Motor torque compensation method, device, vehicle, medium and product

Abstract

The present invention relates to a motor torque compensation method, device, vehicle, medium and product, wherein the method comprises: obtaining the required torque and operating temperature of the motor at the current moment; determining the torque corresponding to the operating temperature according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; calculating the torque difference between the torque corresponding to the operating temperature and the reference torque, and compensating the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor. Thus, the problem that the motor torque compensation method in the related art usually does not consider the influence of the motor temperature on the torque, thereby reducing the torque control accuracy, reducing the driving safety of the user, reducing the energy utilization efficiency of the vehicle, and increasing the energy consumption of the vehicle during driving is solved.

Description

Technical Field

[0001] The present invention relates to the field of automobile technology, and in particular to a motor torque compensation method, device, vehicle, medium and product. Background Art

[0002] As the market for new energy passenger vehicles continues to expand in recent years, the requirements for motor capabilities in all aspects are constantly increasing. Motor torque compensation technology can significantly reduce torque errors caused by factors such as temperature, friction, and deviation, thereby improving the control accuracy of motor torque, which is directly related to factors such as energy consumption, power, and driving safety during vehicle driving.

[0003] In the related art, fuzzy control compensation, torque fluctuation compensation, electric drive control current compensation considering temperature and the like are usually used to achieve motor torque compensation. However, in the related art, the influence of motor temperature on torque is usually not taken into account, thereby reducing the torque control accuracy, reducing the energy utilization efficiency of the vehicle, reducing the user's driving safety, and increasing the energy consumption during vehicle driving. Summary of the invention

[0004] One of the purposes of the present invention is to provide a motor torque compensation method to solve the problem that the motor torque compensation method in the related art usually does not consider the influence of motor temperature on torque, thereby reducing the torque control accuracy, reducing the driving safety of users, reducing the energy utilization efficiency of vehicles, and increasing the energy consumption of vehicles during driving. The second purpose is to provide a motor torque compensation device; the third purpose is to provide a vehicle; the fourth purpose is to provide a computer-readable storage medium; the fifth purpose is to provide a computer program product.

[0005] In order to achieve the above object, the technical solution adopted by the present invention is as follows:

[0006] A motor torque compensation method comprises the following steps: obtaining the required torque and operating temperature of the motor at the current moment; determining the torque corresponding to the operating temperature according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; calculating the torque difference between the torque corresponding to the operating temperature and a reference torque, and compensating the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor.

[0007] According to the above technical means, an embodiment of the present invention proposes a motor torque compensation method, which determines the influence of motor temperature on motor output torque by processing motor output torque and motor temperature data, thereby forming a mapping relationship between temperature and torque, and realizes compensation for the required torque of the motor according to the mapping relationship between temperature and torque, thereby achieving the purpose of improving the motor torque control accuracy; in addition, it improves the energy utilization efficiency of the vehicle, improves the driving safety of the vehicle, and improves the user experience.

[0008] Furthermore, the preset mapping relationship is:

[0009] Tq1=a1*Temp^3+b1*Temp^2+c1*Temp+d1,

[0010] Among them, Tq1 is the output torque of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

[0011] According to the above technical means, the embodiment of the present invention converts the influence of temperature on the output torque of the electric drive assembly into the influence of temperature on the output torque of the motor, thereby improving the accuracy of motor torque control.

[0012] Furthermore, before determining the torque corresponding to the operating temperature based on the current operating temperature of the motor and the preset mapping relationship, it also includes: obtaining multiple sets of temperature test data and output torque test data of the electric drive; obtaining a fitting curve based on regression fitting of the temperature test data and the output torque test data; and updating the fitting curve based on the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship.

[0013] According to the above-mentioned technical means, the embodiment of the present invention performs trend fitting on multiple groups of temperature test data and output torque test data of the electric drive to obtain a fitting curve of the change law of the output torque of the electric drive assembly with temperature. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship between temperature and torque, thereby improving the accuracy of determining the torque compensation value of the motor at different operating temperatures.

[0014] Furthermore, the fitting curve is:

[0015] Tq=a*Temp^3+b*Temp^2+c*Temp+d,

[0016] Among them, Tq is the output torque of the electric drive assembly; Temp is the temperature of the motor when it is working; a is the fitting coefficient of the cubic term; b is the fitting coefficient of the quadratic term; c is the fitting coefficient of the linear term; and d is the fitting coefficient of the constant term.

[0017] According to the above technical means, the embodiment of the present invention proposes a fitting curve of the law of change of the output torque of the electric drive assembly with temperature through the external characteristic test data of the electric drive test bench, thereby improving the accuracy of the law of change of the output torque of the electric drive assembly with temperature.

[0018] Further, the torque difference between the torque corresponding to the operating temperature and the reference torque is calculated, including: if the required torque is a first preset value, the torque difference is the preset difference; if the required torque is greater than or less than the first preset value, the torque difference is the difference between the reference torque and the torque corresponding to the operating temperature.

[0019] According to the above technical means, the required torque is compared with the first preset value, and the torque difference is accurately calculated based on the torque corresponding to the actual operating temperature of the motor calculated by the preset mapping curve and the reference torque, thereby improving the accuracy and efficiency of the motor torque control.

[0020] Furthermore, the target torque of the motor is obtained by compensating the required torque of the motor at the current moment according to the torque difference, including: if the required torque is a first preset value, the target torque is the required torque; if the required torque is less than the first preset value, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference; if the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference.

[0021] According to the above technical means, based on the vector control principle of temperature motor torque compensation, the vector direction of the required torque and the influence of temperature on the torque are taken into consideration, so as to compensate the required torque of the motor at the current moment according to the torque difference, thereby obtaining the target torque of the motor, improving the motor torque control accuracy and system stability, optimizing energy utilization efficiency, and expanding the scope of application.

[0022] Further, the target torque is determined according to the difference between the required torque and the torque difference, including: if the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; if the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0023] According to the above-mentioned technical means, based on the vector control principle of temperature motor torque compensation, it is possible to take into account the actual torque demand, torque vector direction and the influence of temperature on the torque; the difference between the torque and the torque difference is compared with the second preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0024] Further, the target torque is determined according to the sum of the required torque and the torque difference, including: if the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; if the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0025] According to the above-mentioned technical means, based on the vector control principle of temperature motor torque compensation, it is possible to take into account the actual torque demand, torque vector direction and the influence of temperature on the torque; the difference between the torque and the torque difference is compared with the third preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0026] Furthermore, before calculating the torque difference between the torque corresponding to the operating temperature and the reference torque, it also includes: obtaining a reference temperature of the motor; and calculating the reference torque according to the reference temperature and a preset mapping relationship.

[0027] According to the above technical means, the reference temperature of the motor is obtained through the temperature during the calibration of the current control strategy, and the reference torque corresponding to the reference temperature of the motor is obtained according to the preset mapping relationship, thereby improving the accuracy of calculating the reference torque.

[0028] A motor torque compensation method comprises the following steps: obtaining a plurality of sets of temperature test data and output torque test data of an electric drive; obtaining a fitting curve by regression fitting based on the temperature test data and the output torque test data; updating the fitting curve based on the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship; and compensating the required torque of the motor based on the preset mapping relationship to obtain a target torque of the motor.

[0029] According to the above-mentioned technical means, the embodiment of the present invention is based on the external characteristic test data of the electric drive test bench, and obtains a fitting curve by regression fitting according to the temperature test data and the output torque test data. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. The torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque are used to accurately calculate the torque difference, so as to achieve the purpose of compensating the required torque of the motor, thereby obtaining the target torque of the motor, improving the accuracy of motor torque control, improving the energy utilization efficiency of the vehicle, improving the driving safety of the vehicle, and improving the user experience.

[0030] A motor torque compensation device includes: a first acquisition module, used to obtain the required torque and operating temperature of the motor at the current moment; a determination module, used to determine the torque corresponding to the operating temperature according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; a calculation module, used to calculate the torque difference between the torque corresponding to the operating temperature and a reference torque, and compensate the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor.

[0031] According to the above technical means, an embodiment of the present invention proposes a motor torque compensation device, which processes the motor output torque and motor temperature data to determine the influence of the motor temperature on the motor output torque, thereby forming a mapping relationship between temperature and torque, and according to the mapping relationship between temperature and torque, the required torque of the motor is compensated, thereby achieving the purpose of improving the motor torque control accuracy; in addition, the energy utilization efficiency of the vehicle is improved, the driving safety of the vehicle is improved, and the user experience is improved.

[0032] Furthermore, the determination module is also used to preset the mapping relationship as follows:

[0033] Tq1=a1*Temp^3+b1*Temp^2+c1*Temp+d1,

[0034] Among them, Tq1 is the output torque of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

[0035] Furthermore, before determining the torque corresponding to the operating temperature based on the current operating temperature of the motor and the preset mapping relationship, the determination module is also used to obtain multiple sets of temperature test data and output torque test data of the electric drive; obtain a fitting curve based on regression fitting of the temperature test data and the output torque test data; and update the fitting curve based on the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship.

[0036] Furthermore, the determination module is also used to fit the curve as follows:

[0037] Tq=a*Temp^3+b*Temp^2+c*Temp+d,

[0038] Among them, Tq is the output torque of the electric drive assembly; Temp is the temperature of the motor when it is working; a is the fitting coefficient of the cubic term; b is the fitting coefficient of the quadratic term; c is the fitting coefficient of the linear term; and d is the fitting coefficient of the constant term.

[0039] Furthermore, the calculation module is also used to, when the required torque is a first preset value, the torque difference is a preset difference; when the required torque is greater than or less than the first preset value, the torque difference is a difference between the reference torque and the torque corresponding to the operating temperature.

[0040] Furthermore, the calculation module is also used to, when the required torque is a first preset value, the target torque is the required torque; when the required torque is less than the first preset value, calculate the difference between the required torque and the torque difference, and determine the target torque based on the difference between the required torque and the torque difference; when the required torque is greater than the first preset value, calculate the sum of the required torque and the torque difference, and determine the target torque based on the sum of the required torque and the torque difference.

[0041] Furthermore, the target torque is determined based on the difference between the required torque and the torque difference. The calculation module is also used to, when the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; when the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0042] Furthermore, the target torque is determined based on the sum of the required torque and the torque difference. The calculation module is also used to, when the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; when the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0043] Furthermore, before calculating the torque difference between the torque corresponding to the operating temperature and the reference torque, the calculation module is also used to obtain the reference temperature of the motor; and calculate the reference torque according to the reference temperature and a preset mapping relationship.

[0044] A motor torque compensation device includes: a second acquisition module, used to acquire multiple groups of temperature test data and output torque test data of electric drives; a fitting module, used to obtain a fitting curve based on the regression fitting of the temperature test data and the output torque test data; an updating module, used to update the fitting curve based on the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship; and a compensation module, used to compensate the required torque of the motor according to the preset mapping relationship to obtain the target torque of the motor.

[0045] According to the above-mentioned technical means, the embodiment of the present invention is based on the external characteristic test data of the electric drive test bench, and obtains a fitting curve by regression fitting according to the temperature test data and the output torque test data. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. The torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque are used to accurately calculate the torque difference, so as to achieve the purpose of compensating the required torque of the motor, thereby obtaining the target torque of the motor, improving the accuracy of motor torque control, improving the energy utilization efficiency of the vehicle, improving the driving safety of the vehicle, and improving the user experience.

[0046] A vehicle includes a memory, a processor, and a computer program stored in the memory and executable on the processor. The processor executes the program to implement a motor torque compensation method as described in the above embodiment.

[0047] A computer-readable storage medium stores a computer program or instruction, which, when executed, implements the motor torque compensation method as described in the above embodiment.

[0048] A computer program product includes a computer program or an instruction. When the computer program or the instruction is executed, the motor torque compensation method as described in the above embodiment is implemented.

[0049] Beneficial effects of the present invention:

[0050] (1) The embodiment of the present invention proposes a motor torque compensation method, which determines the influence of motor temperature on motor output torque by processing motor output torque and motor temperature data, thereby forming a mapping relationship between temperature and torque. According to the mapping relationship between temperature and torque, the required torque of the motor is compensated, thereby achieving the purpose of improving the motor torque control accuracy; in addition, the energy utilization efficiency of the vehicle is improved, the driving safety of the vehicle is improved, and the user experience is improved.

[0051] (2) The embodiment of the present invention converts the influence of temperature on the output torque of the electric drive assembly into the influence of temperature on the output torque of the motor, thereby improving the accuracy of motor torque control.

[0052] (3) In the embodiment of the present invention, multiple sets of temperature test data and output torque test data of the electric drive are trend-fitted to obtain a fitting curve of the variation law of the output torque of the electric drive assembly with temperature. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship between temperature and torque, thereby improving the accuracy of determining the torque compensation value of the motor at different operating temperatures.

[0053] (4) The embodiment of the present invention proposes a fitting curve of the law of change of the output torque of the electric drive assembly with temperature through the external characteristic test data of the electric drive test bench, thereby improving the accuracy of the law of change of the output torque of the electric drive assembly with temperature.

[0054] (5) The embodiment of the present invention compares the required torque with the first preset value, and accurately calculates the torque difference based on the torque corresponding to the actual operating temperature of the motor calculated by the preset mapping curve and the reference torque, thereby improving the accuracy and efficiency of the motor torque control.

[0055] (6) The embodiment of the present invention is based on the vector control principle of temperature motor torque compensation, which takes into account the vector direction of the required torque and the influence of temperature on the torque, so as to compensate the required torque of the motor at the current moment according to the torque difference, thereby obtaining the target torque of the motor, improving the motor torque control accuracy and system stability, optimizing energy utilization efficiency, and expanding the scope of application.

[0056] (7) The embodiment of the present invention is based on the vector control principle of temperature motor torque compensation, which takes into account the actual torque demand, torque vector direction and the influence of temperature on the torque; the difference between the torque and the torque difference is compared with the second preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0057] (8) The embodiment of the present invention is based on the vector control principle of temperature motor torque compensation, which takes into account the actual torque demand, torque vector direction and the influence of temperature on the torque; the difference between the torque and the torque difference is compared with the third preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0058] (9) The embodiment of the present invention obtains the reference temperature of the motor through the temperature during the calibration of the current control strategy, and obtains the reference torque corresponding to the reference temperature of the motor according to a preset mapping relationship, thereby improving the accuracy of calculating the reference torque.

[0059] (10) The embodiment of the present invention is based on the external characteristic test data of the electric drive test bench, and obtains a fitting curve by regression fitting according to the temperature test data and the output torque test data. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. The torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque are used to accurately calculate the torque difference, so as to achieve the purpose of compensating the required torque of the motor, thereby obtaining the target torque of the motor, improving the accuracy of motor torque control, improving the energy utilization efficiency of the vehicle, improving the driving safety of the vehicle, and improving the user experience.

[0060] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0061] Figure 1 A schematic diagram of a flow chart of a motor torque compensation method according to the present invention;

[0062] Figure 2 A schematic diagram of a torque compensation control principle provided according to an embodiment of the present invention;

[0063] Figure 3 A schematic diagram of obtaining multiple sets of temperature test data and output torque test data of electric drives according to an embodiment of the present invention;

[0064] Figure 4 A schematic diagram of a fitting result obtained by regression fitting of temperature test data and output torque test data according to an embodiment of the present invention;

[0065] Figure 5 A schematic diagram of obtaining a target torque of a motor by compensating a required torque of the motor at a current moment according to a torque difference value provided in accordance with an embodiment of the present invention;

[0066] Figure 6 A schematic diagram of a flow chart of another motor torque compensation method according to the present invention;

[0067] Figure 7 is a block diagram of a motor torque compensation device according to the present invention;

[0068] Figure 8 is a block diagram of another motor torque compensation device according to the present invention;

[0069] Fig. 9 Schematic diagram of the structure of a vehicle according to the present invention.

[0070] Among them: 70-motor torque compensation device; 80-motor torque compensation device; 701-first acquisition module; 702-determination module; 703-calculation module; second acquisition module-801; fitting module-802; update module-803; compensation module-804; vehicle-90; memory-901; processor-902 and communication interface-903. DETAILED DESCRIPTION

[0071] The following will describe the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are only for illustrating the present invention, not for limiting the scope of protection of the present invention.

[0072] It should be noted that the illustrations provided in the following embodiments are only schematic illustrations of the basic concept of the present invention, and thus the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0073] Before introducing the present invention, the related technology of the present invention is first described.

[0074] (1) Related technologies determine the driving demand torque by a function of the accelerator pedal opening and its opening change rate, vehicle speed and power battery; the pure electric vehicle torque control strategy uses a driving mode fuzzy controller to divide the electric vehicle driving mode into a normal mode and an acceleration mode, and introduces a driving compensation torque in the acceleration mode. It can select the appropriate driving mode under different acceleration requirements, more reasonably utilize the power of the power battery, and improve the acceleration performance of the electric vehicle, shorten the time required for acceleration, and improve the driving operation feel and cruising range of the electric vehicle.

[0075] (2) The related technology uses the vehicle real-time information parameters and designs the torque compensation control method to control the threshold; judges whether the current torque change rate and amplitude meet the requirements for activating the torque compensation control; determines the torque compensation coefficient based on the current target torque value and vehicle speed; calculates the torque compensation coefficient based on the accelerator pedal change amplitude after activating the torque compensation; implements the torque fluctuation rate limit according to the target torque value to limit the torque fluctuation; outputs the compensated power torque and judges whether the conditions for exiting the torque compensation control strategy are met. The automobile torque compensation control method in the related technology can effectively compensate for the torque hysteresis performance under dynamic driving of the vehicle. Compared with the control method that only uses the accelerator pedal change rate to calculate the compensation, the closed-loop control method that monitors the accelerator pedal changes after the function is activated makes the entire torque path control more reliable.

[0076] (3) Related art The controller issues a command to the inverter in response to the torque request so that the motor generates the requested torque at the current temperature; the DC component of the winding current is adjusted to effectively deliver the requested torque. For a given rotor speed, bus voltage, and torque, the DC component increases as the temperature increases.

[0077] Therefore, the deficiencies in the related art are as follows:

[0078] In the related art, fuzzy control compensation, torque fluctuation compensation, electric drive control current compensation considering temperature and the like are usually used to achieve motor torque compensation. However, in the related art, the influence of motor temperature on torque is usually not taken into account, thereby reducing the torque control accuracy, reducing the energy utilization efficiency of the vehicle, reducing the user's driving safety, and increasing the energy consumption during vehicle driving.

[0079] In order to solve the above problems, the present invention provides a motor torque compensation method, device, vehicle, medium and product. The motor torque compensation method will be described below. Figure 1 It is a flow chart of a motor torque compensation method provided by an embodiment of the present invention.

[0080] like Figure 1 As shown, the motor torque compensation method includes the following steps:

[0081] In step S101 , the required torque and operating temperature of the motor at the current moment are obtained.

[0082] It should be noted that, in the embodiment of the present invention, the required torque of the motor is exemplified by Tqs, and the operating temperature is exemplified by Temp.

[0083] It is understandable that if Figure 2 As shown, the VCU (Vehicle Control Unit) determines the motor demand torque Tqs at the current moment according to the accelerator pedal opening, vehicle speed, electric drive torque capacity, and battery discharge capacity; the motor operating temperature Temp at the current moment can be obtained by setting a temperature sensor on the outside of the motor. The method of obtaining the motor demand torque and operating temperature at the current moment is not specifically limited here, and technicians in this field can set it according to actual conditions.

[0084] In step S102, the torque corresponding to the operating temperature is determined according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque.

[0085] It should be noted that, in the embodiment of the present invention, the torque corresponding to the motor operating temperature at the current moment is Tq_Temp.

[0086] In an embodiment of the present invention, before determining the torque corresponding to the operating temperature according to the current operating temperature of the motor and the preset mapping relationship, it also includes: acquiring multiple sets of temperature test data and output torque test data of the electric drive; obtaining a fitting curve according to regression fitting of the temperature test data and the output torque test data; and updating the fitting curve according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship.

[0087] Specifically, if Figure 3As shown, first, the electric drive system output torque test is completed through the electric drive system test bench to obtain the electric drive assembly output torque Tq_test and motor temperature Temp_test data; based on the electric drive system test data, the electric drive output torque and temperature data are processed; according to the motor winding temperature data, the motor temperature is divided into n groups (Temp_1, Temp_2...Temp_n); the output torque data of each group of electric drives are averaged to obtain n groups of electric drive assembly output torque values ​​(Tq_1, Tq_2,...Tq_n), thereby generating the electric drive assembly test data; the data fitting analysis tool is used to determine the influence of temperature on the output torque of the electric drive assembly; based on the reducer efficiency and the reducer speed ratio, the influence of temperature on the assembly output torque is converted into the influence on the motor output torque.

[0088] The type of reducer is not specifically limited here, and those skilled in the art can set it according to actual conditions.

[0089] Therefore, in an embodiment of the present invention, multiple sets of temperature test data and output torque test data of the electric drive are trend fitted to obtain a fitting curve of the change law of the output torque of the electric drive assembly with temperature. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship between temperature and torque, thereby improving the accuracy of determining the torque compensation value of the motor at different operating temperatures.

[0090] In the embodiment of the present invention, the fitting curve is:

[0091] Tq=a*Temp^3+b*Temp^2+c*Temp+d,

[0092] Among them, Tq is the output torque of the electric drive assembly; Temp is the temperature of the motor when it is working; a is the fitting coefficient of the cubic term; b is the fitting coefficient of the quadratic term; c is the fitting coefficient of the linear term; and d is the fitting coefficient of the constant term.

[0093] Specifically, if Figure 4 As shown in the figure, based on the external characteristic test data of the electric drive test bench, a fitting curve of the variation law of the output torque of the electric drive assembly with temperature is proposed, which improves the accuracy of the variation law of the output torque of the electric drive assembly with temperature.

[0094] In the embodiment of the present invention, the preset mapping relationship is:

[0095] Tq1=a1*Temp^3+b1*Temp^2+c1*Temp+d1,

[0096] Among them, Tq1 is the output torque of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

[0097] As a possible implementation method, when Tq>0, Tq1=Tq / η1 / i; a1=a / η1 / i; b1=b / η1 / i; c1=c / η1 / i; d1=d / η1 / i,

[0098] Among them, η1 is the efficiency of the reducer with a fixed value; i is the speed ratio of the reducer; a1 is the updated value of the cubic fitting coefficient; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient; a is the cubic fitting coefficient; b is the quadratic fitting coefficient; c is the linear fitting coefficient; d is the constant fitting coefficient.

[0099] As another possible implementation method, when Tq<0, Tq1=Tq*η1 / i; a1=a*η1 / i; b1=b*η1 / i; c1=c*η1 / i; d1=d*η1 / i,

[0100] Among them, η1 is the efficiency of the reducer with a fixed value; i is the speed ratio of the reducer; a1 is the updated value of the cubic fitting coefficient; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient; a is the cubic fitting coefficient; b is the quadratic fitting coefficient; c is the linear fitting coefficient; d is the constant fitting coefficient.

[0101] Therefore, the torque Tq_Temp corresponding to the operating temperature is:

[0102] Tq_Temp=a1*Temp^3+b1*Temp^2+c1*Temp+d1,

[0103] Among them, Temp is the working temperature of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

[0104] Therefore, in the embodiment of the present invention, based on the reducer efficiency η1 and the reducer speed ratio i, the influence of temperature on the output torque of the electric drive assembly is converted into the influence on the output torque of the motor, thereby improving the accuracy of motor torque control.

[0105] In step S103, the torque difference between the torque corresponding to the operating temperature and the reference torque is calculated, and the required torque of the motor at the current moment is compensated according to the torque difference to obtain the target torque of the motor.

[0106] It can be understood that a torque compensation strategy is formed by compensating the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor. The strategy can be implemented by carrying a vehicle controller or an electric drive controller. No specific limitation is made here, and technical personnel in this field can set it according to actual conditions.

[0107] It should be noted that if Figure 5 As shown, in an embodiment of the present invention, the reference torque is the torque Tq_Tempb corresponding to the temperature Tempb when the current control strategy is calibrated; the target torque is taken as Tqsnew, and the torque difference between the torque Tq_Temp corresponding to the working temperature and the reference torque Tq_Tempb is taken as ΔTq.

[0108] In the embodiment of the present invention, before calculating the torque difference between the torque corresponding to the operating temperature and the reference torque, it also includes: obtaining the reference temperature of the motor; and calculating the reference torque according to the reference temperature and a preset mapping relationship.

[0109] It should be noted that in the embodiment of the present invention, the motor is a permanent magnet synchronous motor as an example. As the most widely used type of drive motor for new energy vehicles, the permanent magnet synchronous motor has the advantages of high energy density, easy control, and low loss. However, the actual working conditions encountered by new energy vehicles during driving are complex and changeable, and there is a large deviation between the working temperature of the motor and the test temperature during the bench test, which causes the electromagnetic parameters of the motor to change, and then causes the direct-axis current and the quadrature-axis current selected according to the bench test data to have a certain deviation from the direct-axis current and the quadrature-axis current required for the actual operation of the motor, which in turn affects the error between the torque output by the motor at different operating temperatures and the actual required torque.

[0110] Specifically, Figure 2 Schematic diagram of permanent magnet synchronous motor vector control.

[0111] Among them, motspd is the motor speed; Iq is the quadrature-axis current; Id is the direct-axis current; Iqcmd is the quadrature-axis control current command; Idcmd is the direct-axis control current command; Uq is the quadrature-axis voltage; Ud is the direct-axis voltage; ia is the A-phase current of the three motor groups; ib is the B-phase current of the three motor groups; ic is the C-phase current of the three motor groups; Sa is the first group of switches of the IGBT; Sb is the second group of switches of the IGBT; Sc is the third group of switches of the IGBT; UA is the A-phase voltage of the three motor groups; UB is the B-phase voltage of the three motor groups; UC is the C-phase voltage of the three motor groups; Uα is the voltage of the α-axis of the static coordinate axis; Uβ is the voltage of the β-axis of the static coordinate axis; Tqsnew is the target torque; Tqs is the required torque.

[0112] Specifically, the motor vector control principle is as follows Figure 2As shown, based on the target torque Tqsnew and the motor speed motspd, the software control strategy ammeter of the motor calibration is checked to determine the direct axis control current command Idcmd and the quadrature axis control current command Iqcmd in the rotating coordinate system; Ud and Uq are calculated by the permanent magnet synchronous motor voltage equation, and the permanent magnet synchronous motor voltage equation is as follows:

[0113] Ψd=Ld*id+Ψf

[0114] Ψq=Lq*iq

[0115] Ud=d(Ψd) / dt-ω*Ψq+Rs*id

[0116] Uq=d(Ψq) / dt-ω*Ψd+Rs*iq

[0117] Among them, Ld and Lq are the direct-axis and quadrature-axis inductances of the permanent magnet synchronous motor respectively; ψf is the magnetic flux generated by the magnetic poles of the permanent magnets of the permanent magnet synchronous motor and linked with the stator winding; id and iq are the direct-axis and quadrature-axis currents respectively, Ψd and Ψq are the direct-axis and quadrature-axis magnetic fluxes respectively; Ud and Uq are the direct-axis and quadrature-axis voltages respectively, Rs is the motor winding resistance, and ω is the electrical angular velocity of the motor rotor rotation.

[0118] Ud and Uq are transformed by Park inverse transformation to obtain voltage components Uα and Uβ under the two-phase static coordinates α and β axes; based on Uα and Uβ, the on and off signals Sa, Sb, and Sc of the three groups of IGBT (Insulated Gate Bipolar Transistor) switches are determined by SVPWM (Space Vector Pulse With Modulation) algorithm. Sa, Sb, and Sc control the operation of IGBT, modulate the DC voltage into three-phase AC voltages UA, UB, and UC for motor operation, and form three-phase currents ia, ib, and ic in the motor windings. The three-phase currents ia, ib, and ic are collected by current sensors and converted into currents iα and iβ under the two-phase static coordinates α and β axes through Clark transformation; and then converted into AC and DC axis currents id and iq under the two-phase rotating coordinate system through park transformation for current closed-loop control.

[0119] In summary, in the embodiment of the present invention, the current strategy table of the direct-axis current Idcmd and the quadrature-axis current Idcmd corresponding to the motor at different torques and different speeds is obtained through bench test calibration. When the motor is working, the target torque of the motor is compensated based on the motor temperature, and the corresponding direct-axis current Idcmd instruction and the quadrature-axis current Iqcmd instruction are determined by the target torque selection and speed search current table, and the three-phase currents ia, ib, and ic collected by the three-phase current sensor in the motor are converted into the currents iα and iβ under the two-phase static coordinates α and β axes through Clark transformation; and then converted into the quadrature-direct axis currents id and iq under the two-phase rotating coordinate system through park transformation and compared with the command current to perform current closed-loop control.

[0120] The AC and DC currents id and iq are used to calculate the AC and DC voltages Ud and Uq of the permanent magnet synchronous motor through the voltage equation. The coordinates are transformed by Park inverse transformation to obtain the voltage components Uα and Uβ under the two-phase static coordinates α and β axes. The on and off signals Sa, Sb, and Sc of the three groups of IGBT switches are determined through the SVPWM algorithm. The IGBT is controlled to modulate the DC voltage into three-phase AC voltages UA, UB, and UC for motor operation, forming three-phase currents ia, ib, and ic in the motor windings. This achieves the purpose of controlling the motor torque output.

[0121] Therefore, the reference torque Tq_Tempb is:

[0122] Tq_Tempb=a1*Tempb^3+b1*Tempb^2+c1*Tempb+d1,

[0123] Among them, Tempb is the temperature during the current control strategy calibration; a1 is the updated value of the cubic term fitting coefficient; b1 is the updated value of the quadratic term fitting coefficient; c1 is the updated value of the linear term fitting coefficient; d1 is the updated value of the constant term fitting coefficient.

[0124] Therefore, in an embodiment of the present invention, the reference temperature of the motor is obtained by the temperature during calibration of the current control strategy, and the reference torque corresponding to the reference temperature of the motor is obtained according to a preset mapping relationship, thereby improving the accuracy of calculating the reference torque.

[0125] In an embodiment of the present invention, the torque difference between the torque corresponding to the operating temperature and the reference torque is calculated, including: if the required torque is a first preset value, the torque difference is the preset difference; if the required torque is greater than or less than the first preset value, the torque difference is the difference between the reference torque and the torque corresponding to the operating temperature.

[0126] It should be noted that, in the embodiment of the present invention, the first preset value is 0 as an example; the preset difference value is 0 as an example, which is not specifically limited here, and those skilled in the art can set it according to actual conditions.

[0127] Specifically, if Figure 5 As shown, when the required torque Tqs is equal to 0, the motor does not perform torque compensation according to zero torque control; when the required torque Tqs is greater than or less than 0, the torque difference ΔTq is the difference between the reference torque Tq_Tempb and the torque Tq_Temp corresponding to the operating temperature.

[0128] Therefore, in an embodiment of the present invention, the required torque Tqs is compared with the first preset value, and the torque difference ΔTq is accurately calculated based on the torque Tq_Temp corresponding to the actual operating temperature of the motor calculated by the preset mapping curve and the reference torque Tq_Tempb, thereby improving the accuracy and efficiency of the motor torque control.

[0129] In an embodiment of the present invention, the target torque of the motor is obtained by compensating the required torque of the motor at the current moment according to the torque difference, including: if the required torque is a first preset value, the target torque is the required torque; if the required torque is less than the first preset value, the difference between the required torque and the torque difference is calculated, and the target torque is determined according to the difference between the required torque and the torque difference; if the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference.

[0130] Specifically, if Figure 5 As shown, when the required torque Tqs is 0, the target torque Tqsnew is the required torque Tqs; when the required torque Tqs is less than 0, the difference between the required torque Tqs and the torque difference ΔTq is calculated, and the target torque Tqsnew is determined according to the difference between the required torque Tqs and the torque difference ΔTq; when the required torque Tqs is greater than 0, the sum of the required torque Tqs and the torque difference ΔTq is calculated, and the target torque Tqsnew is determined according to the sum of the required torque Tqs and the torque difference ΔTq.

[0131] Therefore, the embodiment of the present invention is based on the vector control principle of temperature motor torque compensation, and realizes consideration of the vector direction of the required torque and the influence of temperature on the torque, so as to compensate the required torque of the motor at the current moment according to the torque difference, thereby obtaining the target torque of the motor, improving the motor torque control accuracy and system stability, optimizing energy utilization efficiency, and expanding the scope of application.

[0132] In an embodiment of the present invention, the target torque is determined based on the difference between the required torque and the torque difference, including: if the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; if the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0133] It should be noted that, in the embodiment of the present invention, the second preset value is taken as 0, and is not specifically limited herein.

[0134] Specifically, if Figure 5 As shown, when the difference between the required torque Tqs and the torque difference ΔTq is greater than 0, the target torque Tqsnew is the required torque Tqs; when the difference between the required torque Tqs and the torque difference ΔTq is less than 0, the target torque Tqsnew is the difference between the required torque Tqs and the torque difference ΔTq; when the difference between the required torque Tqs and the torque difference ΔTq is equal to 0, the target torque Tqsnew is the required torque Tqs.

[0135] Therefore, in an embodiment of the present invention, based on the vector control principle of temperature motor torque compensation, the actual torque demand, torque vector direction and the influence of temperature on the torque are taken into consideration; the difference between the torque and the torque difference is compared with the second preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0136] In an embodiment of the present invention, the target torque is determined based on the sum of the required torque and the torque difference, including: if the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; if the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0137] It should be noted that, in the embodiment of the present invention, the third preset value is taken as 0, and is not specifically limited herein.

[0138] Specifically, if Figure 5 As shown, when the difference between the required torque Tqs and the torque difference ΔTq is less than 0, the target torque Tqsnew is the required torque Tqs; when the difference between the required torque Tqs and the torque difference ΔTq is greater than 0, the target torque Tqsnew is the sum of the required torque Tqs and the torque difference ΔTq; when the sum of the required torque Tqs and the torque difference ΔTq is equal to 0, the target torque Tqsnew is the required torque Tqs.

[0139] Therefore, in an embodiment of the present invention, based on the vector control principle of temperature motor torque compensation, the actual torque demand, torque vector direction and the influence of temperature on the torque are taken into consideration; the difference between the torque and the torque difference is compared with the third preset value. When the required torque is small, unnecessary compensation can be avoided, which may cause the required torque to be opposite to the compensated torque, thereby improving the flexibility and accuracy of the motor torque control.

[0140] A motor torque compensation method proposed in an embodiment of the present invention is based on the external characteristic test data of an electric drive test bench, and a fitting curve is obtained by regression fitting according to the temperature test data and the output torque test data. The fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. The torque difference is accurately calculated based on the torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque. Based on the vector control principle of temperature motor torque compensation, a torque compensation strategy is formed to achieve the purpose of accurately compensating the motor demand torque according to the vector direction of the motor torque, thereby obtaining the target torque of the motor, improving the accuracy of motor torque control, improving the energy utilization efficiency of the vehicle, improving the driving safety of the vehicle, and improving the user experience.

[0141] Next, another motor torque compensation method proposed according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0142] Figure 6 is a flow chart of a motor torque compensation method provided by an embodiment of the present invention, such as Figure 6 As shown, the motor torque compensation method includes the following steps:

[0143] In step S601, multiple sets of temperature test data and output torque test data of the electric drive are obtained.

[0144] In step S602, a fitting curve is obtained by regression fitting based on the temperature test data and the output torque test data.

[0145] In step S603, the fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship.

[0146] In step S604 , the required torque of the motor is compensated according to a preset mapping relationship to obtain the target torque of the motor.

[0147] It should be noted that the above explanation of the motor torque compensation method embodiment is also applicable to the motor torque compensation method of this embodiment, and will not be repeated here.

[0148] According to the motor torque compensation method proposed in the embodiment of the present invention, based on the external characteristic test data of the electric drive test bench, a fitting curve is obtained by regression fitting according to the temperature test data and the output torque test data, and the fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. Based on the torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque, the torque difference is accurately calculated to achieve the purpose of compensating the motor's required torque, thereby obtaining the motor's target torque, thereby improving the accuracy of motor torque control, improving the vehicle's energy utilization efficiency, improving the vehicle's driving safety, and improving the user experience.

[0149] Next, a motor torque compensation device according to an embodiment of the present invention is described with reference to the accompanying drawings.

[0150] Figure 7 It is a block diagram of a motor torque compensation device according to an embodiment of the present invention.

[0151] like Figure 7 As shown, the motor torque compensation device 70 includes: a first acquisition module 701 , a determination module 702 and a calculation module 703 .

[0152] Among them, the first acquisition module 701 is used to obtain the required torque and operating temperature of the motor at the current moment; the determination module 702 is used to determine the torque corresponding to the operating temperature according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; the calculation module 703 is used to calculate the torque difference between the torque corresponding to the operating temperature and the reference torque, and compensate the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor.

[0153] In the embodiment of the present invention, the determination module 702 is further configured to preset the mapping relationship as follows:

[0154] Tq1=a1*Temp^3+b1*Temp^2+c1*Temp+d1,

[0155] Among them, Tq1 is the output torque of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

[0156] In an embodiment of the present invention, before determining the torque corresponding to the operating temperature based on the current operating temperature of the motor and the preset mapping relationship, the determination module 702 is also used to obtain multiple sets of temperature test data and output torque test data of the electric drive; obtain a fitting curve based on regression fitting of the temperature test data and the output torque test data; and update the fitting curve based on the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship.

[0157] In the embodiment of the present invention, the determination module 702 is further used to fit the curve as follows:

[0158] Tq=a*Temp^3+b*Temp^2+c*Temp+d,

[0159] Among them, Tq is the output torque of the electric drive assembly; Temp is the temperature of the motor when it is working; a is the fitting coefficient of the cubic term; b is the fitting coefficient of the quadratic term; c is the fitting coefficient of the linear term; and d is the fitting coefficient of the constant term.

[0160] In an embodiment of the present invention, the calculation module 703 is also used to, when the required torque is a first preset value, the torque difference is a preset difference; when the required torque is greater than or less than the first preset value, the torque difference is the difference between the reference torque and the torque corresponding to the operating temperature.

[0161] In an embodiment of the present invention, the calculation module 703 is also used to, when the required torque is a first preset value, the target torque is the required torque; when the required torque is less than the first preset value, calculate the difference between the required torque and the torque difference, and determine the target torque based on the difference between the required torque and the torque difference; when the required torque is greater than the first preset value, calculate the sum of the required torque and the torque difference, and determine the target torque based on the sum of the required torque and the torque difference.

[0162] In an embodiment of the present invention, the target torque is determined based on the difference between the required torque and the torque difference. The calculation module 703 is also used to, when the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; when the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

[0163] In an embodiment of the present invention, the target torque is determined based on the sum of the required torque and the torque difference. The calculation module 703 is also used to, when the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; when the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

[0164] In the embodiment of the present invention, before calculating the torque difference between the torque corresponding to the operating temperature and the reference torque, the calculation module 703 is further used to obtain the reference temperature of the motor; and calculate the reference torque according to the reference temperature and a preset mapping relationship.

[0165] It should be noted that the above explanation of the motor torque compensation method embodiment is also applicable to the motor torque compensation device of this embodiment, and will not be repeated here.

[0166] The motor torque compensation device proposed in the embodiment of the present invention determines the influence of the motor temperature on the motor output torque by processing the motor output torque and the motor temperature data, thereby forming a mapping relationship between temperature and torque, and realizes compensation for the required torque of the motor according to the mapping relationship between temperature and torque, thereby achieving the purpose of improving the motor torque control accuracy; in addition, it improves the energy utilization efficiency of the vehicle, improves the driving safety of the vehicle, and improves the user experience.

[0167] Next, another motor torque compensation device according to an embodiment of the present invention will be described with reference to the accompanying drawings.

[0168] Figure 8 It is a block diagram of another motor torque compensation device according to an embodiment of the present invention.

[0169] like Figure 8 As shown, the motor torque compensation device 80 includes: a second acquisition module 801 , a fitting module 802 , an updating module 803 and a compensation module 804 .

[0170] Among them, the second acquisition module 801 is used to obtain multiple groups of temperature test data and output torque test data of the electric drive; the fitting module 802 is used to obtain a fitting curve based on the regression fitting of the temperature test data and the output torque test data; the update module 803 is used to update the fitting curve according to the reducer efficiency and the reducer speed ratio to obtain a preset mapping relationship; the compensation module 804 is used to compensate the required torque of the motor according to the preset mapping relationship to obtain the target torque of the motor.

[0171] It should be noted that the above explanation of the motor torque compensation method embodiment is also applicable to the motor torque compensation device of this embodiment, and will not be repeated here.

[0172] According to the motor torque compensation device proposed in the embodiment of the present invention, based on the external characteristic test data of the electric drive test bench, a fitting curve is obtained by regression fitting according to the temperature test data and the output torque test data, and the fitting curve is updated according to the reducer efficiency and the reducer speed ratio to obtain the mapping relationship between temperature and torque. Based on the torque corresponding to the actual operating temperature of the motor calculated according to the preset mapping curve and the reference torque, the torque difference is accurately calculated to achieve the purpose of compensating the motor's required torque, thereby obtaining the motor's target torque, thereby improving the accuracy of motor torque control, improving the vehicle's energy utilization efficiency, improving the vehicle's driving safety, and improving the user experience.

[0173] Fig. 9 A schematic diagram of the structure of a vehicle provided in an embodiment of the present invention. The vehicle 90 may include:

[0174] A memory 901 , a processor 902 , and a computer program stored in the memory 901 and executable on the processor 902 .

[0175] When the processor 902 executes the program, the motor torque compensation method provided in the above embodiment is implemented.

[0176] Furthermore, the vehicle 90 further comprises:

[0177] The communication interface 903 is used for communication between the memory 901 and the processor 902 .

[0178] The memory 901 is used to store computer programs that can be executed on the processor 902 .

[0179] The memory 901 may include a high-speed RAM (Random Access Memory) memory, and may also include a non-volatile memory, such as at least one disk memory.

[0180] If the memory 901, the processor 902 and the communication interface 903 are implemented independently, the communication interface 903, the memory 901 and the processor 902 can be connected to each other through a bus and communicate with each other. The bus can be an ISA (Industry Standard Architecture) bus, a PCI (Peripheral Component Interconnect) bus or an EISA (Extended Industry Standard Architecture) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, Fig. 9 Only one thick line is used in the diagram, but this does not mean that there is only one bus or only one type of bus.

[0181] Optionally, in a specific implementation, if the memory 901, the processor 902 and the communication interface 903 are integrated on a chip, the memory 901, the processor 902 and the communication interface 903 can communicate with each other through an internal interface.

[0182] The processor 902 may be a CPU (Central Processing Unit), or an ASIC (Application Specific Integrated Circuit), or one or more integrated circuits configured to implement the embodiments of the present invention.

[0183] An embodiment of the present invention further provides a computer-readable storage medium on which a computer program or instruction is stored. When the computer program or instruction is executed, the motor torque compensation method as described above is implemented.

[0184] An embodiment of the present invention further provides a computer program product, including a computer program or instructions, which, when executed, implements the above motor torque compensation method.

[0185] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "example", "specific example", or "some examples" etc. means that the specific features, structures, materials or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representations of the above terms are not necessarily directed to the same embodiment or example. Moreover, the specific features, structures, materials or characteristics described may be combined in any one or N embodiments or examples in a suitable manner. In addition, those skilled in the art may combine and combine the different embodiments or examples described in this specification and the features of the different embodiments or examples, without contradiction.

[0186] In addition, the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of the indicated technical features. Therefore, the features defined as "first" and "second" may explicitly or implicitly include at least one of the features. In the description of the present invention, the meaning of "N" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

[0187] Any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code comprising one or N executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0188] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above embodiment, the N steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array, a field programmable gate array, etc.

[0189] A person skilled in the art may understand that all or part of the steps in the above-mentioned embodiment method may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0190] Although the embodiments of the present invention have been shown and described above, it is to be understood that the above embodiments are exemplary and are not to be construed as limitations of the present invention. A person skilled in the art may change, modify, replace and vary the above embodiments within the scope of the present invention.

Claims

1. A motor torque compensation method, characterized in that: The following steps are involved: Get the required torque and operating temperature of the motor at the current moment; Determine the torque corresponding to the operating temperature according to the operating temperature of the motor at the current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; The torque difference between the torque corresponding to the working temperature and the reference torque is calculated, and the required torque of the motor at the current moment is compensated according to the torque difference to obtain the target torque of the motor. The reference torque is the torque Tq_Tempb corresponding to the temperature Tempb when the current control strategy is calibrated. The step of compensating the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor includes: If the required torque is a first preset value, the target torque is the required torque; If the required torque is less than the first preset value, calculating the difference between the required torque and the torque difference, and determining the target torque according to the difference between the required torque and the torque difference; If the required torque is greater than the first preset value, the sum of the required torque and the torque difference is calculated, and the target torque is determined according to the sum of the required torque and the torque difference; Before calculating the torque difference between the torque corresponding to the working temperature and the reference torque, the method further includes: Obtaining a reference temperature of the motor; The reference torque is calculated according to the reference temperature and the preset mapping relationship.

2. The motor torque compensation method according to claim 1, characterized in that: The preset mapping relationship is: Tq1=a1*Temp^3+ b1*Temp^2+ c1*Temp+d1, Among them, Tq1 is the output torque of the motor; a1 is the updated value of the cubic fitting coefficient; Temp is the working temperature of the motor; b1 is the updated value of the quadratic fitting coefficient; c1 is the updated value of the linear fitting coefficient; d1 is the updated value of the constant fitting coefficient.

3. The motor torque compensation method according to claim 1 or 2, characterized in that: Before determining the torque corresponding to the working temperature according to the working temperature of the motor at the current moment and the preset mapping relationship, the method further includes: Obtain multiple sets of electric drive temperature test data and output torque test data; Obtaining a fitting curve by regression fitting of the temperature test data and the output torque test data; The preset mapping relationship is obtained by updating the fitting curve according to the reducer efficiency and the reducer speed ratio.

4. The motor torque compensation method according to claim 3, characterized in that: The fitting curve is: Tq=a*Temp^3+ b*Temp^2+ c*Temp+d, Among them, Tq is the output torque of the electric drive assembly; Temp is the temperature of the motor when it is working; a is the fitting coefficient of the cubic term; b is the fitting coefficient of the quadratic term; c is the fitting coefficient of the linear term; and d is the fitting coefficient of the constant term.

5. The motor torque compensation method according to claim 1, characterized in that: The calculating the torque difference between the torque corresponding to the working temperature and the reference torque includes: If the required torque is a first preset value, the torque difference is a preset difference; If the required torque is greater than or less than the first preset value, the torque difference is the difference between the reference torque and the torque corresponding to the operating temperature.

6. The motor torque compensation method according to claim 1, characterized in that: The determining the target torque according to the difference between the required torque and the torque difference includes: If the difference between the required torque and the torque difference is greater than a second preset value, the target torque is the required torque; If the difference between the required torque and the torque difference is less than the second preset value, the target torque is the difference between the required torque and the torque difference.

7. The motor torque compensation method according to claim 1, characterized in that: The determining the target torque according to the sum of the required torque and the torque difference includes: If the sum of the required torque and the torque difference is less than a third preset value, the target torque is the required torque; If the sum of the required torque and the torque difference is greater than the third preset value, the target torque is the sum of the required torque and the torque difference.

8. A motor torque compensation device (70), characterized in that: The motor torque compensation device (70) is used to execute the motor torque compensation method described in any one of claims 1 to 7, comprising: A first acquisition module (701) is used to acquire the required torque and operating temperature of the motor at the current moment; A determination module (702) is used to determine the torque corresponding to the operating temperature according to the operating temperature of the motor at a current moment and a preset mapping relationship, wherein the preset mapping relationship is a mapping relationship between temperature and torque; The calculation module (703) is used to calculate the torque difference between the torque corresponding to the operating temperature and the reference torque, and to compensate the required torque of the motor at the current moment according to the torque difference to obtain the target torque of the motor.

9. A vehicle (90), characterized in that: include: A memory (901), a processor (902), and a computer program stored in the memory (901) and executable on the processor (902), wherein the processor (902) executes the program to implement the motor torque compensation method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program or instruction stored thereon, characterized in that: When the computer program or instruction is executed, the motor torque compensation method as described in any one of claims 1-7 is implemented.

11. A computer program product comprising a computer program or instructions, characterized in that When the computer program or instruction is executed, the motor torque compensation method as described in any one of claims 1-7 is implemented.

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