Motor speed control method, device and equipment

Abstract

The application relates to the technical field of motor control, and discloses a motor rotating speed control method, device and equipment, which comprises the following steps: detecting the 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, controlling the rotating speed of the motor 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, selecting the minimum torque among a demand torque, a rotating speed limit torque and a clutch limit torque as a target torque to control the rotating speed of the motor according to the target torque. The rotating speed of the motor is controlled in different modes and stages by combining the clutch opening signal, the control accuracy is improved, and the safety of passengers and property is protected.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, apparatus and equipment for controlling motor speed. Background Technology

[0002] Electric manual transmission driving school buses are zero-emission and have significantly lower operating costs than gasoline vehicles, making them a popular choice for driving test centers. Among them, manual transmission electric vehicles equipped with clutches and gearboxes can better simulate the driving conditions of manual transmission gasoline vehicles. Typically, the vehicle controller looks up the torque request based on throttle opening and motor speed, multiplies it by the clutch torque factor, and finally filters it. The motor controller then 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, leading to a short-term increase in torque request and a rapid rise in motor speed, posing a risk of speed loss. Adjusting the filtering parameters to improve torque responsiveness would affect driving smoothness.

[0003] To protect passenger and vehicle safety while maintaining drivability, a method for controlling the motor speed of a manual transmission electric vehicle is needed, allowing the motor speed to be controlled by pressing the clutch while driving, thus preventing speed loss. Summary of the Invention

[0004] The purpose of this invention is to provide a method, device, and equipment for controlling motor speed, which aims to solve the technical problem of speed loss in manual transmission electric vehicles when the clutch is depressed and the power connection is disengaged.

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

[0006] Detect the clutch opening value;

[0007] The motor control mode is determined based on the clutch opening value;

[0008] When the motor control mode is speed control mode, the motor speed is controlled according to the target speed to make the motor speed approach the target speed; or,

[0009] When the motor control mode is torque control mode, the minimum torque among the required torque, speed limit torque and clutch limit torque is selected as the target torque, so as to control the motor speed 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 motor speed so that the motor speed approaches the target speed further includes:

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

[0012] The target speed is obtained based on the base idle speed, the throttle opening signal, and the throttle speed coefficient.

[0013] The motor controller receives the target speed and generates a speed signal;

[0014] The current regulator receives the speed signal so that it controls the current of the motor.

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

[0016] In one embodiment, obtaining the target speed based on the baseline idle speed, the throttle opening signal, and the throttle speed coefficient further includes:

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

[0018] The target speed is obtained by summing the product with the base idle speed.

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

[0020] Obtain the minimum torque among the required torque, the speed limiting torque, and the clutch limiting torque;

[0021] Take the minimum torque as the target torque;

[0022] The motor controller receives the target torque and generates a torque signal;

[0023] The current regulator receives the torque signal so that it controls the current of the motor.

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

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

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

[0027] The original torque is obtained based on the throttle signal and the motor speed signal;

[0028] The required torque is obtained by multiplying the original torque by the first product of the torque transfer factor.

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

[0030] Obtain the gear position signal and the current motor speed;

[0031] The maximum motor speed at the current gear is obtained based on the gear signal.

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

[0033] The corresponding speed limit torque is obtained based on the difference.

[0034] In one embodiment, after the step of obtaining the corresponding speed limiting torque based on the difference, the method further includes:

[0035] Define the motor limit torque based on the motor characteristics;

[0036] The clutch limiting torque is obtained by the second product of the motor limiting torque and the torque transmission factor.

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

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

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

[0040] Furthermore, to achieve the above objectives, the present invention also proposes a motor speed control device, the device comprising:

[0041] The clutch opening detection module is used to detect the clutch opening value.

[0042] The mode determination module is used to determine the motor control mode based on the clutch opening value;

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

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

[0045] Furthermore, to achieve the above objectives, the present invention also proposes a motor speed control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor speed control method described above.

[0046] This invention proposes a motor speed control method, which includes: detecting the clutch opening value; determining a motor control mode based on the clutch opening value; when the motor control mode is a speed control mode, controlling the motor speed according to a target speed to make the motor speed approach the target speed; or, when the motor control mode is a torque control mode, selecting the minimum torque among the required torque, speed limit torque, and clutch limit torque as the target torque, and controlling the motor speed according to the target torque. By combining the clutch opening signal, the motor speed is controlled in two motor control modes: speed control mode and torque control mode. Simultaneously, the motor current is controlled by the target speed and target torque under different motor control modes, thereby controlling the motor speed, improving control accuracy, and protecting passenger and property safety. Attached Figure Description

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

[0048] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a flowchart illustrating an embodiment of the motor speed control method of the present invention.

[0050] Figure 2 This is a flowchart illustrating a second embodiment of the motor speed control method of the present invention.

[0051] Figure 3 This is a flowchart illustrating a third embodiment of the motor speed control method of the present invention.

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

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

[0054] The objectives, features, and advantages of this invention will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation

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

[0056] To better understand the technical solution of the present invention, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0057] The main solution of this invention is: detecting the clutch opening value; determining the motor control mode based on the clutch opening value; when the motor control mode is a 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 a torque control mode, selecting the minimum torque among the required torque, speed limit torque, and clutch limit torque as the target torque, so as to control the motor speed according to the target torque.

[0058] To protect passenger and vehicle safety while maintaining drivability, a method for controlling the motor speed of a manual transmission electric vehicle is needed, allowing the motor speed to be controlled by pressing the clutch while driving, thus preventing speed loss.

[0059] This 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, which improves the accuracy of control and protects passenger safety and property safety.

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

[0061] Based on this, embodiments of the present invention provide a motor speed control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating an embodiment of the motor speed control method of 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 the clutch opening value is measured by 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. Free travel is the distance the pedal moves before it contacts the clutch release bearing, while effective travel is 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. This gap is reflected in the pedal as free play. When the pedal is pressed, the release bearing moves first to eliminate this gap. Only after the gap is eliminated and the pedal is pressed further down will the clutch begin to disengage. The existence of free play is to protect the clutch release bearing and avoid unnecessary wear caused by uneven road surfaces or vehicle bumps during normal driving. For example, in mechanical control mechanisms, free play can be adjusted by adjusting the length of the lever or cable; in hydraulic control mechanisms, it may be necessary to adjust the position of the push rod of the master cylinder or driven cylinder.

[0066] Step S20: Determine the motor control mode based on the clutch opening value.

[0067] It should be noted that when the clutch opening value is greater than the preset opening threshold, the motor control mode switches from the torque control mode to the speed control mode; when the clutch opening value 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 speed control mode, control the motor speed according to the target speed so that the motor speed approaches the target speed.

[0069] It should be understood that the goal of 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 sensors, controllers, and actuators. Sensors are used to monitor the speed of the motor in real time and send this feedback signal to the controller. The controller calculates control commands based on the difference (error) between the feedback signal and the target speed. These commands are then sent to the actuator, which is usually a power electronic driver, to adjust the power supply voltage or current of the motor to generate corresponding torque, thereby adjusting the speed of the motor.

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

[0071] It should be noted that torque control mode allows the system to adjust the motor output according to a preset torque demand. In this mode, the control system adjusts the motor torque based on real-time operating conditions and demand. When the motor control mode is set to torque control mode, the system comprehensively considers multiple torque limiting conditions to determine the final target torque, including the required torque, speed limiting torque, and clutch limiting torque. Required torque refers to the ideal torque value calculated by the system based on operating commands or external load conditions; speed limiting torque refers to the maximum torque that the motor can safely output at a specific speed to avoid overspeed or damage; and clutch limiting 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 practical applications, the minimum of these three torque values ​​is chosen as the target torque. This is done to ensure that the motor meets performance requirements without exceeding the limits of any system component. In this way, the control system can provide optimized torque output under different operating conditions, ensuring efficient motor operation and overall system safety. For example, in a car drive system, if the driver accelerates or needs to overcome significant external resistance, the system calculates a higher torque value based on these needs; however, this torque value may approach or exceed the clutch's limiting torque. In this case, the system uses the clutch's limiting torque as the target torque to avoid clutch overload. Similarly, if the motor's speed approaches its limit, the system reduces 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 a motor control mode based on the clutch opening value; when the motor control mode is a speed control mode, controlling the motor speed according to a target speed to make the motor speed approach the target speed; or, when the motor control mode is a torque control mode, selecting the minimum torque among the required torque, speed limit torque, and clutch limit torque as the target torque, and controlling the motor speed according to the target torque. By combining the clutch opening signal, the motor speed is controlled in two motor control modes: speed control mode and torque control mode. Simultaneously, the motor current is controlled by the target speed and target torque under different motor control modes, thereby controlling the motor speed, improving control accuracy, and protecting passenger and property safety.

[0074] Based on the first embodiment of the present invention, in the second embodiment of the present invention, the contents that are the same as or similar to those in the first embodiment described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 2 , Figure 2This is a flowchart illustrating a second embodiment of the motor speed control method of the present invention. In step S30, the motor speed control method further includes:

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

[0076] It should be understood that the basic idle speed refers to the minimum speed at which the engine can maintain a stable operation when running under no-load. It ensures that the engine can overcome its own friction and other internal resistances while idling, and provides the necessary power to 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 unstablely.

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

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

[0079] Step S302: Obtain the target speed based on 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 the base 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 based on the sum of the product and the base idle speed; preferably, the idle speed is 850 rpm; the throttle speed coefficient is selected as 31.

[0081] Step S303: Control 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 subsequent target speeds are low-pass filtered.

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

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

[0085] It should be noted that in speed control mode, the motor controller receives the target speed and performs closed-loop control. The speed regulator is in 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, a base idle speed, throttle opening signal, and throttle speed coefficient are acquired. A target speed is obtained based on these parameters. The motor controller receives the target speed and generates a speed signal. The current regulator receives the speed signal, controlling the motor current. The motor torque is adjusted based on the current, allowing the motor torque to control the motor speed. In other words, the motor controller receives the target speed and performs closed-loop control. The speed regulator is in a closed-loop state, guiding the current regulator through its output. The current regulator then controls the motor current, thereby adjusting the motor torque in a timely manner, ensuring the motor speed always tracks the target speed and improving control accuracy.

[0087] Based on the first and / or second embodiments of the present invention, in the third embodiment of the present invention, the content that is the same as or similar to that in embodiments one and two described above can be referred to the above description, and will not be repeated hereafter. Based on this, please refer to... Figure 3 , Figure 3 This is a flowchart illustrating a third embodiment of the motor speed control method of the present invention. In step S40, the motor speed control method further includes:

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

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

[0090] It should be understood that the required torque, speed limit torque, and clutch limit torque are key parameters to ensure the normal operation of the system. The required torque refers to the torque required by the system under specific operating conditions, the speed limit torque refers to the maximum torque that the system can withstand at the highest safe speed, and the 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 typically refers to the minimum torque required for the system to start or operate under low load; it is the minimum torque required to ensure the system can overcome static friction and start. When designing and controlling systems, these minimum torque values ​​are usually considered to ensure reliable operation of the system under various conditions; therefore, the target torque is taken as the minimum torque value. For example, in a car's powertrain, the clutch design must be able to transmit the engine's maximum torque without slippage, while also being able to transmit sufficient torque to overcome static friction when the vehicle starts.

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

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

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

[0095] It should be understood that in torque control mode, the motor controller receives the target torque, performs closed-loop control, 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 always tracks the target torque, thus controlling the motor speed.

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

[0097] Step S407: Obtain the original torque based on the throttle signal and the motor speed signal;

[0098] Step S408: Obtain the required torque based on 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 torque demand T based on the throttle signal and the motor speed signal. raw The vehicle controller obtains the torque transfer factor η by looking up a table based on the clutch signal value. c ; Calculate the driver's required torque T Dmd =T raw *η c .

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

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

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

[0103] Step S412: Obtain the corresponding speed limiting torque based on the difference.

[0104] It should be understood that the vehicle controller uses the gear signal to look up a table to obtain the maximum permissible motor speed N for the current gear. M ,For example:

[0105] 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 limiting torque T under the speed difference Δn. N The calculation method is as follows:

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

[0108] If Δn > 0, meaning the current motor speed is less than the maximum motor speed, then the formula for calculating the speed limit torque is K*(Δn)2 / ((Δn)2+C), where parameters K and C are set to the calibration values ​​related to the current gear. This makes the output smaller as Δn gets closer to 0, and the trend of decreasing is more obvious.

[0109] Step S413: Define the motor limiting torque according to the motor characteristics;

[0110] Step S414: Obtain the clutch limiting torque based on the second product of the motor limiting torque and the torque transmission factor.

[0111] It should be noted that the driver's required torque T Dmd With speed limiting torque T N The smaller value is selected; the smaller torque is then filtered to ensure smooth torque changes; the motor limiting torque T at each speed is defined based on the motor characteristics. M ,For example:

[0112] Torque limiting 150 150 148 132 116 103 93 77 66 57

[0113] Calculate the clutch limiting torque T C =T M *η c (The clutch torque transmission factor here is different from the torque transmission factor in step S406 above, 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 limiting torque, and clutch limiting torque is taken as the target torque signal output.

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

[0116] It should be noted that the above examples are only for understanding the present invention and do not constitute a limitation on the motor speed control method of the present invention. Any simple modifications based on this technical concept are 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 includes:

[0118] The clutch opening detection module 10 is used to detect the clutch opening value;

[0119] The mode determination module 20 is used to determine the motor control mode based on the opening value of the clutch;

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

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

[0122] Optionally, the speed control module 30 is further configured to acquire a base idle speed, a throttle opening signal, and a throttle speed coefficient; acquire a target speed based on the base 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 motor current; and adjust the motor torque based on the current so that the motor torque controls the motor speed.

[0123] Optionally, the speed control module 30 is further configured to obtain the product of the throttle opening signal and the throttle speed coefficient; and obtain the target speed based on the sum of the product and the base idle speed.

[0124] Optionally, the speed control module 30 is further configured to obtain the minimum torque among the required torque, the speed limiting torque, and the clutch limiting 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 motor current; and adjust the motor torque according to the current so that the motor torque controls the motor speed.

[0125] Optionally, the speed control module 30 is further configured to acquire the torque transfer factor, throttle signal, and motor speed signal; acquire the original torque based on the throttle signal and the motor speed signal; and acquire the required torque based on the first product of the original torque and the torque transfer factor.

[0126] Optionally, the speed control module 30 is further configured to acquire a gear signal and the current motor speed; acquire the maximum motor speed in the current gear based on the gear signal; acquire the difference between the maximum motor speed and the current motor speed; and acquire the corresponding speed limiting torque based on the difference.

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

[0128] Optionally, the mode determination module 20 is further configured to switch the motor control mode from the torque control mode to the speed control mode when the clutch opening value is greater than the preset opening threshold; and to switch the motor control mode to the torque control mode when the clutch opening value is not greater than the preset opening threshold.

[0129] The motor speed control device provided by this invention, employing the motor speed control method in the above embodiments, can solve the technical problem of speed loss in manual transmission electric vehicles when the clutch is depressed and the power connection is disengaged. Compared with the prior art, the beneficial effects of the motor speed control device provided by this invention are the same as those of the motor speed control method provided in the above embodiments, and other technical features in the motor speed control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.

[0130] The present invention provides a motor speed control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to perform the motor speed control method in the above embodiment 1.

[0131] The following is for reference. Figure 5The diagram illustrates a structural schematic suitable for implementing a motor speed control device according to embodiments of the present invention. The motor speed control device in embodiments of the present invention may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 5 The motor speed control device shown is merely an example and should not impose any limitations on the functionality 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 unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for device operation. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the motor speed control device to communicate wirelessly or wiredly with other devices to exchange data. Although the figures show motor speed control devices with various systems, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.

[0133] In particular, according to the embodiments disclosed in this invention, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments of this invention include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this invention.

[0134] The motor speed control device provided by this invention, employing the motor speed control method in the above embodiments, can solve the technical problem of speed loss in manual transmission electric vehicles when the clutch is depressed and the power connection is disengaged. Compared with the prior art, the beneficial effects of the motor speed control device provided by this invention are the same as those of the motor speed control method provided in the above embodiments, and other technical features of this motor speed control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.

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

[0136] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

[0137] The above are only some embodiments of the present invention and do not limit the scope of the present invention. Any equivalent structural or procedural transformations made based on the content of the present invention specification and drawings, or direct or indirect applications in other related technical fields, are similarly included within the protection scope of the present invention.

Claims

1. A method for controlling motor speed, characterized in that, The motor speed control method includes: Detect the clutch opening value; The motor control mode is determined based on the clutch opening value; When the motor control mode is speed control mode, the motor speed is controlled according to the target speed to make the motor speed approach the target speed; or, When the motor control mode is torque control mode, the minimum torque among the required torque, speed limit torque and clutch limit torque is selected as the target torque, so as to control the motor speed according to the target torque; Wherein, when the motor control mode is a speed control mode, generating a target speed to control the motor speed so that the motor speed approaches the target speed further includes: Acquire basic idle speed, throttle opening signal, and throttle speed coefficient; The target speed is obtained based on the base idle speed, the throttle opening signal, and the throttle speed coefficient. The motor controller receives the target speed and generates a speed signal; The current regulator receives the speed signal so that it controls the current of the motor. The motor torque is adjusted according to the current so that the motor torque controls the motor speed; The step of obtaining the target speed based on the baseline idle speed, the throttle opening signal, and the throttle speed coefficient further includes: Obtain the product of the throttle opening signal and the throttle speed coefficient; The target speed is obtained by summing the product with the base idle speed. The step of determining the motor control mode based on the clutch opening value also includes: When the clutch opening value 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 clutch opening value is not greater than the preset opening threshold, the motor control mode enters the torque control mode.

2. The motor speed control method as described in claim 1, characterized in that, When the motor control mode is torque control mode, selecting the minimum torque among the required torque, speed limit torque, and clutch limit torque as the target torque, so that the target torque controls the motor speed, further includes: Obtain the minimum torque among the required torque, the speed limiting torque, and the clutch limiting torque; Take the minimum torque as the target torque; The motor controller receives the target torque and generates a torque signal; The current regulator receives the torque signal so that it controls the current of the motor. The motor torque is adjusted according to the current so that the motor torque controls the motor speed.

3. The motor speed control method as described in claim 2, characterized in that, The step of obtaining the minimum torque among the required torque, the speed limiting torque, and the clutch limiting torque also includes: Acquire torque transfer factor, throttle signal, and motor speed signal; The original torque is obtained based on the throttle signal and the motor speed signal; The required torque is obtained by multiplying the original torque by the first product of the torque transfer factor.

4. The motor speed control method as described in claim 3, characterized in that, After the step of obtaining the required torque based on the product of the original torque and the torque transfer factor, the method further includes: Obtain the gear position signal and the current motor speed; The maximum motor speed at the current gear is obtained based on the gear signal. Obtain the difference between the maximum motor speed and the current motor speed; The corresponding speed limit torque is obtained based on the difference.

5. The motor speed control method as described in claim 4, characterized in that, After the step of obtaining the corresponding speed limiting torque based on the difference, the method further includes: Define the motor limit torque based on the motor characteristics; The clutch limiting torque is obtained by the second product of the motor limiting torque and the torque transmission factor.

6. A motor speed control device, characterized in that, The device includes: The clutch opening detection module is used to detect the clutch opening value. The mode determination module is used to determine the motor control mode based on the clutch opening value; A speed control module is used to generate a target speed control for the motor when the motor control mode is speed control mode, so that the motor speed approaches the target speed; or, When the motor control mode is torque control mode, the minimum torque among the required torque, speed limit torque and clutch limit torque is selected as the target torque so that the target torque controls the motor speed; The speed control module is further configured to acquire a base idle speed, a throttle opening signal, and a throttle speed coefficient; acquire a target speed based on the base 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 motor current; and adjust the motor torque based on the current so that the motor torque controls the motor speed. The speed control module is also used to obtain the product of the throttle opening signal and the throttle speed coefficient; and to obtain the target speed based on the sum of the product and the base idle speed. The mode determination module 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 the preset opening threshold. When the clutch opening value is not greater than the preset opening threshold, the motor control mode enters the torque control mode.

7. A motor speed control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the motor speed control method as described in any one of claims 1 to 5.

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