Motor torque control method and system, electronic equipment and medium

Abstract

The invention relates to a motor torque control method and system, electronic equipment and a medium. The method comprises the steps that the accelerator pedal opening change rate of a driver is recognized; under the Tip in working condition, whether the accelerator pedal opening change rate exceeds a preset threshold value or not is judged, and mean filtering is executed to smooth accelerator pedal opening change; the smoothed accelerator pedal opening degree is input into the maximum torque mapping relation, and the target torque of the motor is obtained; limiting the rise rate of the motor target torque according to the current speed of the vehicle, synthesizing the actual target torque of the motor and sending the actual target torque to the controller; under the working condition of Tip out, the torque direction of the motor is judged, whether reverse torque does not appear or not is met, and the target torque decline rate of the motor is calculated and adjusted in real time; when the reverse torque exists, the motor torque reduction rate is set according to the vehicle speed, and the motor torque is gradually transited from a positive value to a negative value through smooth processing of zero crossing point transformation; and the actual target torque of the motor acts on the vehicle, and stable operation of a transmission system is achieved.

Description

Technical Field

[0001] The present invention relates to the technical field of pure electric commercial vehicles, and in particular to a motor torque control method, system, electronic equipment and medium. Background Art

[0002] With the continuous development of electric vehicle technology, pure electric commercial vehicles are gradually favored by the market, especially in terms of environmental protection and energy efficiency. The widespread application of pure electric commercial vehicles has promoted the research and improvement of their drive systems, especially the automated mechanical transmission (AMT). AMT can effectively manage and allocate the torque output of the motor without sacrificing the vehicle's power, economy and driving comfort, thereby improving the performance of the entire vehicle.

[0003] However, in practical applications, the transmission system of pure electric commercial vehicles still faces some technical challenges. Among them, the jitter and noise problems of the transmission system are particularly prominent, especially under conditions of rapid acceleration (Tip in) or deceleration (Tip out). Under these conditions, due to the gaps between components such as gears and spline connections in the transmission system, rapid changes in driving torque or load often lead to brief collisions between components, resulting in metal impact sounds (Clunk noise) and more obvious vibrations. This not only affects the driving experience, but also poses a potential threat to the durability of the vehicle.

[0004] Although existing technologies have adopted mechanical improvement measures such as reducing gear clearance and changing vehicle load to deal with this problem, these methods are often not applicable to pure electric commercial vehicles that have been mass-produced. In addition, these measures may increase manufacturing costs or affect other performance parameters such as the overall weight and energy efficiency of the vehicle. Summary of the invention

[0005] The present invention provides a motor torque control method, system, electronic device and medium, the purpose of which is to solve the problems of jitter and metal impact sound generated in the transmission system of a pure electric commercial vehicle when it is rapidly accelerated or decelerated, and to improve driving comfort.

[0006] To achieve the above object, the present invention provides a motor torque control method in a first aspect, comprising the following steps:

[0007] Step S100, identifying the operating condition type of the vehicle, wherein the operating condition type includes a Tip in operating condition and a Tip out operating condition;

[0008] Step S200: If the vehicle is in the Tip in state, perform the following operations:

[0009] Step S201, identifying the traveling state of the vehicle;

[0010] Step S202: measuring the accelerator pedal opening change rate according to the vehicle's traveling state;

[0011] Step S203: When the measured change rate of the accelerator pedal opening exceeds a set threshold, the accelerator pedal opening is subjected to mean filtering and the torque increase rate is limited;

[0012] Step S204, inputting the accelerator pedal opening after mean filtering into the torque mapping table, and calculating the motor target torque in combination with the current vehicle speed;

[0013] Step S300: If the vehicle is in the Tip out condition, perform the following operations:

[0014] Step S301, measuring the coasting feedback, braking request and whether the vehicle is in a low-speed electric braking range to determine whether there is a sudden change in reverse torque;

[0015] Step S302: If there is no reverse torque mutation, the minimum meshing torque required to keep the vehicle stationary is calculated, and the motor target torque is obtained from the two-dimensional torque mapping table according to the vehicle speed and the accelerator pedal opening;

[0016] Step S303: If there is a sudden change in reverse torque, the target torque reduction rate is controlled according to the vehicle speed torque reduction rate mapping table, and smoothing is performed in the zero-crossing torque region so that the motor target torque smoothly transitions from positive to negative;

[0017] Step S400: Adjust the motor output according to the calculated motor target torque to match the current driving state and working condition requirements of the vehicle.

[0018] Further, in step S200, the vehicle's traveling state includes the vehicle being in a forward gear. When the vehicle is in a forward gear, the following steps are performed:

[0019] Measure the rate of change of accelerator pedal opening;

[0020] When the accelerator pedal opening change rate exceeds 100% opening stroke per second, the accelerator pedal opening is subjected to mean filtering and the accelerator pedal opening change rate is limited;

[0021] According to the accelerator pedal opening and the vehicle speed after mean filtering, the motor target torque is determined through a mapping table of the accelerator pedal opening and the maximum torque;

[0022] Controlling the rate of increase of the motor target torque according to a torque increase rate mapping table of vehicle speed and accelerator pedal opening;

[0023] The calculated motor target torque is sent to the motor controller to perform acceleration control of the vehicle in the forward gear.

[0024] Further, in step S200, the vehicle's traveling state includes the vehicle being in a reverse gear. When the vehicle is in a reverse gear, the following steps are performed:

[0025] Measure the rate of change of accelerator pedal opening;

[0026] When the accelerator pedal opening change rate exceeds 75% of the opening stroke per second, the accelerator pedal opening is subjected to mean filtering and the accelerator pedal opening change rate is limited;

[0027] The maximum drive torque is adjusted according to the vehicle speed and the motor external characteristic torque characteristics, where:

[0028]

[0029] Wherein, Tmax2 represents the maximum motor external characteristic torque corresponding to the reverse gear, Tmax represents the maximum motor external characteristic torque corresponding to different speeds; v represents the vehicle speed;

[0030] According to the adjusted accelerator pedal opening and vehicle speed, the motor target torque is determined through a mapping table of the accelerator pedal opening and the maximum torque;

[0031] Controlling the rate of increase of the motor target torque according to a torque increase rate mapping table of vehicle speed and accelerator pedal opening;

[0032] The calculated motor target torque is sent to the motor controller to perform acceleration control of the vehicle in reverse gear.

[0033] Furthermore, in the Tip out condition, when the driver suddenly releases the accelerator and the motor torque direction is positive, the following steps are performed:

[0034] Determine whether there is a coasting feedback, a braking request, or a low-speed electric braking condition;

[0035] When the above conditions are not met, calculate the vehicle meshing torque and determine the minimum torque to maintain stationary according to the following dynamic formula:

[0036]

[0037] Among them, G is the fully loaded vehicle weight, f is the rolling resistance coefficient, i0 is the main reduction ratio, i g is the transmission ratio, η T is the transmission efficiency, r is the rolling radius; T tq is the traction torque of the driving motor;

[0038] According to the vehicle speed and the accelerator pedal opening, the motor target torque is obtained through the maximum torque two-dimensional torque mapping table, and the vehicle speed torque reduction rate mapping table is used to limit the reduction rate of the motor target torque.

[0039] Furthermore, when the driver suddenly releases the accelerator and the motor torque direction is reverse, the following steps are performed:

[0040] Measure the current direction and magnitude of the motor target torque;

[0041] Determine the target direction and target value of the motor target torque, and calculate it through the maximum torque two-dimensional torque mapping table based on the vehicle speed and the accelerator pedal opening;

[0042] Apply the vehicle speed torque reduction rate mapping table to control the change rate of the motor target torque to smooth the torque transition;

[0043] The adjusted motor target torque is sent to the motor controller to adjust the motor output to suit the current driving demand.

[0044] Furthermore, in the Tip out condition, when it is determined that there is a coasting feedback, a braking request, or a low-speed powerless braking condition, the following steps are performed:

[0045] Based on the vehicle speed and the accelerator pedal opening, the motor target torque is obtained through the maximum torque two-dimensional mapping table;

[0046] According to the vehicle speed torque reduction rate mapping table, when the vehicle speed reaches a predetermined threshold and the initial motor target torque exceeds a set value, the initial motor target torque is adjusted to unload part of the torque and smooth the transition from positive torque to negative torque in the zero torque region;

[0047] The adjusted motor target torque is used as the actual motor target torque and applied to the controlled vehicle.

[0048] Furthermore, in the Tip out condition, when it is determined that the vehicle is in a parked or low speed state, the following steps are performed:

[0049] Measure vehicle speed and pedal opening based on vehicle current status and sensor feedback;

[0050] Calculate the minimum stationary meshing torque required for the current vehicle state, based on vehicle speed, rolling resistance coefficient, and driveline parameters;

[0051] Obtaining the matching motor target torque from the maximum torque two-dimensional mapping table;

[0052] Using a vehicle speed torque reduction rate mapping table to adjust the reduction rate of the motor target torque, so that the torque smoothly transitions to a predetermined low value or zero torque state;

[0053] The adjusted torque value is transmitted to the motor controller for driving control of the vehicle.

[0054] To achieve the above object, the second aspect of the present invention provides a motor torque control system, comprising the following modules:

[0055] The working condition identification module is used to identify the working condition type of the vehicle, including the Tip in working condition and the Tip out working condition;

[0056] A driving state detection module is used to identify the driving state of the vehicle and determine whether the vehicle is in a forward gear or other gears;

[0057] The accelerator pedal processing module is used to measure the accelerator pedal opening change rate and perform mean filtering on it when it reaches the set threshold, while limiting the torque rise rate;

[0058] A target torque calculation module is used to combine the processed accelerator pedal opening with the vehicle speed and calculate the motor target torque through a two-dimensional torque mapping table;

[0059] The torque smoothing module is used to smooth the reverse torque mutation under the Tip out condition according to the vehicle speed torque reduction rate mapping table, so that the torque smoothly transitions from positive to negative;

[0060] The torque adjustment module is used to adjust the motor output in real time to match the vehicle's current driving state and working conditions according to the calculated motor target torque;

[0061] The feedback processing module is used to judge the coasting feedback, braking request and low-speed electric braking conditions under the Tip out condition to determine whether the motor target torque needs to be adjusted.

[0062] To achieve the above objective, the third aspect of the present invention provides an electronic device, comprising a processor and a memory, wherein the processor is configured to implement the steps of the motor torque control method when executing a computer program stored in the memory.

[0063] To achieve the above-mentioned object, a fourth aspect of the present invention provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, the steps of the motor torque control method are executed.

[0064] Beneficial effects of the present invention:

[0065] Compared with the prior art, the present invention provides a motor torque control method, system, electronic device and medium, which can effectively control the rate and direction of torque change by intelligently adjusting the torque response of the motor, especially under the conditions of rapid acceleration (Tip in) and rapid deceleration (Tip out) of pure electric commercial vehicles. The method first calculates the appropriate motor torque output according to the driver's accelerator pedal operation and the real-time state of the vehicle, and then avoids the transmission system jitter and Clunk noise caused by torque mutation by limiting the rise and fall rates of the torque and adopting smooth transition technology during the torque conversion process. In addition, the present invention also ensures the optimization of torque output through a dynamic control strategy that comprehensively considers vehicle speed and drive requirements, thereby greatly enhancing the driving smoothness and NVH (noise, vibration and roughness) performance of the whole vehicle. The method not only improves the accuracy and response speed of motor control, but also, due to its software-controlled characteristics, is easy to upgrade and implement on existing vehicles without physical modification of mechanical components. BRIEF DESCRIPTION OF THE DRAWINGS

[0066] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for describing the embodiments.

[0067] Figure 1 It is a process framework diagram of a motor torque control method disclosed in an embodiment of the present invention.

[0068] Figure 2 It is a flow chart of a vehicle in a Tip in condition disclosed in an embodiment of the present invention.

[0069] Figure 3 It is a flow chart of a vehicle in a Tip out condition disclosed in an embodiment of the present invention. DETAILED DESCRIPTION

[0070] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0071] The commercial vehicle transmission system is a complex nonlinear elastic system composed of a drive motor, AMT, drive shaft, drive axle and tires. For pure electric commercial vehicles equipped with AMT, when the drive torque or load of the transmission system suddenly changes or even reverses, there will inevitably be a certain gap inside the transmission components such as the gear pair and spline connection pair contained in the transmission, and a brief collision will occur between the transmission components, which is often manifested as a metal collision Clunk noise accompanied by a more obvious vibration. This is especially obvious under the Tip in / Tip out working condition, that is, when the accelerator is stepped on / off quickly. Under the Tip out working condition, when the accelerator is quickly released, the vehicle is in a sliding feedback state, and there is even a torque reverse situation, and the Clunk noise is more obvious. Therefore, without changing the mechanical structure, the following motor torque control strategy is designed to match the AMT transmission system to quickly reduce the Clunk noise and the vibration of the transmission system, improve driving comfort, and meet customer needs.

[0072] like Figure 1 As shown, the present invention provides a motor torque control method, comprising the following steps:

[0073] Step S100, identifying the operating condition type of the vehicle, wherein the operating condition type includes a Tip in operating condition and a Tip out operating condition;

[0074] Step S200: If the vehicle is in the Tip in state, perform the following operations:

[0075] Step S201, identifying the traveling state of the vehicle;

[0076] Step S202: measuring the accelerator pedal opening change rate according to the vehicle's traveling state;

[0077] Step S203: When the measured change rate of the accelerator pedal opening exceeds a set threshold, the accelerator pedal opening is subjected to mean filtering and the torque increase rate is limited;

[0078] Step S204, inputting the accelerator pedal opening after mean filtering into the torque mapping table, and calculating the motor target torque in combination with the current vehicle speed;

[0079] Step S300: If the vehicle is in the Tip out condition, perform the following operations:

[0080] Step S301, measuring the coasting feedback, braking request and whether the vehicle is in a low-speed electric braking range to determine whether there is a sudden change in reverse torque;

[0081] Step S302: If there is no reverse torque mutation, the minimum meshing torque required to keep the vehicle stationary is calculated, and the motor target torque is obtained from the two-dimensional torque mapping table according to the vehicle speed and the accelerator pedal opening;

[0082] Step S303: If there is a sudden change in reverse torque, the target torque reduction rate is controlled according to the vehicle speed torque reduction rate mapping table, and smoothing is performed in the zero-crossing torque region so that the motor target torque smoothly transitions from positive to negative;

[0083] Step S400: Adjust the motor output according to the calculated motor target torque to match the current driving state and working condition requirements of the vehicle.

[0084] The motor torque control method of this embodiment is based on the real-time calculation and adjustment of the accelerator pedal opening and the maximum allowable driving torque of the vehicle, ensuring the accuracy and adaptability of the torque output. Specifically, the calculation formula of the motor torque is:

[0085] T0=a*M max ;

[0086] Where a represents the actual accelerator pedal opening value, M max The maximum permissible driving torque of the vehicle. max It is calculated based on the current vehicle speed and the external characteristic torque curve of the motor to ensure that the torque output meets the power requirements without exceeding the safe operating range of the motor.

[0087] In order to optimize the smooth output of torque and reduce the vibration and noise that may be caused by torque mutation, this embodiment also introduces the limitation of the motor torque change rate. The motor torque change rate limit value is set to N Newtons per second, which means that the rate of increase or decrease of the motor torque output in any given second will not exceed N Newtons. In this way, the motor target torque can be smoothly adjusted during driving, avoiding the poor driving experience and potential mechanical damage caused by rapid torque changes.

[0088] The following will explain the rapid acceleration (Tip in) and rapid deceleration (Tip out) conditions in detail:

[0089] like Figure 2 As shown, under the rapid acceleration (Tip in) condition:

[0090] When the driver suddenly steps on the accelerator, that is, when the vehicle is in a rapid acceleration (Tip in) condition, the direction of the vehicle is identified.

[0091] 1) When it is determined that the vehicle is in the forward gear, the pedal opening change rate is determined. When the pedal opening change rate is greater than 100% of the opening stroke per second, it is in a rapid acceleration state and the accelerator pedal opening needs to be mean filtered. At the same time, the accelerator pedal opening change rate is limited to obtain a slower accelerator pedal opening change curve.

[0092] 2) The accelerator pedal opening is input into the pedal opening and the maximum torque MAP to obtain the motor target torque corresponding to different pedal openings; at the same time, different vehicle speeds require the torque increase rate to be limited first, and the motor target torque increase rate is obtained according to the vehicle speed and the torque increase rate MAP.

[0093] 3) The rate of change of the motor target torque is limited by the motor target torque rise rate, thereby synthesizing the motor actual target torque, which is sent to the motor controller and acts on the controlled vehicle to achieve smooth acceleration of the vehicle in the forward gear.

[0094] 4) When it is determined that the vehicle is in reverse gear, the pedal opening change rate is determined. When the pedal opening change rate is greater than 75% of the opening stroke per second, it is in reverse gear rapid acceleration state. The accelerator pedal opening needs to be average filtered, and the accelerator pedal opening change rate is limited at the same time, so as to obtain a slower accelerator pedal opening change curve. Since the reverse gear speed cannot be too high, the maximum driving torque also needs to be reduced according to the vehicle speed and the motor external characteristic torque characteristics, that is, Tmax2:

[0095]

[0096] Among them, Tmax2 represents the corresponding maximum external characteristic torque of the motor when in reverse gear (determined according to Tmax and vehicle speed, the maximum external characteristic torque of the motor is exerted at low speed to ensure starting, and then it is reduced according to vehicle speed), Tmax represents the corresponding maximum external characteristic torque of the motor at different speeds; v represents vehicle speed;

[0097] 5) The accelerator pedal opening and maximum torque are input into the pedal opening and maximum torque mapping table (MAP) to obtain the motor target torque corresponding to different pedal openings; at the same time, different vehicle speeds require the torque increase rate to be limited first, and the motor target torque increase rate is obtained according to the vehicle speed and torque increase rate mapping table (MAP).

[0098] 6) The rate of change of the motor target torque is limited by the motor target torque rise rate, thereby synthesizing the motor actual target torque, which is sent to the motor controller and acts on the controlled vehicle to achieve smooth acceleration of the vehicle in reverse gear.

[0099] It can be understood that under rapid acceleration (Tip in) conditions, due to the different requirements for driving torque between the forward gear and reverse gear conditions, without affecting the safety of the high-torque conditions of starting and climbing, the accelerator pedal opening change rate is identified, the torque rise rate is limited, and the maximum driving torque is limited along with the vehicle speed, thereby reducing torque mutations, achieving smooth acceleration of the vehicle, and reducing starting noise.

[0100] like Figure 3 As shown in the figure, under the rapid deceleration (Tip out) condition:

[0101] 1) When the driver releases the accelerator suddenly, the original direction of the motor torque is driving, that is, it is positive, and the direction of the motor torque needs to be judged. Judgment condition 1 is whether there is sliding feedback; condition 2 is whether there is a braking request; condition 3 is whether it is in the low-speed no-electric braking range.

[0102] 2) When conditions 1, 2, and 3 are not met, the vehicle has no reverse mutation torque, that is, negative mutation torque. Calculate the vehicle meshing torque, ignoring the influence of vehicle speed and slope, and obtain according to the vehicle dynamics formula Calculate the minimum torque that keeps the vehicle stationary, where G is the fully loaded vehicle weight, f is the rolling resistance coefficient, i0 is the main reduction ratio, i g is the transmission ratio, η T is the transmission efficiency, r is the rolling radius; T tq is the traction torque of the driving motor;

[0103] According to the vehicle speed, pedal opening, and maximum torque two-dimensional mapping table (MAP), the motor target torque is obtained; through the vehicle speed torque reduction rate mapping table (MAP), the motor target torque reduction rate is limited, so that the actual motor target torque is synthesized and acts on the controlled vehicle. In this case, the motor torque is smoothly reduced to a positive meshing torque according to the vehicle speed, reducing torque shock.

[0104] 3) When conditions one, two, and three are all met, the vehicle has a sudden change in negative torque. The motor target torque is obtained according to the vehicle speed, pedal opening, and maximum torque two-dimensional mapping table (MAP); according to the vehicle speed torque reduction rate mapping table (MAP), the torque is quickly unloaded when the vehicle speed is high and the torque is large; smoothing is performed near the zero torque area where the positive torque transitions to the negative torque, so as to synthesize the actual target torque of the motor and act on the controlled vehicle. The motor torque drops smoothly according to the vehicle speed step and smoothly transforms into negative torque through the zero point, thereby reducing the directional impact of the torque.

[0105] Under rapid deceleration (Tip out) conditions, when the vehicle determines that there is no reverse torque, the meshing torque is calculated in real time through the vehicle dynamics equation, so that the driving torque is quickly and smoothly reduced to the positive meshing torque, and the gear meshing surface does not reverse, thereby reducing the jitter of the transmission system.

[0106] Under the condition of rapid deceleration (Tip out), when the vehicle determines that there is reverse torque, the torque reduction rate is limited by different vehicle speeds. When the vehicle speed is high, the reduction is fast. In the area near the zero point, the torque is smoothed so that it passes through the zero point smoothly and changes from positive torque to negative torque, reducing the impact caused by the reverse change of torque, thereby quickly reducing Clunk noise and transmission system jitter.

[0107] In summary, the present invention not only optimizes the driving performance of pure electric commercial vehicles by intelligently controlling the output and change rate of motor torque, but also effectively reduces the clamp noise and system jitter that may be generated by the transmission system under extreme driving conditions, thereby significantly improving driving comfort and the overall performance of the vehicle.

[0108] Preferably, the present invention further provides a motor torque control system, comprising the following modules:

[0109] The working condition identification module is used to identify the working condition type of the vehicle, including the Tip in working condition and the Tip out working condition;

[0110] A driving state detection module is used to identify the driving state of the vehicle and determine whether the vehicle is in a forward gear or other gears;

[0111] The accelerator pedal processing module is used to measure the accelerator pedal opening change rate and perform mean filtering on it when it reaches the set threshold, while limiting the torque rise rate;

[0112] A target torque calculation module is used to combine the processed accelerator pedal opening with the vehicle speed and calculate the motor target torque through a two-dimensional torque mapping table;

[0113] The torque smoothing module is used to smooth the reverse torque mutation under the Tip out condition according to the vehicle speed torque reduction rate mapping table, so that the torque smoothly transitions from positive to negative;

[0114] The torque adjustment module is used to adjust the motor output in real time to match the vehicle's current driving state and working conditions according to the calculated motor target torque;

[0115] The feedback processing module is used to judge the coasting feedback, braking request and low-speed electric braking conditions under the Tip out condition to determine whether the motor target torque needs to be adjusted.

[0116] It is understood that the embodiments described herein may be implemented in hardware, software, firmware, middleware, microcode, or a combination thereof. For hardware implementation, the processing unit may be implemented in one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), general purpose processors, controllers, microcontrollers, microprocessors, other electronic units for performing the functions described in the present application, or a combination thereof.

[0117] For software implementation, the technology described herein can be implemented by a unit that performs the functions described herein. The software code can be stored in a memory and executed by a processor. The electronic device includes a memory and a processor; wherein the memory is used to store a program that supports the processor to perform the method, and the processor is configured to execute the program stored in the memory.

[0118] Those of ordinary skill in the art will appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professional and technical personnel can use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0119] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the above-described devices and units can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0120] In the embodiments provided in the present application, it should be understood that the disclosed devices and methods can be implemented in other ways. For example, the device embodiments described above are only schematic. For example, the division of the modules is only a logical function division. There may be other division methods in actual implementation, such as multiple modules or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0121] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit.

[0122] If the function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on such an understanding, the technical solution of the embodiment of the present application is essentially or the part that contributes to the prior art or the part of the technical solution can be embodied in the form of a software product, which is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a mobile hard disk, a ROM, a RAM, a magnetic disk or an optical disk. It should be noted that, in this article, the term "includes", "includes" or any other variant thereof is intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also includes other elements that are not explicitly listed, or also includes elements inherent to such a process, method, article or device. In the absence of more restrictions, the elements defined by the sentence "includes one..." do not exclude the existence of other identical elements in the process, method, article or device including the elements.

[0123] One or more embodiments of the present application are intended to cover all such substitutions, modifications and variations that fall within the broad scope of the present application. Therefore, any omissions, modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of one or more embodiments of the present application should be included in the protection scope of the present application.

Claims

1. A motor torque control method, characterized in that: The steps include: Step S100, identifying the operating condition type of the vehicle, wherein the operating condition type includes a Tip in operating condition and a Tip out operating condition; Step S200: If the vehicle is in the Tip in state, perform the following operations: Step S201, identifying the traveling state of the vehicle; Step S202: measuring the accelerator pedal opening change rate according to the vehicle's traveling state; Step S203: When the measured change rate of the accelerator pedal opening exceeds a set threshold, the accelerator pedal opening is subjected to mean filtering and the torque increase rate is limited; Step S204, inputting the accelerator pedal opening after mean filtering into the torque mapping table, and calculating the motor target torque in combination with the current vehicle speed; Step S300: If the vehicle is in the Tip out condition, perform the following operations: Step S301, measuring the coasting feedback, braking request and whether the vehicle is in a low-speed electric braking range to determine whether there is a sudden change in reverse torque; Step S302: If there is no reverse torque mutation, the minimum meshing torque required to keep the vehicle stationary is calculated, and the motor target torque is obtained from the two-dimensional torque mapping table according to the vehicle speed and the accelerator pedal opening; Step S303: If there is a sudden change in reverse torque, the motor target torque reduction rate is controlled according to the vehicle speed torque reduction rate mapping table, and smoothing is performed in the zero-crossing torque region so that the motor target torque smoothly transitions from positive to negative; Step S400: Adjust the motor output according to the calculated motor target torque to match the current driving state and working condition requirements of the vehicle.

2. The motor torque control method according to claim 1, characterized in that: In step S200, the vehicle's traveling state includes the vehicle being in a forward gear. When the vehicle is in a forward gear, the following steps are performed: Measure the rate of change of accelerator pedal opening; When the accelerator pedal opening change rate exceeds 100% opening stroke per second, the accelerator pedal opening is subjected to mean filtering and the accelerator pedal opening change rate is limited; According to the accelerator pedal opening and the vehicle speed after mean filtering, the motor target torque is determined through a mapping table of the accelerator pedal opening and the maximum torque; Controlling the rate of increase of the motor target torque according to a torque increase rate mapping table of vehicle speed and accelerator pedal opening; The calculated motor target torque is sent to the motor controller to perform acceleration control of the vehicle in the forward gear.

3. The motor torque control method according to claim 1, characterized in that: In step S200, the vehicle's traveling state includes the vehicle being in reverse gear. When the vehicle is in reverse gear, the following steps are performed: Measure the rate of change of accelerator pedal opening; When the accelerator pedal opening change rate exceeds 75% of the opening stroke per second, the accelerator pedal opening is subjected to mean filtering and the accelerator pedal opening change rate is limited; The maximum drive torque is adjusted according to the vehicle speed and the motor external characteristic torque characteristics, where: Wherein, Tmax2 represents the maximum motor external characteristic torque corresponding to the reverse gear, Tmax represents the maximum motor external characteristic torque corresponding to different speeds; v represents the vehicle speed; According to the adjusted accelerator pedal opening and vehicle speed, the motor target torque is determined through a mapping table of the accelerator pedal opening and the maximum torque; Controlling the rate of increase of the motor target torque according to a torque increase rate mapping table of vehicle speed and accelerator pedal opening; The calculated motor target torque is sent to the motor controller to perform acceleration control of the vehicle in reverse gear.

4. The motor torque control method according to claim 1, characterized in that: In the Tip out condition, when the driver releases the accelerator suddenly and the motor torque direction is positive, perform the following steps: Determine whether there is a coasting feedback, a braking request, or a low-speed electric braking condition; When the above conditions are not met, calculate the vehicle meshing torque and determine the minimum torque to maintain stationary according to the following dynamic formula: Among them, G is the fully loaded vehicle weight, f is the rolling resistance coefficient, i0 is the main reduction ratio, i g is the transmission ratio, η T is the transmission efficiency, r is the rolling radius; T tq is the traction torque of the driving motor; According to the vehicle speed and the accelerator pedal opening, the motor target torque is obtained through the maximum torque two-dimensional torque mapping table, and the vehicle speed torque reduction rate mapping table is used to limit the reduction rate of the motor target torque.

5. The motor torque control method according to claim 1, characterized in that: In the Tip out condition, when the driver suddenly releases the accelerator and the motor target torque direction is in the reverse direction, perform the following steps: Measure the current direction and magnitude of the motor target torque; Determine the target direction and target value of the motor target torque, and calculate it through the maximum torque two-dimensional torque mapping table based on the vehicle speed and pedal opening; Apply the vehicle speed torque reduction rate mapping table to control the change rate of the motor target torque to smooth the torque transition; The adjusted motor target torque is sent to the motor controller to adjust the motor output to suit the current driving demand.

6. The motor torque control method according to claim 1, characterized in that: In the Tip out condition, when it is determined that there is a coasting feedback, a brake request, or a low-speed powerless braking condition, perform the following steps: Based on the vehicle speed and pedal opening, the motor target torque is obtained through the maximum torque two-dimensional mapping table; According to the vehicle speed torque reduction rate mapping table, when the vehicle speed reaches a predetermined threshold and the initial motor target torque exceeds a set value, the initial motor target torque is adjusted to unload part of the torque and smooth the transition from positive torque to negative torque in the zero torque region; The adjusted motor target torque is used as the actual motor target torque and applied to the controlled vehicle.

7. The motor torque control method according to claim 1, characterized in that: In the Tip out condition, when it is determined that the vehicle is parked or in a low speed state, perform the following steps: Measure vehicle speed and pedal opening based on vehicle current status and sensor feedback; Calculate the minimum stationary meshing torque required for the current vehicle state, based on vehicle speed, rolling resistance coefficient, and driveline parameters; Obtaining the matching motor target torque from the maximum torque two-dimensional mapping table; Using a vehicle speed torque reduction rate mapping table to adjust the reduction rate of the motor target torque, so that the torque smoothly transitions to a predetermined low value or zero torque state; The adjusted torque value is transmitted to the motor controller for driving control of the vehicle.

8. A motor torque control system, characterized in that: Includes the following modules: The working condition identification module is used to identify the working condition type of the vehicle, including the Tip in working condition and the Tip out working condition; A driving state detection module is used to identify the driving state of the vehicle and determine whether the vehicle is in a forward gear or other gears; The accelerator pedal processing module is used to measure the accelerator pedal opening change rate and perform mean filtering on it when it reaches the set threshold, while limiting the torque rise rate; A target torque calculation module is used to combine the processed accelerator pedal opening with the vehicle speed and calculate the motor target torque through a two-dimensional torque mapping table; The torque smoothing module is used to smooth the reverse torque mutation under the Tip out condition according to the vehicle speed torque reduction rate mapping table, so that the torque smoothly transitions from positive to negative; The torque adjustment module is used to adjust the motor output in real time to match the vehicle's current driving state and working conditions according to the calculated motor target torque; The feedback processing module is used to judge the coasting feedback, braking request and low-speed electric braking conditions under the Tip out condition to determine whether the motor target torque needs to be adjusted.

9. An electronic device, characterized in that: The method comprises a processor and a memory, wherein the processor is used to implement the steps of the motor torque control method according to any one of claims 1 to 7 when executing a computer program stored in the memory.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps of the motor torque control method according to any one of claims 1 to 7 are executed.

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