Motor rotating speed control method, device and equipment

Abstract

The invention relates to the technical field of motor control, and discloses a motor rotating speed control method, device and equipment, and the method comprises the steps: detecting an opening value of a clutch; determining a motor control mode according to the opening value of the clutch; when the motor control mode is a rotating speed control mode, the rotating speed of the motor is controlled according to a target rotating speed, so that the rotating speed of the motor approaches the target rotating speed; or, when the motor control mode is a torque control mode, the minimum torque in the required torque, the rotating speed limiting torque and the clutch limiting torque is selected as the target torque, and the rotating speed of the motor is controlled according to the target torque. The rotating speed of the motor is controlled in different modes and stages by combining the opening signal of the clutch, so that the control accuracy is improved, and the passenger safety and property safety are protected.

Description

Technical Field

[0001] The present invention relates to the technical field of motor control, and in particular to a motor speed control method, device and equipment. Background Art

[0002] Electric manual transmission driving school cars have zero emissions and their operating costs are significantly lower than those of fuel vehicles, so they are gradually becoming a hot spot for use in driving test venues. Among them, manual transmission electric cars equipped with clutches and gearboxes can better simulate the driving conditions of manual transmission fuel vehicles. Usually, the vehicle controller looks up the table based on the throttle opening and motor speed, multiplies it by the clutch transfer torque factor, and finally filters it to obtain the torque request. The motor controller controls the motor to achieve torque output. When the clutch is depressed and the power connection is disconnected, the inertial mass and accessory load of the motor system are much smaller than those of the engine system, which will cause the requested torque to be high in a short period of time, causing the motor speed to rise rapidly, and there is a risk of speed loss of control. If the filtering parameters are adjusted to improve torque responsiveness, it will affect the smoothness of driving.

[0003] In order to protect the life safety of passengers and vehicle safety, and take into account drivability, a manual transmission electric vehicle motor speed control method is needed, so that the motor speed can be controlled by stepping on the clutch during driving to avoid speed out of control. Summary of the invention

[0004] The present invention aims to provide a motor speed control method, device and equipment, aiming to solve the technical problem of speed loss of control when the clutch of a manual transmission electric vehicle is pressed to disconnect the power connection.

[0005] To achieve the above object, the present invention provides a motor speed control method, the motor speed control method comprising:

[0006] Detect the clutch opening value;

[0007] determining a motor control mode according to the clutch opening value;

[0008] When the motor control mode is a speed control mode, the speed of the motor is controlled according to a target speed so that the speed of the motor approaches the target speed; or,

[0009] When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so as to control the speed of the motor according to the target torque.

[0010] In one embodiment, when the motor control mode is a speed control mode, generating a target speed to control the speed of the motor so that the speed of the motor approaches the target speed further includes:

[0011] Obtain basic idle speed, throttle opening signal and throttle speed coefficient;

[0012] Obtaining a target speed according to the basic idle speed, the throttle opening signal and the throttle speed coefficient;

[0013] Controlling the motor controller to receive the target speed and generate a speed signal;

[0014] Controlling the current regulator to receive the speed signal so that the current regulator controls the current of the motor;

[0015] The torque of the motor is adjusted according to the current so that the torque of the motor controls the speed of the motor.

[0016] In one embodiment, the step of obtaining the target speed according to the basic idle speed, the throttle opening signal and the throttle speed coefficient further includes:

[0017] Obtaining the product of the throttle opening signal and the throttle speed coefficient;

[0018] The target speed is obtained according to the sum of the product and the basic idle speed.

[0019] In one embodiment, when the motor control mode is a torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque so that the target torque controls the speed of the motor, and further includes:

[0020] Obtaining a minimum torque among the required torque, the speed limit torque and the clutch limit torque;

[0021] using the minimum torque as a target torque;

[0022] Controlling the motor controller to receive the target torque and generate a torque signal;

[0023] Controlling the current regulator to receive the torque signal so that the current regulator controls the current of the motor;

[0024] The torque of the motor is adjusted according to the current so that the torque of the motor controls the speed of the motor.

[0025] In one embodiment, the obtaining of the minimum torque among the required torque, the speed limit torque and the clutch limit torque further includes:

[0026] Obtain torque transfer factor, throttle signal and motor speed signal;

[0027] Acquire the original torque according to the throttle signal and the motor speed signal;

[0028] The required torque is obtained according to a first product of the raw torque and the torque transfer factor.

[0029] In one embodiment, after the step of obtaining the required torque according to the product of the original torque and the torque transfer factor, the method further includes:

[0030] Get the gear signal and current motor speed;

[0031] Acquire the maximum motor speed at the current gear according to the gear signal;

[0032] Obtaining a difference between the maximum motor speed and the current motor speed;

[0033] The corresponding rotation speed limit torque is acquired according to the difference.

[0034] In one embodiment, after the step of obtaining the corresponding speed limit torque according to the difference, the method further includes:

[0035] Define the motor limit torque according to the motor characteristics;

[0036] The clutch limit torque is obtained according to a second product of the motor limit torque and the torque transfer factor.

[0037] In one embodiment, determining the motor control mode according to the clutch opening value further includes:

[0038] When the clutch opening value is greater than a preset opening threshold, the motor control mode is switched from the torque control mode to the speed control mode;

[0039] When the opening value of the clutch is not greater than a preset opening threshold, the motor control mode enters the torque control mode.

[0040] In addition, to achieve the above object, the present invention also provides a motor speed control device, the device comprising:

[0041] An opening detection module, used for detecting the opening value of the clutch;

[0042] A mode determination module, used to determine a motor control mode according to the clutch opening value;

[0043] a speed control module, used for generating a target speed to control the speed of the motor when the motor control mode is the speed control mode, so that the speed of the motor approaches the target speed; or

[0044] When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so that the target torque controls the speed of the motor.

[0045] In addition, to achieve the above-mentioned purpose, the present invention also proposes a motor speed control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the motor speed control method as described above.

[0046] The present invention proposes a motor speed control method, which includes: detecting the clutch opening value; determining the motor control mode according to the clutch opening value; when the motor control mode is the speed control mode, controlling the motor speed according to the target speed so that the motor speed approaches the target speed; or, when the motor control mode is the torque control mode, selecting the minimum torque among the required torque, the speed limit torque and the clutch limit torque as the target torque, so as to control the motor speed according to the target torque. By combining the clutch opening signal, the motor speed is controlled in two motor control modes, namely the speed control mode and the torque control mode. At the same time, the motor current is controlled by the target speed and target torque under different motor control modes, thereby controlling the motor speed, thereby improving the control accuracy and protecting the safety of passengers and property. BRIEF DESCRIPTION OF THE DRAWINGS

[0047] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0048] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0049] Figure 1 A schematic diagram of a flow chart of a motor speed control method according to a first embodiment of the present invention;

[0050] Figure 2 A schematic diagram of a flow chart of a second embodiment of a motor speed control method of the present invention;

[0051] Figure 3 A schematic diagram of a flow chart of a motor speed control method according to a third embodiment of the present invention;

[0052] Figure 4 This is a schematic diagram of the module structure of a motor speed control device according to an embodiment of the present invention;

[0053] Figure 5 It is a schematic diagram of the structure of a motor speed control device of a hardware operating environment involved in the motor speed control method in an embodiment of the present invention.

[0054] The purpose, features and advantages of the present invention will be further described with reference to the accompanying drawings in conjunction with the embodiments. DETAILED DESCRIPTION

[0055] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present invention and are not used to limit the present invention.

[0056] In order to better understand the technical solution of the present invention, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0057] The main solution of the embodiment of the present invention is: detecting the clutch opening value; determining the motor control mode according to the clutch opening value; when the motor control mode is the speed control mode, controlling the speed of the motor according to the target speed so that the speed of the motor approaches the target speed; or, when the motor control mode is the torque control mode, selecting the minimum torque among the required torque, the speed limit torque and the clutch limit torque as the target torque to control the speed of the motor according to the target torque.

[0058] In order to protect the life safety of passengers and vehicle safety, and take into account drivability, a manual transmission electric vehicle motor speed control method is needed, so that the motor speed can be controlled by stepping on the clutch during driving to avoid speed out of control.

[0059] The present invention takes into account the actual application scenarios of manual transmission electric vehicles and the differences between electric drive systems and engine systems, and designs a method for controlling the speed of a manual transmission electric vehicle with a clutch. By combining the clutch opening signal, the speed of the motor is controlled in different modes and stages, thereby improving the control accuracy and protecting the safety of passengers and property.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or a motor speed control device capable of realizing the above functions, etc. The following takes the motor speed control device as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, the embodiment of the present invention provides a motor speed control method, referring to Figure 1 , Figure 1 A flow chart of a first embodiment of a motor speed control method according to the present invention.

[0062] In this embodiment, the motor speed control method includes steps S10 to S40:

[0063] Step S10: Detect the clutch opening value.

[0064] It should be understood that detecting the clutch opening value refers to measuring the distance from when the clutch pedal is fully released to when it is fully depressed. This distance includes two parts: free travel and effective travel. The free travel refers to the distance the pedal moves before it contacts the clutch release bearing, while the effective travel refers to the distance the pedal moves after it contacts the release bearing.

[0065] It should be noted that there is a certain gap between the release bearing and the release lever, and the reflection of this gap on the pedal is the free stroke; when the pedal is pressed, the release bearing moves first to eliminate the gap, and only when the gap is eliminated and the pedal continues to be pressed down, the clutch begins to disengage; the free stroke exists to protect the release bearing of the clutch and avoid unnecessary wear caused by uneven road conditions or vehicle bumps during normal driving; for example, in a mechanical operating mechanism, the free stroke can be adjusted by adjusting the length of the pull rod or rope; in a hydraulic operating mechanism, it may be necessary to adjust the push rod position of the master cylinder or slave cylinder.

[0066] Step S20: determining a motor control mode according to the clutch opening value.

[0067] It should be noted that when the opening value of the clutch is greater than the preset opening threshold, the motor control mode is switched from the torque control mode to the speed control mode; when the opening value of the clutch is not greater than the preset opening threshold, the motor control mode enters the torque control mode; preferably, the preset opening threshold is 65%; in the condition for exiting the speed control mode, the clutch opening threshold can be set with an appropriate hysteresis, such as 5%.

[0068] Step S30: When the motor control mode is the speed control mode, controlling the speed of the motor according to the target speed so that the speed of the motor approaches the target speed.

[0069] It should be understood that the goal of the speed control mode is to make the actual speed of the motor track and stabilize near the set target speed; to achieve this goal, the control system adopts a closed-loop control structure, which includes a sensor, a controller and an actuator; the sensor is used to monitor the speed of the motor in real time and send this feedback signal to the controller; the controller calculates the control command based on the difference (error) between the feedback signal and the target speed; these commands are then sent to the actuator, usually a power electronic driver, which adjusts the power supply voltage or current of the motor to generate a corresponding torque, thereby adjusting the speed of the motor.

[0070] Step S40: When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so as to control the speed of the motor according to the target torque.

[0071] It should be noted that the torque control mode allows the system to adjust the output of the motor according to the preset torque demand; in this mode, the control system will adjust the torque of the motor according to the real-time working conditions and needs; when the motor control mode is set to torque control mode, the system will comprehensively consider multiple torque limit conditions to determine the final target torque; including demand torque, speed limit torque and clutch limit torque. Required torque refers to the ideal torque value calculated by the system based on operating instructions or external load conditions; speed limit torque refers to the maximum torque that the motor can safely output at a specific speed to avoid overspeed or damage; clutch limit torque refers to the maximum torque that the clutch can transmit to ensure the normal operation of the transmission system.

[0072] It should be understood that in actual applications, the minimum of these three torques will be selected as the target torque; this is done to ensure that the motor does not exceed the limits of any system component while meeting performance requirements; in this way, the control system can provide optimized torque output under different operating conditions to ensure efficient operation of the motor and the overall safety of the system. For example, in an automotive drive system, if the driver accelerates or needs to overcome a large external resistance, the system will calculate a higher torque value based on these requirements; however, this torque value may approach or exceed the clutch limit torque; in this case, the system will use the clutch limit torque as the target torque to avoid overloading the clutch; similarly, if the motor speed approaches its limit, the system will reduce the target torque to ensure that the speed limit torque is not exceeded, thereby protecting the motor and transmission system.

[0073] In this embodiment, the motor speed control method includes: detecting the clutch opening value; determining the motor control mode according to the clutch opening value; when the motor control mode is the speed control mode, controlling the motor speed according to the target speed so that the motor speed approaches the target speed; or, when the motor control mode is the torque control mode, selecting the minimum torque among the required torque, the speed limit torque and the clutch limit torque as the target torque, so as to control the motor speed according to the target torque. By combining the clutch opening signal, the motor speed is controlled in two motor control modes, namely the speed control mode and the torque control mode. At the same time, the motor current is controlled by the target speed and target torque under different motor control modes, thereby controlling the motor speed, thereby improving the control accuracy and protecting the safety of passengers and property.

[0074] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be described in detail later. Figure 2 , Figure 2The flowchart of the second embodiment of the motor speed control method of the present invention is provided. In step S30, the motor speed control method further includes:

[0075] Step S301: Obtain basic idle speed, throttle opening signal and throttle speed coefficient.

[0076] It should be understood that the basic idle speed refers to the minimum stable speed that the engine can maintain when running at no load. It ensures that the engine can overcome its own friction and other internal resistances at idle, while providing the necessary power for the vehicle's auxiliary systems (such as power steering, air-conditioning compressor, etc.); too high an idle speed will lead to increased fuel consumption, while too low an idle speed may cause the engine to stall or run unstable.

[0077] It should be noted that the throttle opening signal refers to the voltage signal output by the accelerator pedal position sensor, which reflects the degree of operation of the accelerator pedal by the driver; the engine control unit (ECU) calculates the fuel injection amount and ignition timing based on the throttle opening signal to control the power output of the engine; in the idle state, the throttle opening signal is small because the throttle valve is almost closed, allowing only enough air to maintain idle speed to enter the engine.

[0078] It should be understood that the throttle speed coefficient refers to the relationship coefficient between the accelerator pedal position and the engine speed; this coefficient can be used to describe the sensitivity of the accelerator pedal, that is, the change in engine speed when the pedal moves a certain distance; the setting of the throttle speed coefficient will affect the vehicle's responsiveness and driving experience; in idle control, the ECU will adjust the opening of the idle actuator according to the preset throttle speed coefficient to maintain a stable idle speed.

[0079] Step S302: obtaining a target speed according to the basic idle speed, the throttle opening signal and the throttle speed coefficient.

[0080] It should be noted that the target speed is calculated as basic idle speed + throttle opening signal * throttle speed coefficient, that is, the product of the throttle opening signal and the throttle speed coefficient is obtained, and the target speed is obtained according to the sum of the product and the basic idle speed; preferably, the idle speed is 850rpm; the throttle speed coefficient selects the value 31.

[0081] Step S303: controlling the motor controller to receive the target speed and generate a speed signal.

[0082] It should be understood that when entering the speed control mode, the target speed is taken as the current motor speed, and the subsequent target speed is low-pass filtered.

[0083] Step S304: controlling the current regulator to receive the speed signal so that the current regulator controls the current of the motor;

[0084] Step S305: adjusting the torque of the motor according to the current so that the torque of the motor controls the speed of the motor.

[0085] It should be noted that when in speed control mode, the motor controller receives the target speed and performs closed-loop control. The speed regulator is in a closed-loop state and guides the current regulator through its output. The current regulator controls the motor current, thereby adjusting the motor torque in a timely manner so that the motor speed always tracks the target speed.

[0086] In this embodiment, the basic idle speed, the throttle opening signal and the throttle speed coefficient are obtained; the target speed is obtained according to the basic idle speed, the throttle opening signal and the throttle speed coefficient; the motor controller is controlled to receive the target speed and generate a speed signal; the current regulator is controlled to receive the speed signal so that the current regulator controls the current of the motor; the torque of the motor is adjusted according to the current so that the torque of the motor controls the speed of the motor. That is, the motor controller receives the target speed and performs closed-loop control, the speed regulator is in a closed-loop state, and guides the current regulator through its output, and the current regulator controls the current of the motor, thereby timely adjusting the torque of the motor, so that the speed of the motor always tracks the target speed, and the accuracy of control is improved.

[0087] Based on the first embodiment and / or the second embodiment of the present invention, in the third embodiment of the present invention, the same or similar contents as those in the first and second embodiments can be referred to the above description, and will not be described in detail later. Figure 3 , Figure 3 The flowchart of the third embodiment of the motor speed control method of the present invention is provided. In step S40, the motor speed control method further includes:

[0088] Step S401: obtaining the minimum torque among the required torque, the speed limit torque and the clutch limit torque;

[0089] Step S402: taking the minimum torque as the target torque.

[0090] It should be understood that demand torque, speed limit torque and clutch limit torque are key parameters to ensure the normal operation of the system; demand torque refers to the torque required by the system under specific operating conditions, speed limit torque refers to the maximum torque that the system can withstand at the highest safe speed, and clutch limit torque is the maximum torque that the clutch can transmit to prevent overload and damage.

[0091] It should be noted that among these torques, the minimum torque usually refers to the minimum torque required by the system when starting or running at low load; it is the minimum torque required to ensure that the system can overcome static friction and start. When designing and controlling the system, the minimum values ​​of these torques are usually taken into account to ensure that the system can work reliably under various working conditions, so the target torque takes the minimum torque value. For example, in the power system of a car, the clutch must be designed to be able to transmit the maximum torque of the engine without slipping, and also to be able to transmit enough torque to overcome static friction when the vehicle starts.

[0092] Step S403: controlling the motor controller to receive the target torque and generate a torque signal;

[0093] Step S404: controlling the current regulator to receive the torque signal so that the current regulator controls the current of the motor;

[0094] Step S405: adjusting the torque of the motor according to the current so that the torque of the motor controls the speed of the motor.

[0095] It should be understood that when in torque control mode, the motor controller receives the target torque and performs closed-loop control, and guides the current regulator through its output. The current regulator controls the current of the motor, thereby adjusting the torque of the motor in a timely manner so that the motor always tracks the target torque, thereby controlling the speed of the motor.

[0096] Step S406: obtaining a torque transfer factor, a throttle signal and a motor speed signal;

[0097] Step S407: obtaining the original torque according to the throttle signal and the motor speed signal;

[0098] Step S408: Obtaining the required torque according to the first product of the original torque and the torque transfer factor.

[0099] It should be noted that the vehicle controller analyzes the driver's original demand torque T according to the throttle signal and the motor speed signal. raw ; The vehicle controller obtains the torque transfer factor η according to the clutch signal value by looking up the table c ; Calculate the driver's required torque T Dmd =T raw *η c .

[0100] Step S409: obtaining the gear position signal and the current motor speed;

[0101] Step S410: acquiring the maximum motor speed in the current gear according to the gear signal;

[0102] Step S411: obtaining a difference between the maximum motor speed and the current motor speed;

[0103] Step S412: Obtaining the corresponding speed limit torque according to the difference.

[0104] It should be understood that the vehicle controller obtains the maximum motor speed N allowed in the current gear according to the gear signal by looking up the table M ,For example:

[0105] Gear D1 D2 D3 D4 D5 R Maximum speed 4000 4000 4000 3854 3032 1350

[0106] Calculate the difference Δn between the maximum motor speed and the current motor speed; calculate the speed limit torque T under the speed difference Δn N , the calculation method is as follows:

[0107] If Δn≤0, that is, the current motor speed is not less than the maximum motor speed, then T N =0;

[0108] If Δn>0, that is, the current motor speed is less than the maximum motor speed, the speed limit torque calculation formula is K*(Δn)2 / ((Δn)2+C), where parameters K and C are set to calibration quantities related to the current gear position, which makes the output smaller as Δn approaches 0, and the trend of decreasing is more obvious.

[0109] Step S413: defining the motor limit torque according to the motor characteristics;

[0110] Step S414: Obtaining the clutch limit torque according to the second product of the motor limit torque and the torque transfer factor.

[0111] It should be noted that the driver's demand torque T Dmd With speed limit torque T N Take the smaller one; filter the torque after taking the smaller one to ensure the smoothness of torque change; define the motor limit torque T at each speed according to the motor characteristics M ,For example:

[0112] Motor speed 0 3500 4000 4500 5000 5500 6000 7000 8000 9000 Limiting torque 150 150 148 132 116 103 93 77 66 57

[0113] Calculate the clutch limit torque T C =T M *η c ; (The clutch torque transfer factor here can be distinguished from the torque transfer factor in the above step S406, and should be obtained by looking up the table based on the clutch signal value).

[0114] The minimum torque value among the filtered required torque, motor limit torque and clutch limit torque is taken as the target torque signal output.

[0115] In this embodiment, when in the torque control mode, the motor controller receives the target torque, which is obtained by obtaining the minimum torque value among the required torque, the motor limit torque, and the clutch limit torque; then closed-loop control is performed, and the target torque is used to guide the current regulator, and the current regulator controls the current of the motor, thereby timely adjusting the torque of the motor so that the motor always tracks the target torque, thereby controlling the speed of the motor, improving the accuracy of control, and protecting the safety of passengers and property.

[0116] It should be noted that the above examples are only used to understand the present invention and do not constitute a limitation on the motor speed control method of the present invention. More simple transformations based on this technical concept are all within the protection scope of the present invention.

[0117] The present invention also provides a motor speed control device, please refer to Figure 4 , the motor speed control device comprises:

[0118] An opening detection module 10, used to detect the opening value of the clutch;

[0119] A mode determination module 20, for determining a motor control mode according to the clutch opening value;

[0120] The speed control module 30 is used to generate a target speed to control the speed of the motor when the motor control mode is the speed control mode, so that the speed of the motor approaches the target speed; or

[0121] When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so that the target torque controls the speed of the motor.

[0122] Optionally, the speed control module 30 is also used to obtain a basic idle speed, a throttle opening signal and a throttle speed coefficient; obtain a target speed based on the basic idle speed, the throttle opening signal and the throttle speed coefficient; control the motor controller to receive the target speed and generate a speed signal; control the current regulator to receive the speed signal so that the current regulator controls the current of the motor; adjust the torque of the motor according to the current so that the torque of the motor controls the speed of the motor.

[0123] Optionally, the speed control module 30 is further used to obtain the product of the throttle opening signal and the throttle speed coefficient; and obtain the target speed according to the sum of the product and the basic idle speed.

[0124] Optionally, the speed control module 30 is also used to obtain the minimum torque among the required torque, the speed limit torque and the clutch limit torque; use the minimum torque as the target torque; control the motor controller to receive the target torque and generate a torque signal; control the current regulator to receive the torque signal so that the current regulator controls the current of the motor; adjust the torque of the motor according to the current so that the torque of the motor controls the speed of the motor.

[0125] Optionally, the speed control module 30 is also used to obtain a torque transfer factor, a throttle signal and a motor speed signal; obtain an original torque according to the throttle signal and the motor speed signal; and obtain a required torque according to a first product of the original torque and the torque transfer factor.

[0126] Optionally, the speed control module 30 is also used to obtain a gear signal and a current motor speed; obtain the maximum motor speed in the current gear according to the gear signal; obtain the difference between the maximum motor speed and the current motor speed; and obtain the corresponding speed limit torque according to the difference.

[0127] Optionally, the speed control module 30 is further configured to define a motor limit torque according to motor characteristics; and obtain a clutch limit torque according to a second product of the motor limit torque and the torque transfer factor.

[0128] Optionally, the mode judgment module 20 is also used to switch the motor control mode from the torque control mode to the speed control mode when the opening value of the clutch is greater than a preset opening threshold; when the opening value of the clutch is not greater than the preset opening threshold, the motor control mode enters the torque control mode.

[0129] The motor speed control device provided by the present invention adopts the motor speed control method in the above embodiment, which can solve the technical problem of speed loss of control when the clutch is pressed to disconnect the power connection of the manual transmission electric vehicle. Compared with the prior art, the beneficial effects of the motor speed control device provided by the present invention are the same as the beneficial effects of the motor speed control method provided by the above embodiment, and the other technical features of the motor speed control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0130] The present invention provides a motor speed control device, which includes: at least one processor; and a memory connected to the at least one processor in communication; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the motor speed control method in the above-mentioned embodiment one.

[0131] Reference below Figure 5, which shows a schematic diagram of the structure of a motor speed control device suitable for implementing an embodiment of the present invention. The motor speed control device in the embodiment of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The motor speed control device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0132] like Figure 5 As shown, the motor speed control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the motor speed control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a motor speed control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0133] In particular, according to the embodiments disclosed in the present invention, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present invention include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from the network through a communication device, or installed from the storage device 1003, or installed from the ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present invention are executed.

[0134] The motor speed control device provided by the present invention adopts the motor speed control method in the above embodiment, which can solve the technical problem of speed loss of control when the clutch of a manual transmission electric vehicle is pressed to disconnect the power connection. Compared with the prior art, the beneficial effects of the motor speed control device provided by the present invention are the same as the beneficial effects of the motor speed control method provided by the above embodiment, and the other technical features in the motor speed control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0135] It should be understood that the various parts disclosed in the present invention can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0136] The above is only a specific embodiment of the present invention, but the protection scope of the present invention is not limited thereto. Any person skilled in the art can easily think of changes or substitutions within the technical scope disclosed by the present invention, which should be included in the protection scope of the present invention. Therefore, the protection scope of the present invention should be based on the protection scope of the claims.

[0137] The above are only some embodiments of the present invention, and the scope of implementation of the present invention is not limited thereto. Any equivalent structure or equivalent process transformation made by using the contents of the present invention description and drawings, or directly or indirectly applied in other related technical fields, are also included in the protection scope of the present invention.

Claims

1. A motor speed control method, characterized in that: The motor speed control method comprises: Detect the clutch opening value; determining a motor control mode according to the clutch opening value; When the motor control mode is a speed control mode, the speed of the motor is controlled according to a target speed so that the speed of the motor approaches the target speed; or, When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so as to control the speed of the motor according to the target torque.

2. The motor speed control method according to claim 1, characterized in that: When the motor control mode is a speed control mode, generating a target speed to control the speed of the motor so that the speed of the motor approaches the target speed, further comprising: Obtain basic idle speed, throttle opening signal and throttle speed coefficient; Obtaining a target speed according to the basic idle speed, the throttle opening signal and the throttle speed coefficient; Controlling the motor controller to receive the target speed and generate a speed signal; Controlling the current regulator to receive the speed signal so that the current regulator controls the current of the motor; The torque of the motor is adjusted according to the current so that the torque of the motor controls the speed of the motor.

3. The motor speed control method according to claim 2, characterized in that: The step of obtaining the target speed according to the basic idle speed, the throttle opening signal and the throttle speed coefficient further includes: Obtaining the product of the throttle opening signal and the throttle speed coefficient; The target speed is obtained according to the sum of the product and the basic idle speed.

4. The motor speed control method according to claim 1, characterized in that: When the motor control mode is a torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque so that the target torque controls the speed of the motor, and further includes: Obtaining a minimum torque among the required torque, the speed limit torque and the clutch limit torque; using the minimum torque as a target torque; Controlling the motor controller to receive the target torque and generate a torque signal; Controlling the current regulator to receive the torque signal so that the current regulator controls the current of the motor; The torque of the motor is adjusted according to the current so that the torque of the motor controls the speed of the motor.

5. The motor speed control method according to claim 4, characterized in that: The obtaining of the minimum torque among the required torque, the speed limit torque and the clutch limit torque further includes: Obtain torque transfer factor, throttle signal and motor speed signal; Acquire the original torque according to the throttle signal and the motor speed signal; The required torque is obtained according to a first product of the raw torque and the torque transfer factor.

6. The motor speed control method according to claim 5, characterized in that: After the step of obtaining the required torque according to the product of the original torque and the torque transfer factor, the method further includes: Get the gear signal and current motor speed; Acquire the maximum motor speed at the current gear according to the gear signal; Obtaining a difference between the maximum motor speed and the current motor speed; The corresponding rotation speed limit torque is acquired according to the difference.

7. The motor speed control method according to claim 6, characterized in that: After the step of obtaining the corresponding speed limit torque according to the difference, the method further includes: Define the motor limit torque according to the motor characteristics; The clutch limit torque is obtained according to a second product of the motor limit torque and the torque transfer factor.

8. The motor speed control method according to claim 1, characterized in that: The method of determining the motor control mode according to the clutch opening value further includes: When the clutch opening value is greater than a preset opening threshold, the motor control mode is switched from the torque control mode to the speed control mode; When the opening value of the clutch is not greater than a preset opening threshold, the motor control mode enters the torque control mode.

9. A motor speed control device, characterized in that: The device comprises: An opening detection module, used for detecting the opening value of the clutch; A mode determination module, used to determine a motor control mode according to the clutch opening value; a speed control module, used for generating a target speed to control the speed of the motor when the motor control mode is the speed control mode, so that the speed of the motor approaches the target speed; or When the motor control mode is the torque control mode, the minimum torque among the required torque, the speed limit torque and the clutch limit torque is selected as the target torque, so that the target torque controls the speed of the motor.

10. A motor speed control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the motor speed control method according to any one of claims 1 to 8.

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