Electric motor control methods, devices, equipment, storage media, and program products

Abstract

The application relates to a motor control method, device, equipment, storage medium and program product, which are applied to a controller in an electronic mechanical brake system (EMB), the EMB also comprises a motor, and the controller comprises a rotation angle loop, a rotation speed loop and a current loop. The method comprises the following steps: acquiring a current target motor rotation angle of the motor; determining whether the current target motor rotation angle is greater than a preset rotation angle, if not, adopting a single-current closed-loop control strategy to control the motor to generate a first target braking force, and if yes, adopting a three-closed-loop control strategy to control the motor to generate a second target braking force. The above method adopts different control strategies to control the motor based on the relationship between the current target motor rotation angle and the preset rotation angle, and in the case that the current target motor rotation angle is small or large, the motor braking can be guaranteed to be good.

Description

Technical Field

[0001] This application relates to the field of vehicle braking technology, and in particular to a method, apparatus, device, storage medium, and program product for controlling an electric motor. Background Technology

[0002] An electro-mechanical braking system (EMB) is a brake-by-wire system that uses electrical wiring as the medium for transmitting signals and energy; it uses electrical energy as the energy source for the entire braking system; it uses a motor to drive the brake actuator through a motion direction conversion device; and it uses an electronic brake pedal, which only receives control signal input and can be positioned arbitrarily, to detect the operator's braking intention.

[0003] The EMB actuator consists of a motor, a reduction gear, a motion direction conversion device, a brake block, a brake disc, etc. Researchers need to adopt appropriate motor control strategies to enable the EMB actuator to generate the target braking force quickly, accurately, and safely.

[0004] However, traditional motor control strategies suffer from poor EMB braking performance. Summary of the Invention

[0005] Therefore, it is necessary to provide a motor control method, device, equipment, storage medium, and program product that can enhance the braking effect of EMB, addressing the aforementioned technical problems.

[0006] In a first aspect, this application provides a motor control method, applied to a controller in an electromechanical braking system (EMB), wherein the EMB also includes a motor, and the controller includes an angle loop, a speed loop, and a current loop, comprising:

[0007] Obtain the current target motor rotation angle;

[0008] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0009] In one embodiment, obtaining the current target motor rotation angle of the motor includes:

[0010] Obtain the current target clamping force of the EMB;

[0011] Convert the current target clamping force into the current target motor rotation angle.

[0012] In one embodiment, the above-mentioned single-current closed-loop control strategy for controlling the motor to generate the first target braking force includes:

[0013] By performing coordinate transformation on the three-phase currents in the motor, two-phase currents can be obtained.

[0014] Input the target current of the motor and the difference between the two-phase currents into the current loop;

[0015] The output value of the current loop is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force based on the output value.

[0016] In one embodiment, the aforementioned current loop includes a d-axis sub-current loop and a q-axis current loop, performing coordinate transformation on the three-phase currents in the motor to obtain two-phase currents, including:

[0017] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0018] The target current of the motor and the difference between the two-phase currents are input into the current loop, including:

[0019] The target q-axis current of the motor and the first difference between the two currents are input to the q-axis sub-current loop, and the target d-axis current of the motor and the second difference between the two currents are input to the d-axis sub-current loop.

[0020] In one embodiment, the above-mentioned transmission of the current loop output value to the three-phase voltage inverter in the EMB to control the motor to generate a first target braking force based on the output value includes:

[0021] Generate a control signal with a preset duty cycle based on the output value;

[0022] The three-phase voltage inverter is controlled by the control signal to control the motor to generate the first target braking force according to the control signal.

[0023] In one embodiment, the control signal that generates a preset duty cycle based on the output value includes:

[0024] Perform coordinate transformation on the output value to obtain the coordinate-transformed output value;

[0025] The output value after coordinate transformation is modulated to obtain the control signal for the initial duty cycle;

[0026] The control signal with the initial duty cycle is converted from AC to DC to obtain the control signal with the preset duty cycle.

[0027] In one embodiment, the current loop includes a d-axis sub-current loop and a q-axis current loop. The above-mentioned three-closed-loop control strategy for controlling the motor to generate the second target braking force includes:

[0028] Based on the correspondence between clamping force and rotation angle, determine the target rotation angle corresponding to the target clamping force of the motor;

[0029] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0030] Input the angle difference between the target angle and the current target motor angle into the angle loop;

[0031] The speed difference between the output value of the angle loop and the current speed of the motor is input to the speed loop;

[0032] The difference between the output values ​​of the q-axis current and the speed loop is input to the q-axis sub-current loop;

[0033] Input the difference between the target d-axis current and the d-axis current of the motor into the d-axis sub-current loop;

[0034] The output values ​​of the q-axis sub-current loop and the d-axis current loop are transmitted to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0035] Secondly, this application also provides a motor control device, a controller applied in an electromechanical braking system (EMB), wherein the EMB also includes a motor, and the controller includes an angle loop, a speed loop, and a current loop, comprising:

[0036] The acquisition module is used to acquire the current target motor rotation angle.

[0037] The control module is used to determine whether the current target motor rotation angle is greater than the preset rotation angle. If it is not greater, a single current closed-loop control strategy is used to control the motor to generate the first target braking force. If it is greater, a three-closed-loop control strategy is used to control the motor to generate the second target braking force.

[0038] Thirdly, this application also provides a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0039] Obtain the current target motor rotation angle;

[0040] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0041] Fourthly, this application also provides a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, performs the following steps:

[0042] Obtain the current target motor rotation angle;

[0043] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0044] Fifthly, this application also provides a computer program product, including a computer program that, when executed by a processor, performs the following steps:

[0045] Obtain the current target motor rotation angle;

[0046] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0047] The aforementioned motor control method, device, equipment, storage medium, and program product, the aforementioned method, based on the relationship between the current target motor rotation angle and the preset rotation angle, adopts different control strategies in segments to control the motor. That is, when the current target motor rotation angle is small, a single current closed-loop control strategy is adopted to ensure good motor braking while the motor rotation angle increases rapidly. When the current target motor rotation angle increases to a value greater than the preset rotation angle, a three-closed-loop control strategy can be adopted to ensure good motor braking while avoiding the motor rotation angle from increasing indefinitely. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments or related technologies of this application, the drawings used in the description of the embodiments or related technologies will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is an application environment diagram of the motor control method in one embodiment;

[0050] Figure 2 This is a flowchart illustrating a motor control method in one embodiment;

[0051] Figure 3 This is a schematic diagram illustrating the relationship between the target motor rotation angle and the actual motor rotation angle in one embodiment.

[0052] Figure 4 This is a flowchart illustrating the motor control method in another embodiment;

[0053] Figure 5 This is a flowchart illustrating the motor control method in another embodiment;

[0054] Figure 6 This is a flowchart illustrating the motor control method in another embodiment;

[0055] Figure 7 This is a flowchart illustrating the motor control method in another embodiment;

[0056] Figure 8 This is a flowchart illustrating the motor control method in another embodiment;

[0057] Figure 9 This is a schematic diagram illustrating the control effects of a traditional three-closed-loop control strategy and the segmented control strategy of this application in one embodiment;

[0058] Figure 10 This is a structural block diagram of the motor control device in one embodiment;

[0059] Figure 11 This is an internal structural diagram of a computer device in one embodiment. Detailed Implementation

[0060] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0061] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0062] In the description of the embodiments in this application, "a plurality of" means two or more, unless otherwise expressly specified. The reference to "embodiment" herein means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places in the specification does not necessarily refer to the same embodiment, nor is it a mutually exclusive, independent, or alternative embodiment. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0063] An electro-mechanical braking system (EMB) is a by-wire braking system that uses electrical wire lines as the conduction medium for signals and energy, uses electrical energy as the energy source for the entire braking system, uses a motor to drive the braking actuator to brake through a motion direction conversion device, and uses an electronic brake pedal that only receives control signal input and can be placed arbitrarily to detect the braking intention of the operator.

[0064] The EMB actuator generally consists of a motor, a reduction mechanism, a motion direction conversion device, a brake block, a brake disc, etc. To enable the EMB actuator to generate the target braking force quickly, accurately, and safely, researchers need to adopt a suitable motor control strategy. Then, how to design a suitable motor control strategy has become an urgent problem to be solved. The traditional EMB motor control strategy generally adopts a three-closed-loop control strategy of clamping force - speed - current or a motor angle - speed - current control strategy to obtain better control accuracy. However, the traditional motor control strategy has the problem of poor EMB braking effect. This application aims to solve this problem.

[0065] After introducing the background technology of the control method of the motor provided by the embodiments of this application above, below, the implementation environment involved in the control method of the motor provided by the embodiments of this application will be briefly described. The control method of the motor provided by the embodiments of this application can be applied to an Figure 1 electro-mechanical braking system EMB as shown. The EMB includes a controller, a motor, an angle loop, a speed loop, and a current loop. Among them, a preset angle can be preset in the controller (this preset angle can be x times the target angle of the motor, where 0 < x < 1), and the actual angle of the motor during the rising process of the clamping force can be monitored at any time. Then, according to the relationship between the actual angle of the motor and the preset angle, the angle loop, the speed loop, and the current loop are controlled in sequence to control the motor to generate braking force.

[0066] Among them, both Park transformation and Park inverse transformation can achieve coordinate conversion. Park transformation mainly realizes the conversion of three-phase current into two-phase current, and Park inverse transformation mainly realizes the conversion of two-phase current into three-phase current. Clark transformation also converts three-phase current into two-phase current to facilitate motor control, but it is necessary to ensure that the magnetomotive force remains unchanged. The main idea of Space Vector Pulse Width Modulation (SVPWM) is to use the ideal flux circle of the stator of a three-phase symmetrical motor supplied with three-phase symmetrical sinusoidal voltage as the reference standard, and make appropriate switching of different switching modes of the three-phase inverter, so as to form a Pulse Width Modulation (PWM) wave, and use the actual flux vector formed to track its accurate flux circle.

[0067] Among them, the three-phase voltage inverter can convert DC voltage into three-phase AC voltage. The permanent magnet synchronous motor (PMSM) can operate at a variable speed, controlled by adjusting the frequency of the electrical power supplied to the motor or by using a variable voltage source, including surface-mount PMSM (permanent magnets are mounted on the surface of the rotor) and embedded PMSM (permanent magnets are embedded inside the rotor iron).

[0068] Planetary gear reducers are a common type of speed reducer. They utilize a set of planetary gears to reduce speed and increase torque. This type of reducer typically consists of a sun gear, several planetary gears, and an internal ring gear. The sun gear is the input shaft, the planetary gears rotate around it and are connected to the output shaft via a planet carrier, and the internal ring gear is usually fixed to the housing, serving as the inner track for the planetary gears. When the sun gear drives the planetary gears, because the planetary gears simultaneously roll on the internal ring gear and slide on the sun gear, their combined motion allows the planetary gears to transmit a large torque at a relatively small angular velocity. Thus, planetary gear reducers achieve highly efficient speed reduction and torque amplification.

[0069] A ball screw is a mechanical component that converts rotary motion into linear motion, or a transmission device that converts linear motion into rotary motion. It mainly consists of a screw (or lead screw), a nut, and balls. The working principle of a ball screw is to utilize the rolling of balls in the helical grooves between the screw and the nut to achieve relative motion between them.

[0070] The brake pad is an important component of the braking system. It is used to generate friction with the brake disc (or brake drum) during braking, thereby slowing down or stopping the movement of the vehicle or mechanical equipment.

[0071] The technical solution of this application and how the technical solution of this application solves the above-mentioned technical problems are described in detail below with specific embodiments. These specific embodiments can be combined with each other, and the same or similar concepts or processes may not be described again in some embodiments. The embodiments of this application will be described below with reference to the accompanying drawings.

[0072] In one embodiment, such as Figure 2 As shown, a method for controlling a motor is provided, which is applied to... Figure 1 Taking the controller in the electromechanical braking system (EMB) as an example, the EMB also includes a motor, angle loop, speed loop, and current loop, and includes the following steps:

[0073] S201. Obtain the current target motor rotation angle.

[0074] In this embodiment of the application, during the process of the clamping force increasing, the controller sends a rotation angle acquisition command to the motor to instruct the motor to feed back its current motor rotation angle to the controller, so that the controller can obtain the current target motor rotation angle of the motor.

[0075] S202. Determine whether the current target motor rotation angle is greater than the preset rotation angle. If it is not greater, proceed to S203. If it is greater, proceed to S204.

[0076] The preset rotation angle is pre-set in the controller based on the actual state of the motor. The preset rotation angle can be x times the target rotation angle of the motor, where 0 <x<1。

[0077] In this embodiment of the application, after obtaining the current target motor rotation angle, it can be determined whether the current target motor rotation angle is greater than a preset rotation angle. For example... Figure 3 As shown, the relationship between the motor's current target rotation angle and the motor's actual rotation angle is provided.

[0078] S203. A single-current closed-loop control strategy is adopted to control the motor to generate the first target braking force.

[0079] Among them, the single-current closed-loop control strategy refers to using only the current loop to process the two-phase current after the three-phase current in the motor has been converted.

[0080] In this embodiment of the application, when it is determined that the current target motor rotation angle is not greater than the preset rotation angle, the current loop is used to process the two-phase current after the three-phase current in the motor is converted, and the output value obtained after processing is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force.

[0081] S204. A three-closed-loop control strategy is adopted to control the motor to generate the second target braking force.

[0082] Among them, the three-closed-loop control strategy refers to using an angle loop, a speed loop, and a current loop to process the two-phase current after the three-phase current in the motor has been converted.

[0083] In this embodiment of the application, when it is determined that the current target motor rotation angle is greater than the preset rotation angle, the rotation angle loop, speed loop and current loop are used to process the two-phase current after the three-phase current in the motor is converted, and the output value obtained after processing is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the second target braking force.

[0084] The motor control method provided in this embodiment is applied to the controller in an electromechanical braking system (EMB). The EMB also includes a motor, and the controller includes an angle loop, a speed loop, and a current loop. The method acquires the current target motor angle; determines whether the current target motor angle is greater than a preset angle; if not, a single-current closed-loop control strategy is used to control the motor to generate a first target braking force; if greater, a three-loop control strategy is used to control the motor to generate a second target braking force. Based on the relationship between the current target motor angle and the preset angle, the method employs different control strategies in segments to control the motor. Specifically, when the current target motor angle is small, a single-current closed-loop control strategy is used to ensure good motor braking while rapidly increasing the motor angle. When the current target motor angle increases to a value greater than the preset angle, a three-loop control strategy is used to ensure good motor braking while preventing the motor angle from increasing indefinitely.

[0085] In one embodiment, in Figure 2 Based on the illustrated embodiment, the process of obtaining the current motor rotation angle can be described, such as... Figure 4 As shown, the above-mentioned S201 "obtain the current motor rotation angle" includes:

[0086] S301. Obtain the current target clamping force of the EMB.

[0087] In this embodiment of the application, during the process of the clamping force increasing, the controller sends a clamping force acquisition command to the EMB to instruct the EMB to feed back its current target clamping force to the controller, so that the controller can acquire the current clamping force of the EMB.

[0088] S302, Convert the current target clamping force into the current target motor rotation angle.

[0089] In this embodiment of the application, after obtaining the current target clamping force of the EMB, the current target clamping force of the EMB can be converted into the current target motor rotation angle corresponding to the current target clamping force based on the correspondence between the clamping force and the rotation angle.

[0090] The motor rotation angle conversion method provided in this application provides a data basis for subsequently determining whether to use a single-current closed-loop control strategy or a three-closed-loop control strategy to control the motor based on the current target motor rotation angle.

[0091] In one embodiment, in Figure 2 or Figure 4 Based on the illustrated embodiment, the process of controlling the motor to generate the second target braking force can be described, such as... Figure 5 As shown, the above-mentioned S202 "using a single-current closed-loop control strategy to control the motor to generate the first target braking force" includes:

[0092] S401. Perform coordinate transformation on the three-phase current in the motor to obtain the two-phase current.

[0093] Three-phase current refers to the alternating current normally used in a motor. Generally, when controlling the motor to brake, the three-phase current in the motor is converted into two-phase current and input to different current loops to obtain output values. Then, the motor is controlled based on the output values.

[0094] The two-phase currents include the q-axis current and the d-axis current. The d-axis current (Id) refers to the current flowing along the d-axis, which is parallel to the direction of the motor's magnetic field. In a permanent magnet synchronous motor, since the magnetic field is provided by a permanent magnet, the d-axis current is mainly related to the motor's reactive power and electromagnetic torque. In vector control, the d-axis current is usually controlled to maintain a constant magnetic flux of the motor. The q-axis current (Iq) refers to the current flowing along the q-axis, which is perpendicular to the direction of the motor's magnetic field. The q-axis current is the main factor in generating electromagnetic torque and is related to the motor's active power output. In vector control, the q-axis current is controlled to adjust the motor's speed and torque.

[0095] In this embodiment, a current acquisition command can be sent to the motor first. After receiving the current acquisition command, the motor can feed back its own current (three-phase current) to the controller so that the controller can receive the three-phase current in the motor. After receiving the three-phase current in the motor, the controller performs coordinate transformation on the three-phase current in the motor to obtain two-phase current.

[0096] The following provides a method for performing coordinate transformation on the three-phase current in a motor to obtain two-phase current, namely, S401 above, "performing coordinate transformation on the three-phase current in a motor to obtain two-phase current", including:

[0097] S401. Perform coordinate transformation on the three-phase current in the motor to obtain the q-axis current and d-axis current.

[0098] In this embodiment, a current acquisition command can be sent to the motor first. After receiving the current acquisition command, the motor can feed back its own current (three-phase current) to the controller so that the controller can receive the three-phase current in the motor. After receiving the three-phase current in the motor, the controller performs coordinate transformation on the three-phase current in the motor to obtain the q-axis current and d-axis current.

[0099] S402. Input the target current of the motor and the difference between the two-phase currents into the current loop.

[0100] The target current of the motor includes the target q-axis current and the target d-axis current. The target q-axis current refers to the maximum q-axis current that the motor can withstand, while the target d-axis current is generally 0.

[0101] In this embodiment of the application, after obtaining the two-phase currents (q-axis current and d-axis current), the difference between the target q-axis current and the target d-axis current can be determined, and the difference between the target q-axis current and the target d-axis current can be determined. The difference between the target q-axis current and the target d-axis current is then input to the current loop to instruct the current loop to determine the output value of the current loop based on the difference between the target q-axis current and the target d-axis current.

[0102] The following provides a method for performing coordinate transformation on the three-phase current in a motor to obtain two currents, namely, the above-mentioned S402 "inputting the difference between the target current of the motor and the two-phase current into the current input", including:

[0103] S402. Input the target q-axis current of the motor and the first difference between the q-axis currents to the q-axis sub-current loop, and input the target d-axis current of the motor and the second difference between the d-axis currents to the d-axis sub-current loop.

[0104] In this embodiment of the application, after obtaining the q-axis current and d-axis current as described above, a first difference between the target q-axis current and the target d-axis current of the motor can be determined, and a second difference between the target d-axis current and the target d-axis current can be determined. The first difference is input to the q-axis sub-current loop to instruct the q-axis sub-current loop to determine the output value of the q-axis current loop based on the first difference, and the second difference is input to the d-axis current loop to instruct the d-axis current loop to determine the output value of the d-axis current loop based on the second difference.

[0105] S403. The output value of the current loop is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force according to the output value.

[0106] In this embodiment of the application, after obtaining the output value of the current loop, the output value of the current loop can be transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force according to the output value of the current loop.

[0107] The method for controlling a motor to generate a first target braking force provided in this application embodiment ensures good motor braking when the current motor angle is not greater than a preset angle, and the motor angle is rapidly increased by a single current closed-loop control strategy.

[0108] In one embodiment, in Figure 5 Based on the illustrated embodiment, the process of obtaining the first target braking force can be described, such as... Figure 6 As shown, the above-mentioned S403 "transmits the output value of the current loop to the motor to control the motor to generate a first target braking force according to the output value" includes:

[0109] S501. Generate a control signal with a preset duty cycle based on the output value.

[0110] In this embodiment of the application, after obtaining the output value of the current loop, the output value of the current loop can be input into the SVPWM in the controller for modulation to generate a control signal with a preset duty cycle.

[0111] Optionally, the following provides a method for generating a control signal with a preset duty cycle, such as... Figure 7 As shown, the above-mentioned S501 "generates a control signal with a preset duty cycle based on the output value" includes:

[0112] S601. Perform coordinate transformation on the output value to obtain the output value after coordinate transformation.

[0113] Coordinate transformation includes Park transformation.

[0114] In this embodiment of the application, after obtaining the output value of the current loop as described above, the output value of the current loop can be transformed by Park to obtain the output value after Park transformation.

[0115] S602. Modulate the output value after coordinate transformation to obtain the control signal for the initial duty cycle.

[0116] In this embodiment of the application, after obtaining the output value after Park transformation, the output value after Park transformation can be input into the SVPWM in the controller for modulation to obtain the control signal of the initial duty cycle after modulation.

[0117] S603. The control signal of the initial duty cycle is converted from AC to DC to obtain the control signal of the preset duty cycle.

[0118] In this embodiment of the application, after obtaining the control signal of the initial duty cycle, the control signal of the initial duty cycle can be input to the three-phase voltage inverter in the controller for AC-DC conversion to obtain the control signal of the preset duty cycle.

[0119] S502: Control the three-phase voltage inverter based on the control signal to control the motor to generate the first target braking force according to the control signal.

[0120] In this embodiment of the application, after obtaining the control signal with the preset duty cycle, the control signal with the preset duty cycle can be transmitted to the three-phase voltage inverter to instruct the motor to generate the first target braking force according to the control signal with the preset duty cycle.

[0121] The method for controlling a motor to generate a first target braking force provided in this application embodiment ensures good motor braking when the current motor angle is not greater than a preset angle, and the motor angle is rapidly increased by a single current closed-loop control strategy.

[0122] In one embodiment, in Figure 2 or Figure 4 Based on the illustrated embodiment, the process of controlling the motor to generate the second target braking force can be described, such as... Figure 8 As shown, the above-mentioned S202 "using a three-closed-loop control strategy to control the motor to generate a second target braking force" includes:

[0123] S701. Determine the target angle corresponding to the target clamping force of the motor based on the correspondence between clamping force and rotation angle.

[0124] In this embodiment of the application, during the process of the clamping force increasing, the controller sends a target clamping force acquisition command to the motor to instruct the motor to feed back its own target clamping force to the controller, so that the controller can acquire the target clamping force of the motor. After acquiring the target clamping force of the motor, the controller can convert the target clamping force of the motor into the target rotation angle corresponding to the target clamping force based on the correspondence between the clamping force and the rotation angle.

[0125] S702. Perform coordinate transformation on the three-phase current in the motor to obtain the q-axis current and d-axis current.

[0126] Three-phase current refers to the alternating current normally used in a motor. Generally, when controlling the motor to brake, the three-phase current in the motor is converted into two-phase current and input to different current loops to obtain output values. Then, the motor is controlled based on the output values.

[0127] Among them, the d-axis current (Id) refers to the current flowing along the d-axis, which is parallel to the direction of the motor's magnetic field. In a permanent magnet synchronous motor, since the magnetic field is provided by a permanent magnet, the d-axis current is mainly related to the motor's reactive power and electromagnetic torque. In vector control, the d-axis current is usually controlled to maintain a constant magnetic flux of the motor. The q-axis current (Iq) refers to the current flowing along the q-axis, which is perpendicular to the direction of the motor's magnetic field. The q-axis current is the main factor in generating electromagnetic torque in the motor and is related to the motor's active power output. In vector control, the q-axis current is controlled to adjust the motor's speed and torque.

[0128] In this embodiment, a current acquisition command can be sent to the motor first. After receiving the current acquisition command, the motor can feed back its own current (three-phase current) to the controller so that the controller can receive the three-phase current in the motor. After receiving the three-phase current in the motor, the controller performs coordinate transformation on the three-phase current in the motor to obtain the q-axis current and d-axis current.

[0129] S703. Input the angle difference between the target angle and the current target motor angle into the angle loop.

[0130] In this embodiment, after obtaining the target angle, a current clamping force acquisition command can be sent to the motor to instruct the motor to feed back its current clamping force to the controller. This allows the controller to acquire the motor's current clamping force. After acquiring the motor's current clamping force, the target clamping force can be converted into a target angle corresponding to the clamping force based on the correspondence between clamping force and angle. Then, the angle difference between the target angle and the current motor angle is determined, and this angle difference is input to the angle loop to instruct the angle loop to determine its output value based on the angle difference.

[0131] S704. Input the speed difference between the output value of the angle ring and the current speed of the motor into the speed ring.

[0132] In this embodiment of the application, after obtaining the output value of the angle ring as described above, the current speed of the motor can be obtained, and the speed difference between the output value of the angle ring and the current speed of the motor can be input to the speed ring to instruct the speed ring to determine the output value of the speed ring based on the speed difference.

[0133] S705: Input the difference between the output values ​​of the q-axis current and the speed loop to the q-axis sub-current loop.

[0134] In this embodiment of the application, after obtaining the output value of the speed loop, the q-axis difference between the output value of the speed loop and the q-axis current can be input to the q-axis sub-current loop to instruct the q-axis sub-current loop to determine the output value of the q-axis current loop based on the q-axis difference.

[0135] S706. Input the target d-axis current of the motor and the difference between the d-axis current to the d-axis sub-current loop.

[0136] In this embodiment of the application, after obtaining the output value of the speed loop, the target d-axis current of the motor and the d-axis difference between the d-axis currents can be input to the d-axis sub-current loop to instruct the d-axis sub-current loop to determine the output value of the d-axis current loop based on the d-axis difference.

[0137] S707 transmits the output values ​​of the q-axis sub-current loop and the d-axis current loop to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0138] In this embodiment, after determining the output values ​​of the q-axis sub-current loop and the d-axis sub-current loop, the output values ​​of the q-axis sub-current loop and the d-axis sub-current loop are respectively input to SVPWM after Park transformation, generating a duty cycle input to the three-phase voltage inverter, thereby controlling the motor.

[0139] The method for controlling the motor to generate a second target braking force provided in this application embodiment adopts a three-closed-loop control strategy to ensure good motor braking while avoiding the motor angle from increasing indefinitely when the current motor angle is greater than a preset angle.

[0140] In one embodiment, such as Figure 9 As shown, a schematic diagram illustrating the control results of a traditional motor control strategy and the motor control strategy of this solution is presented. Figure 8 It is evident that, compared to the traditional three-loop control strategy, the segmented control strategy provided in this application can reduce the braking response speed by half, significantly enhancing the EMB braking effect.

[0141] It should be understood that although the steps in the flowcharts of the embodiments described above are shown sequentially according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowcharts of the embodiments described above may include multiple steps or multiple stages. These steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the steps or stages of other steps.

[0142] Based on the same inventive concept, this application also provides a motor control device for implementing the motor control method described above. The solution provided by this device is similar to the solution described in the above method; therefore, the specific limitations in one or more motor control device embodiments provided below can be found in the limitations of the motor control method described above, and will not be repeated here.

[0143] In one exemplary embodiment, such as Figure 10 As shown, a motor control device is provided, which is applied to the controller in an electromechanical braking system (EMB). The EMB also includes a motor. The controller includes an angle loop, a speed loop, and a current loop, and includes: an acquisition module 10 and a control module 11, wherein:

[0144] The acquisition module 10 is used to acquire the current target motor rotation angle of the motor.

[0145] The control module 11 is used to determine whether the current target motor rotation angle is greater than the preset rotation angle. If it is not greater, a single current closed-loop control strategy is used to control the motor to generate the first target braking force. If it is greater, a three-closed-loop control strategy is used to control the motor to generate the second target braking force.

[0146] In an exemplary embodiment, the acquisition module 10 includes: an acquisition unit and a conversion unit, wherein:

[0147] The acquisition unit is specifically used to acquire the current target clamping force of the EMB;

[0148] The conversion unit is specifically used to convert the current target clamping force into the current target motor rotation angle.

[0149] In an exemplary embodiment, the control module includes: a first coordinate transformation unit, a first input unit, and a first control unit, wherein:

[0150] The first coordinate transformation unit is specifically used to perform coordinate transformation on the three-phase current in the motor to obtain two-phase current;

[0151] The first input unit is specifically used to input the target current of the motor and the difference between the two-phase currents into the current loop;

[0152] The first control unit is specifically used to transmit the output value of the current loop to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force according to the output value.

[0153] In an exemplary embodiment, the current loop includes a d-axis sub-current loop and a q-axis current loop. The first coordinate transformation unit is further used to perform coordinate transformation on the three-phase current in the motor to obtain the q-axis current and the d-axis current.

[0154] The aforementioned first input unit is further configured to input the target q-axis current of the motor and the first difference between the q-axis currents to the q-axis sub-current loop, and to input the target d-axis current of the motor and the second difference between the d-axis currents to the d-axis sub-current loop.

[0155] In an exemplary embodiment, the control unit is further configured to generate a control signal with a preset duty cycle based on the output value; and control the three-phase voltage inverter based on the control signal to control the motor to generate a first target braking force according to the control signal.

[0156] In an exemplary embodiment, the control unit is further configured to perform coordinate transformation on the output value to obtain a coordinate-transformed output value; modulate the coordinate-transformed output value to obtain a control signal for an initial duty cycle; and perform AC-DC conversion on the control signal for the initial duty cycle to obtain a control signal for a preset duty cycle.

[0157] In an exemplary embodiment, the current loop includes a d-axis sub-current loop and a q-axis current loop, and the control module includes: a determination unit, a second coordinate transformation unit, a second input unit, a third input unit, a fourth input unit, a fifth input unit, and a second control unit, wherein:

[0158] The determining unit is specifically used to determine the target angle corresponding to the target clamping force of the motor based on the correspondence between clamping force and rotation angle;

[0159] The second coordinate transformation unit is specifically used to perform coordinate transformation on the three-phase current in the motor to obtain the q-axis current and the d-axis current.

[0160] The second input unit is specifically used to input the angle difference between the target angle and the current target motor angle into the angle loop;

[0161] The third input unit is specifically used to input the speed difference between the output value of the angle loop and the current speed of the motor into the speed loop;

[0162] The fourth input unit is specifically used to input the difference between the q-axis current and the output value of the speed loop into the q-axis sub-current loop;

[0163] The fifth input unit is specifically used to input the target d-axis current of the motor and the difference between the d-axis current to the d-axis sub-current loop;

[0164] The control unit is specifically used to transmit the output values ​​of the q-axis sub-current loop and the d-axis current loop to the three-phase voltage inverter in the EMB, so as to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0165] Each module in the aforementioned motor control device can be implemented entirely or partially through software, hardware, or a combination thereof. These modules can be embedded in the processor of a computer device in hardware form or independent of it, or stored in the memory of a computer device in software form, so that the processor can call and execute the operations corresponding to each module.

[0166] In one exemplary embodiment, a computer device is provided, which may be a server, and its internal structure diagram may be as follows: Figure 11As shown, this computer device includes a processor, memory, input / output (I / O) interfaces, and a communication interface. The processor, memory, and I / O interfaces are connected via a system bus, and the communication interface is also connected to the system bus via the I / O interfaces. The processor provides computational and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides the environment for the operating system and computer programs stored in the non-volatile storage media. The database stores motor rotation data. The I / O interfaces are used for exchanging information between the processor and external devices. The communication interface is used for communicating with external terminals via a network. When the computer program is executed by the processor, it implements a motor control method.

[0167] Those skilled in the art will understand that Figure 11 The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0168] In one exemplary embodiment, a computer device is provided, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to perform the following steps:

[0169] Obtain the current target motor rotation angle;

[0170] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0171] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0172] Obtain the current target clamping force of the EMB;

[0173] Convert the current target clamping force into the current target motor rotation angle.

[0174] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0175] By performing coordinate transformation on the three-phase currents in the motor, two-phase currents can be obtained.

[0176] Input the target current of the motor and the difference between the two-phase currents into the current loop;

[0177] The output value of the current loop is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force based on the output value.

[0178] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0179] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0180] The target current of the motor and the difference between the two-phase currents are input into the current loop, including:

[0181] The target q-axis current of the motor and the first difference between the two currents are input to the q-axis sub-current loop, and the target d-axis current of the motor and the second difference between the two currents are input to the d-axis sub-current loop.

[0182] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0183] Generate a control signal with a preset duty cycle based on the output value;

[0184] The three-phase voltage inverter is controlled by the control signal to control the motor to generate the first target braking force according to the control signal.

[0185] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0186] Perform coordinate transformation on the output value to obtain the coordinate-transformed output value;

[0187] The output value after coordinate transformation is modulated to obtain the control signal for the initial duty cycle;

[0188] The control signal with the initial duty cycle is converted from AC to DC to obtain the control signal with the preset duty cycle.

[0189] In one embodiment, the processor, when executing a computer program, also performs the following steps:

[0190] Based on the correspondence between clamping force and rotation angle, determine the target rotation angle corresponding to the target clamping force of the motor;

[0191] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0192] Input the angle difference between the target angle and the current target motor angle into the angle loop;

[0193] The speed difference between the output value of the angle loop and the current speed of the motor is input to the speed loop;

[0194] The difference between the output values ​​of the q-axis current and the speed loop is input to the q-axis sub-current loop;

[0195] Input the difference between the target d-axis current and the d-axis current of the motor into the d-axis sub-current loop;

[0196] The output values ​​of the q-axis sub-current loop and the d-axis current loop are transmitted to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0197] In one embodiment, a computer-readable storage medium is provided having a computer program stored thereon, the computer program performing the following steps when executed by a processor:

[0198] Obtain the current target motor rotation angle;

[0199] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0200] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0201] Obtain the current target clamping force of the EMB;

[0202] Convert the current target clamping force into the current target motor rotation angle.

[0203] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0204] By performing coordinate transformation on the three-phase currents in the motor, two-phase currents can be obtained.

[0205] Input the target current of the motor and the difference between the two-phase currents into the current loop;

[0206] The output value of the current loop is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force based on the output value.

[0207] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0208] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0209] The target current of the motor and the difference between the two-phase currents are input into the current loop, including:

[0210] The target q-axis current of the motor and the first difference between the two currents are input to the q-axis sub-current loop, and the target d-axis current of the motor and the second difference between the two currents are input to the d-axis sub-current loop.

[0211] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0212] Generate a control signal with a preset duty cycle based on the output value;

[0213] The control signal is transmitted to the control three-phase voltage inverter to control the motor to generate the first target braking force according to the control signal.

[0214] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0215] Perform coordinate transformation on the output value to obtain the coordinate-transformed output value;

[0216] The output value after coordinate transformation is modulated to obtain the control signal for the initial duty cycle;

[0217] The control signal with the initial duty cycle is converted from AC to DC to obtain the control signal with the preset duty cycle.

[0218] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0219] Based on the correspondence between clamping force and rotation angle, determine the target rotation angle corresponding to the target clamping force of the motor;

[0220] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0221] Input the angle difference between the target angle and the current target motor angle into the angle loop;

[0222] The speed difference between the output value of the angle loop and the current speed of the motor is input to the speed loop;

[0223] The difference between the output values ​​of the q-axis current and the speed loop is input to the q-axis sub-current loop;

[0224] Input the difference between the target d-axis current and the d-axis current of the motor into the d-axis sub-current loop;

[0225] The output values ​​of the q-axis sub-current loop and the d-axis current loop are transmitted to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0226] In one embodiment, a computer program product is provided, including a computer program that, when executed by a processor, performs the following steps:

[0227] Obtain the current target motor rotation angle;

[0228] Determine whether the current target motor angle is greater than the preset angle. If it is not greater, use a single current closed-loop control strategy to control the motor to generate the first target braking force. If it is greater, use a three-closed-loop control strategy to control the motor to generate the second target braking force.

[0229] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0230] Obtain the current target clamping force of the EMB;

[0231] Convert the current target clamping force into the current target motor rotation angle.

[0232] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0233] By performing coordinate transformation on the three-phase currents in the motor, two-phase currents can be obtained.

[0234] Input the target current of the motor and the difference between the two-phase currents into the current loop;

[0235] The output value of the current loop is transmitted to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force based on the output value.

[0236] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0237] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0238] The target current of the motor and the difference between the two-phase currents are input into the current loop, including:

[0239] The target q-axis current of the motor and the first difference between the two currents are input to the q-axis sub-current loop, and the target d-axis current of the motor and the second difference between the two currents are input to the d-axis sub-current loop.

[0240] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0241] Generate a control signal with a preset duty cycle based on the output value;

[0242] The control signal is transmitted to the control three-phase voltage inverter to control the motor to generate the first target braking force according to the control signal.

[0243] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0244] Perform coordinate transformation on the output value to obtain the coordinate-transformed output value;

[0245] The output value after coordinate transformation is modulated to obtain the control signal for the initial duty cycle;

[0246] The control signal with the initial duty cycle is converted from AC to DC to obtain the control signal with the preset duty cycle.

[0247] In one embodiment, when the computer program is executed by a processor, it further performs the following steps:

[0248] Based on the correspondence between clamping force and rotation angle, determine the target rotation angle corresponding to the target clamping force of the motor;

[0249] By performing coordinate transformation on the three-phase currents in the motor, the q-axis current and d-axis current are obtained;

[0250] Input the angle difference between the target angle and the current target motor angle into the angle loop;

[0251] The speed difference between the output value of the angle loop and the current speed of the motor is input to the speed loop;

[0252] The difference between the output values ​​of the q-axis current and the speed loop is input to the q-axis sub-current loop;

[0253] Input the difference between the target d-axis current and the d-axis current of the motor into the d-axis sub-current loop;

[0254] The output values ​​of the q-axis sub-current loop and the d-axis current loop are transmitted to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force based on the output values ​​of the current loops.

[0255] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, databases, or other media used in the embodiments provided in this application can include at least one of non-volatile and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetic random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM). The databases involved in the embodiments provided in this application may include at least one type of relational database and non-relational database. Non-relational databases may include, but are not limited to, blockchain-based distributed databases. The processors involved in the embodiments provided in this application may be general-purpose processors, central processing units, graphics processing units, digital signal processors, programmable logic devices, quantum computing-based data processing logic devices, etc., and are not limited to these.

[0256] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0257] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of this patent application. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this application should be determined by the appended claims.

Claims

1. A control method of an electric motor, characterized by, The control method is applied to a controller in an electronic mechanical brake system (EMB), the EMB further comprising a motor, the controller comprising a rotation angle loop, a rotation speed loop and a current loop, and the method comprising: obtaining a current target motor rotation angle of the motor; determining whether the current target motor rotation angle is greater than a preset rotation angle, if not, performing coordinate transformation on three-phase currents in the motor to obtain two-phase currents, inputting a difference between a target current of the motor and the two-phase currents into the current loop, transmitting an output value of the current loop to a three-phase voltage inverter in the EMB to control the motor to generate a first target braking force according to the output value, and if yes, determining a target rotation angle corresponding to a target clamping force of the motor according to a corresponding relationship between the clamping force and the rotation angle, performing coordinate transformation on the three-phase currents in the motor to obtain a q-axis current and a d-axis current, inputting a rotation angle difference between the target rotation angle and the current target motor rotation angle into the rotation angle loop, inputting a rotation speed difference between an output value of the rotation angle loop and a current rotation speed of the motor into the rotation speed loop, inputting a difference between the q-axis current and the output value of the rotation speed loop into a q-axis sub-current loop, inputting a difference between a target d-axis current of the motor and the d-axis current into a d-axis sub-current loop, and transmitting output values of the q-axis sub-current loop and the d-axis sub-current loop to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force according to the output value of the current loop.

2. The method of claim 1, wherein, The obtaining of the current target motor rotation angle of the motor comprises: obtaining a current target clamping force of the EMB; converting the current target clamping force into the current target motor rotation angle.

3. The method of claim 1, wherein, The current loop comprises a d-axis sub-current loop and a q-axis sub-current loop, and the performing of the coordinate transformation on the three-phase currents in the motor to obtain the two-phase currents comprises: performing coordinate transformation on the three-phase currents in the motor to obtain a q-axis current and a d-axis current; The inputting of the difference between the target current of the motor and the two-phase currents into the current loop comprises: inputting a first difference between a target q-axis current of the motor and the q-axis current into the q-axis sub-current loop, and inputting a second difference between a target d-axis current of the motor and the d-axis current into the d-axis sub-current loop.

4. The method of claim 1, wherein, The transmitting of the output value of the current loop to the three-phase voltage inverter in the EMB to control the motor to generate the first target braking force according to the output value comprises: generating a control signal of a preset duty cycle according to the output value; controlling the three-phase voltage inverter based on the control signal to control the motor to generate the first target braking force according to the control signal.

5. The method of claim 4, wherein, The generating of the control signal of the preset duty cycle according to the output value comprises: performing coordinate transformation on the output value to obtain a coordinate-transformed output value; modulating the coordinate-transformed output value to obtain a control signal of an initial duty cycle; performing AC-DC conversion on the control signal of the initial duty cycle to obtain the control signal of the preset duty cycle.

6. A control device of an electric motor characterized by comprising: A controller applied to an electronic mechanical brake system (EMB) further comprising a motor, the controller comprising a rotation angle loop, a rotation speed loop and a current loop, the device comprising: An acquisition module configured to acquire a current target motor rotation angle of the motor; A control module configured to determine whether the current target motor rotation angle is greater than a preset rotation angle, if not, perform coordinate transformation on three-phase currents in the motor to obtain two-phase currents; input a difference between a target current of the motor and the two-phase currents into the current loop; transmit an output value of the current loop to a three-phase voltage inverter in the EMB to control the motor to generate a first target braking force according to the output value, if yes, determine a target rotation angle corresponding to a target clamping force of the motor according to a corresponding relationship between the clamping force and the rotation angle; perform coordinate transformation on the three-phase currents in the motor to obtain a q-axis current and a d-axis current; input a rotation angle difference between the target rotation angle and the current target motor rotation angle into the rotation angle loop; input a rotation speed difference between an output value of the rotation angle loop and a current rotation speed of the motor into the rotation speed loop; input a difference between the q-axis current and the output value of the rotation speed loop into a q-axis sub-current loop; input a difference between a target d-axis current of the motor and the d-axis current into a d-axis sub-current loop; transmit an output value of the q-axis sub-current loop and an output value of the d-axis sub-current loop to the three-phase voltage inverter in the EMB to control the motor to generate a second target braking force according to the output value of the current loop.

7. The apparatus of claim 6, wherein, The acquisition module comprises: An acquisition unit configured to acquire a current target clamping force of the EMB; A conversion unit configured to convert the current target clamping force into the current target motor rotation angle.

8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that, The processor executes the computer program to implement the steps of the method of any one of claims 1 to 5.

9. A computer-readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 5.

10. A computer program product comprising a computer program, characterized in that, The computer program is executed by the processor to implement the steps of the method of any one of claims 1 to 5.

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