include: a memory configured to store instructions; as well as A processor is configured to call the instructions from the memory and implement the motor torque control method according to any one of claims 1 to 3 when executing the instructions.

5. An electric vehicle, characterized in that: include: The motor torque control device according to claim 4.

6. A machine-readable storage medium, characterized in that The machine-readable storage medium stores instructions, which are used to enable a machine to execute the motor torque control method according to any one of claims 1 to 3.

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