Motor control method and device, electronic equipment and storage medium

Abstract

The invention discloses a motor control method and device, electronic equipment, a storage medium and an air supply system used for a vehicle, the air supply system comprises a motor, an air inlet end and an air outlet end, one end of the motor is connected with the air inlet end, the other end of the motor is connected with the air outlet end, and the method comprises the steps that initial duty ratio information corresponding to the motor is obtained, under the initial duty ratio information, the air inlet pressure information of the air inlet end and the air outlet pressure information of the air outlet end are obtained; according to the air inlet pressure information and the air outlet pressure information, initial torque information of the motor is determined; adjusting the initial duty ratio information according to the initial torque information to obtain target duty ratio information; and controlling the motor to operate based on the target duty ratio information. According to the embodiment of the invention, the motor can be subjected to closed-loop control according to the torque information of the motor in the air supply system, so that the stability of the system is improved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a motor control method, device, electronic equipment and storage medium. Background Art

[0002] As an important part of the active suspension system of automobiles, air suspension is mainly composed of air supply system, air spring, shock absorbing and damping device, lateral stabilizer, height valve, guide force transmission mechanism, air tank, and pipeline. It can adjust the stiffness and damping of suspension in real time according to the movement state of the automobile and the road conditions, so that the suspension system is in the best shock absorption state, and the vehicle has good comfort under various road conditions. As the core component of the air suspension system, the air supply unit can compress the air and fill the air spring to provide the source power for the air suspension to adjust the stiffness and damping. In the prior art, in the conventional closed air supply system, the drive motor usually adopts open-loop control, which leads to insufficient stability of the air supply system and affects the stability and comfort of the vehicle. Summary of the invention

[0003] In view of the above problems in the prior art, the present invention discloses a motor control method, device, electronic device and storage medium, which can perform closed-loop control on the motor according to the torque information of the motor in the air supply system, thereby improving the system stability and making the vehicle lifting smoother. The technical solution disclosed in the present invention is as follows:

[0004] According to one aspect of the disclosed embodiment of the present invention, a motor control method is provided, which is used for an air supply system of a vehicle, wherein the air supply system comprises a motor, an air inlet end and an air outlet end, wherein one end of the motor is connected to the air inlet end, and the other end of the motor is connected to the air outlet end, and the method comprises:

[0005] Acquire initial duty cycle information corresponding to the motor, and, under the initial duty cycle information, air intake pressure information of the air intake end and air outlet pressure information of the air outlet end;

[0006] Determining initial torque information of the motor according to the intake pressure information and the outlet pressure information;

[0007] adjusting the initial duty cycle information according to the initial torque information to obtain target duty cycle information;

[0008] The operation of the motor is controlled based on the target duty cycle information.

[0009] Optionally, the air supply system further includes a piston structure, the piston structure includes a piston and a piston rod, the output shaft of the motor is connected to the piston through the piston rod, and determining the initial torque information of the motor according to the intake pressure information and the outlet pressure information includes:

[0010] Obtaining the rotation angle information of the output shaft, the angle information between the piston rod and the horizontal direction, and the length information of the output shaft;

[0011] Determining force information of the piston according to the inlet pressure information and the outlet pressure information;

[0012] Based on the rotation angle information and the included angle information, the force information of the piston is decomposed to obtain the force information of the output shaft;

[0013] The initial torque information is calculated based on the force information of the output shaft and the length information of the output shaft.

[0014] Optionally, the piston structure includes an intake piston structure and an exhaust piston structure, the intake piston structure includes an intake piston and an intake piston cavity, the exhaust piston structure includes an exhaust piston, an exhaust piston cavity and the piston rod, and determining the force information of the piston according to the intake pressure information and the exhaust pressure information includes:

[0015] Acquire first movement position information of the air inlet piston, second movement position information of the air outlet piston, length information of the piston rod, first area information of the air inlet piston cavity, and second area information of the air outlet piston cavity;

[0016] In the case where the rotation angle satisfies a first preset angle range, based on the outlet pressure information, the distance information between the first moving position information and the outer dead center position corresponding to the inlet piston, and the first area information, the force information corresponding to the inlet piston is determined; and based on the inlet pressure information, the distance information between the second moving position information and the outer dead center position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod, and the second area information, the force information corresponding to the outlet piston is determined;

[0017] The difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston is determined as the force information of the piston.

[0018] Optionally, determining the force information of the piston according to the intake pressure information and the outlet pressure information further includes:

[0019] In the case where the rotation angle satisfies the second preset angle range, based on the intake pressure information, the outlet pressure information and the first area information, the force information corresponding to the intake piston is determined; and based on the intake pressure information, the distance information between the second moving position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod and the second area information, the force information corresponding to the outlet piston is determined;

[0020] The force information corresponding to the air inlet piston and the force information corresponding to the air outlet piston are determined as the force information of the piston.

[0021] Optionally, determining the force information of the piston according to the intake pressure information and the outlet pressure information further includes:

[0022] When the rotation angle satisfies a third preset angle range, force information corresponding to the intake piston is determined based on the intake pressure information and the first area information; and force information corresponding to the outlet piston is determined based on the outlet pressure information and the second area information;

[0023] The difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston is determined as the force information of the piston.

[0024] Optionally, the adjusting the initial duty cycle information according to the initial torque information to obtain the target duty cycle information includes:

[0025] Determining the initial speed information of the motor corresponding to the initial torque information according to the initial torque information and the first preset mapping information; the first preset mapping information is used to characterize the corresponding relationship between the torque information and the speed information of the motor;

[0026] Based on the fact that the initial speed information does not satisfy the preset speed range, the initial duty cycle information is adjusted to obtain the target duty cycle information.

[0027] Optionally, the acquiring the initial duty cycle information of the motor includes:

[0028] Obtaining required speed information of the motor;

[0029] Based on the required speed information and second preset mapping information, the initial duty cycle information corresponding to the required speed information is determined; the second preset mapping information is used to characterize the corresponding relationship between the speed information and the duty cycle information of the motor.

[0030] According to another aspect of the disclosed embodiment of the present invention, there is provided a motor control device, comprising:

[0031] An acquisition module, used to acquire initial duty cycle information corresponding to the motor, and intake pressure information of the intake end and outlet pressure information of the outlet end under the initial duty cycle information;

[0032] A torque information determination module, used to determine the initial torque information of the motor according to the intake pressure information and the outlet pressure information;

[0033] an adjustment module, configured to adjust the initial duty cycle information according to the initial torque information to obtain target duty cycle information;

[0034] A control module is used to control the operation of the motor based on the target duty cycle information.

[0035] According to another aspect of the disclosed embodiment of the present invention, there is provided an electronic device for motor control, comprising a processor and a memory, wherein the memory stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement any of the motor control methods described above.

[0036] According to another aspect of the disclosed embodiment of the present invention, a computer-readable storage medium is provided, wherein at least one instruction is stored in the computer storage medium, and the at least one instruction is loaded and executed by a processor to implement any of the motor control methods described above.

[0037] According to another aspect of the disclosed embodiments of the present invention, a computer program product comprising instructions is provided, which, when executed on a computer, enables the computer to execute any one of the motor control methods described above in the disclosed embodiments of the present invention.

[0038] The motor control method provided by the present invention has the following technical effects:

[0039] The motor control method provided by the present invention is used for the air supply system of a vehicle. The air supply system includes a motor, an air inlet end and an air outlet end. One end of the motor is connected to the air inlet end, and the other end of the motor is connected to the air outlet end. The method first obtains the initial duty cycle information corresponding to the motor, as well as the intake pressure information of the air inlet end and the outlet pressure information of the air outlet end under the initial duty cycle information, and then determines the initial torque information of the motor according to the intake pressure information and the outlet pressure information; thereafter, the initial duty cycle information is adjusted according to the initial torque information to obtain the target duty cycle information, and the motor operation is controlled based on the target duty cycle information. Thus, the motor can be closed-loop controlled according to the torque information of the motor in the air supply system, thereby improving the system stability and enhancing the NVH (Noise, Vibration, Harshness) performance. At the same time, the vehicle lifting and lowering can be made smoother, thereby improving the driving comfort of the vehicle.

[0040] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0042] Figure 1 is a schematic diagram of an air supply system according to an exemplary embodiment;

[0043] Figure 2 is a flow chart of a motor control method according to an exemplary embodiment;

[0044] Figure 3 is a schematic diagram of a process for determining initial torque information according to an exemplary embodiment

[0045] Figure 4 is a schematic diagram of a motor and a piston structure according to an exemplary embodiment;

[0046] Figure 5 is a schematic diagram of a process for determining piston force information according to an exemplary embodiment

[0047] Figure 6 is a schematic diagram of another process for determining piston force information according to an exemplary embodiment;

[0048] Figure 7is a schematic diagram of another process for determining piston force information according to an exemplary embodiment;

[0049] Figure 8 is a schematic diagram showing decomposition of force information of a piston according to an exemplary embodiment;

[0050] Fig. 9 is a block diagram of a motor control device according to an exemplary embodiment;

[0051] Fig.10 is a block diagram of a terminal electronic device for motor control according to an exemplary embodiment;

[0052] Fig.11 The invention is a block diagram of a server electronic device for motor control according to an exemplary embodiment. DETAILED DESCRIPTION

[0053] In order to enable ordinary persons in the art to better understand the technical solutions disclosed in the present invention, the technical solutions in the embodiments disclosed in the present invention will be clearly and completely described below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments in the present invention, all other embodiments obtained by ordinary persons in the art without making creative work are within the scope of protection of the present invention.

[0054] It should be noted that the terms "first", "second", etc. in the specification and claims disclosed in the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments disclosed in the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product, or server that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products, or devices.

[0055] The motor control method provided in the present application can be used in the air supply system of a vehicle, and the air supply system can be a component of the vehicle's air suspension. In practical applications, the stiffness and damping of the suspension can be adjusted in real time according to the vehicle's motion state and road conditions, so that the suspension system is in the optimal shock absorption state, thereby making the vehicle have good comfort under various road conditions.

[0056] Specifically, Figure 1As shown, the air supply system consists of an air tank, an air spring, a reciprocating opposed piston pump PA, a motor M, an exhaust valve EV, a switching valve SV (including SV1-SV4), an air valve AV (including AV-RR, AV-RL, AV-FR, AV-FL, corresponding to different wheels of the vehicle), a power limiting valve PLV, a temperature and pressure sensor P / U, a pressure sensor P, an air filter AF, a manual exhaust bolt MEB, a TCV throttle check valve, and an air dryer AD. One end of the system provided with the temperature and pressure sensor P / U is connected to the air spring, and one end provided with the pressure sensor P is connected to the air tank. The number of air springs corresponds to the number of wheels of the vehicle.

[0057] Among them, the plunger pumps PA are arranged oppositely and driven by the motor M. An intake check valve assembly and an exhaust check valve assembly are respectively arranged at both ends of each plunger pump; the switching valve SV is used in conjunction with the on-off of different switching valves, and at the same time, the on-off of different air valves AV is matched to inflate and exhaust different air springs; the temperature and pressure sensor P / U is arranged between the switching valve SV and the air valve AV, and can be used to monitor the gas pressure and temperature inside the system and at the air spring through the different on-off combinations of the switching valve SV and the air valve AV; the pressure sensor P can monitor the pressure at the gas tank end in real time; the manual exhaust bolt MEB is used to discharge the high-pressure gas inside the integrated air supply system under special working conditions; the gas tank is used for gas storage; the throttling check valve TCV has the function of forward gas circulation and reverse gas throttling, and can achieve the function of desiccant regeneration when matched with the air dryer; the air dryer AD contains air desiccant inside, which is used to dry the air inside the system, and at the same time, the desiccant is matched with the throttling check valve TCV to achieve the regeneration of the desiccant.

[0058] See also Figure 2 , Figure 2 It is a flowchart of a motor control method shown according to an exemplary embodiment. This specification provides method operation steps as described in the embodiment or flowchart, but may include more or fewer operation steps based on conventional or non-creative labor. The order of steps listed in the embodiment is only one way of executing the steps among many orders, and does not represent the only execution order. When the actual system or server product is executed, it can be executed in sequence or in parallel according to the method shown in the embodiment or the accompanying drawings (for example, in a parallel processor or multi-threaded processing environment). Specifically, as Figure 2 As shown, the above method may include:

[0059] S201: Acquire initial duty cycle information corresponding to the motor, and intake pressure information of the intake end and outlet pressure information of the outlet end under the initial duty cycle information.

[0060] In a specific embodiment, the duty cycle information corresponding to the motor may be duty cycle information of a signal for controlling the driving of the motor.

[0061] In the embodiments of this specification, the two ends of the motor correspond to the air inlet and the air outlet, respectively. One end of the motor is connected to the air inlet, and the other end is connected to the air outlet. Depending on the working conditions of the air supply system, the air spring and the air storage tank can both serve as the air inlet and the air outlet of the air supply system. The air intake pressure information of the air intake end and the air outlet pressure information of the air outlet can be collected by the above-mentioned corresponding sensors.

[0062] Specifically, the operating conditions of the air supply system for a vehicle may include the following three conditions:

[0063] Closed air replenishment (vehicle lifting): The air supply system receives the demand for air replenishment of the entire vehicle air suspension through the electronic control unit, SV1 and SV3 are energized, and the AV valve is partially or fully energized according to demand. The air enters the plunger pump intake check valve assembly from the air tank through SV3, and is pumped to the plunger pump exhaust check valve assembly through the motor. The gas further passes through the external air dryer and throttling check valve TCV, and then enters the air spring through SV1 and AV.

[0064] Air spring exhaust (vehicle descent): The air supply system receives the demand for the whole vehicle to descend through the electronic control unit, SV2 and SV4 are energized, and the AV valve is partially or fully energized as required. The air enters the plunger pump intake check valve assembly from the air spring through AV and SV2, and is pumped to the plunger pump exhaust check valve assembly through the motor. The gas further passes through the external air dryer and throttling check valve TCV, and then enters the air tank through SV4.

[0065] Open air replenishment (degraded mode): When the air supply system detects that the gas tank is insufficient through the electronic control unit, SV4 is energized, and the system drives the plunger pump PA through the motor M to draw air from the atmosphere through the air filter. The gas further passes through the external air dryer and the throttling check valve TCV, and replenishes the gas in the gas tank through SV4.

[0066] Optionally, the above-mentioned obtaining of initial duty cycle information corresponding to the motor may include:

[0067] Get the required speed information of the motor;

[0068] Based on the required speed information and the second preset mapping information, initial duty cycle information corresponding to the required speed information is determined.

[0069] In a specific embodiment, according to the speed at which the vehicle needs to be lifted or lowered or inflated, the required motor speed information, i.e., the required speed information, is calculated. The second preset mapping information can be used to characterize the correspondence between the motor speed information and the duty cycle information, and the second preset mapping information can be set according to actual application requirements.

[0070] In practical applications, after the initial duty cycle information is determined, the motor is controlled to run according to the duty cycle information, and the air supply system starts to build pressure.

[0071] S203: Determine the initial torque information of the motor according to the intake pressure information and the outlet pressure information.

[0072] Specifically, the air supply system may further include a piston structure, which may include a piston and a piston rod, a valve plate that switches with pressure changes may be provided at one end of the piston away from the piston rod, the piston is provided in a piston cavity, and a valve plate that switches with pressure changes may also be provided at the open end of the piston cavity, and the output shaft of the motor may be connected to the piston through the piston rod. In practical applications, the force information of the piston may be determined through the above structure, as well as the inlet pressure information and the outlet pressure information, and then the torque information of the motor may be calculated.

[0073] In an alternative embodiment, Figure 3 is a schematic diagram of a process for determining initial torque information according to an exemplary embodiment. Figure 3 As shown, the above-mentioned determination of the initial torque information of the motor according to the intake pressure information and the outlet pressure information may include:

[0074] S301: Obtaining the rotation angle information of the output shaft, the angle information between the piston rod and the horizontal direction, and the length information of the output shaft.

[0075] S303: Determine the force information of the piston according to the intake pressure information and the outlet pressure information.

[0076] Specifically, Figure 4 As shown, the piston structure may include an intake piston structure and an exhaust piston structure, the intake piston structure may include an intake piston and an intake piston cavity, and the exhaust piston structure may include an exhaust piston, an exhaust piston cavity and a piston rod. The opposing pistons and motors may be regarded as a pair of crank rocker mechanisms, and the intake piston structure and the exhaust piston structure are symmetrically arranged, wherein l is the length of the piston rod, r is the length of the motor output shaft, α is the rotation angle of the motor output shaft, and β is the angle between the piston rod and the horizontal direction. The force on the piston may be the resultant force on the intake piston and the exhaust piston due to the gas pressure.

[0077] In practical applications, for the above three working conditions, when α turns from 0 to 360°, there are the following six working conditions (taking the intake piston chamber as one chamber and the outlet piston chamber as two chambers as an example): 0~α1: one chamber gas expansion, two chamber gas compression; α1~α2: one chamber intake, two chamber compression; α2-180°: one chamber intake, two chamber exhaust; 180°~α3: one chamber gas compression, two chamber gas expansion; α3~α4: one chamber compression, two chamber intake; α4~360°: one chamber exhaust, two chamber intake. When the one-chamber piston is at the outer dead center (the one-chamber piston moves to the far left), α is 0°. In 0-180° and 180°-360°, the changes in the inlet and outlet pressures are ignored, and the working conditions of the two pistons are symmetrical. Therefore, the following takes the three working conditions of 0-180° as an example to introduce the specific process of determining the force information of the piston based on the intake pressure information and the outlet pressure information.

[0078] In an alternative embodiment, Figure 5 is a schematic diagram of a process for determining piston force information according to an exemplary embodiment. Figure 5 As shown, the above-mentioned determination of the force information of the piston according to the inlet pressure information and the outlet pressure information may include:

[0079] S501: Acquire first movement position information of the intake piston, second movement position information of the outlet piston, length information of the piston rod, first area information of the intake piston cavity, and second area information of the outlet piston cavity.

[0080] S503: When the rotation angle satisfies the first preset angle range, the force information corresponding to the intake piston is determined based on the outlet pressure information, the distance information between the first moving position information and the outer dead point position corresponding to the intake piston, and the first area information; and the force information corresponding to the outlet piston is determined based on the intake pressure information, the distance information between the second moving position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod, and the second area information.

[0081] In a specific embodiment, the first preset angle range can be the above-mentioned 0~α1, which corresponds to a process in which the gas in one chamber expands and the gas in the second chamber is compressed. In this process, the gas in the dead zone in the first chamber piston expands. When the gas pressure expands to the same as the pressure at the intake end (that is, the critical situation corresponding to α1), the valve plate on the piston head opens, and air is taken in to one chamber. During the process, the two-chamber piston moves to the right from the inner dead point to continuously compress the gas.

[0082] Specifically, the force information corresponding to the intake piston can be obtained according to the formula Calculated, where Pe represents the outlet pressure information, x represents the distance information between the first moving position information and the outer dead point position corresponding to the inlet piston, S represents the first area information, Sc represents the dead zone gap length corresponding to a cavity, and m represents the gas adiabatic process index corresponding to a cavity. The process of the motor output shaft rotating one circle is regarded as an adiabatic process. The force information corresponding to the outlet piston can be obtained according to the formula It is obtained by calculation, wherein Pi represents the intake pressure information, y represents the distance information between the second moving position information and the outer dead point position corresponding to the exhaust piston, r represents the length information of the output shaft, l represents the length information of the piston rod, S represents the second area information, Sc represents the dead zone gap length corresponding to the two chambers, and k represents the gas adiabatic process index corresponding to the two chambers.

[0083] Specifically, the critical case corresponding to α1 is the case where F11 is the same as the intake pressure PiS. The value of x in F11 can be solved and then according to the formula The calculated α is the value of α1.

[0084] S505: Determine the difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0085] In a specific embodiment, the force information of the piston F1 = F12 - F11.

[0086] In an alternative embodiment, Figure 6 FIG. 1 is a schematic diagram of another process for determining piston force information according to an exemplary embodiment. Figure 6 As shown, the above-mentioned determination of the force information of the piston according to the intake pressure information and the outlet pressure information may also include:

[0087] S601: When the rotation angle satisfies the second preset angle range, the force information corresponding to the intake piston is determined based on the intake pressure information, the outlet pressure information and the first area information; and the force information corresponding to the outlet piston is determined based on the intake pressure information, the distance information between the second moving position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod and the second area information.

[0088] In a specific embodiment, the second preset angle range can be the above α1~α2, that is, the process of one chamber intake and two chambers compression, in which one chamber continues to take in air, and when the gas in the two chambers is compressed to the same pressure as the outlet end (i.e. the critical case corresponding to α2), the two chambers exhaust air. Specifically, the force information corresponding to the outlet piston can be calculated according to the formula F21=PiS. The process of the two chambers and 0~α1 is a compression process, and the force information corresponding to the outlet piston can be calculated according to the formula Specifically, the critical case corresponding to α2 is when F22 is equal to the outlet pressure PeS. The value of y in F22 is obtained by solving the equation. The calculated α is the value of α2.

[0089] S603: Determine the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0090] In a specific embodiment, during this process, since a chamber continuously takes in air, the force information of the piston is F2 = F22 - F21.

[0091] In an alternative embodiment, Figure 7 FIG. 1 is a schematic diagram of another process for determining piston force information according to an exemplary embodiment. Figure 7 As shown, the above-mentioned determination of the force information of the piston according to the intake pressure information and the outlet pressure information may also include:

[0092] S701: When the rotation angle meets the third preset angle range, determine the force information corresponding to the intake piston based on the intake pressure information and the first area information; and determine the force information corresponding to the outlet piston based on the outlet pressure information and the second area information.

[0093] In a specific embodiment, the second preset angle range can be the above α2-180°, that is, a process in which one cavity takes in air and two cavities exhaust air, in which one cavity continuously takes in air and two cavities continuously exhaust air. Specifically, the force information corresponding to the intake piston can be calculated according to the formula F31=PeS, and the force information corresponding to the exhaust piston can be calculated according to the formula F32=PiS.

[0094] S703: Determine the difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0095] In a specific embodiment, the force information of the piston F3 = F31 - F32.

[0096] S305: Based on the rotation angle information and the included angle information, the force information of the piston is decomposed to obtain the force information of the output shaft.

[0097] In a specific embodiment, the radial force of the piston is absorbed by the piston cavity during the entire movement, and the axial force F is composed of gas force (the above-mentioned F1, F2, F3), friction force and reciprocating inertia force sheet, wherein the mass of the entire piston is small, the inertia force can be ignored, and the friction force can be obtained by measurement. The axial force of the piston can be decomposed based on the rotation angle information and the angle information to obtain the force information of the output shaft.

[0098] Specifically, Figure 8 As shown, the axial force F of the piston is decomposed into the vertical direction of the motor output shaft to obtain the force information of the output shaft. Specifically, the force information of the output shaft can be calculated by the following formula:

[0099]

[0100] Wherein, F′ represents the force information of the output shaft.

[0101] S307: Calculate and obtain initial torque information based on the force information of the output shaft and the length information of the output shaft.

[0102] In a specific embodiment, the initial torque information can be calculated according to the following formula:

[0103] T=F'r

[0104] Wherein, T represents the above-mentioned initial torque information.

[0105] S205: Adjust the initial duty cycle information according to the initial torque information to obtain target duty cycle information.

[0106] In an optional embodiment, the above-mentioned adjusting the initial duty cycle information according to the initial torque information to obtain the target duty cycle information may include:

[0107] Determining initial speed information of the motor corresponding to the initial torque information according to the initial torque information and the first preset mapping information;

[0108] When the initial rotation speed information does not satisfy the preset rotation speed range, the initial duty cycle information is adjusted to obtain the target duty cycle information.

[0109] In a specific embodiment, the first preset mapping information can be used to characterize the correspondence between the torque information and the speed information of the motor. The duty cycle can be adjusted according to the motor torque information so that the speed of the motor is stabilized within a preset speed range, and the preset speed range can be set according to actual application requirements. In actual applications, the above process can be repeated for multiple adjustments.

[0110] S207: Control the motor operation based on the target duty cycle information.

[0111] It can be known from the technical solutions provided in the above embodiments of this specification that the motor control method provided in this specification is used for the air supply system of a vehicle, and the air supply system includes a motor, an air inlet end and an air outlet end, one end of the motor is connected to the air inlet end, and the other end of the motor is connected to the air outlet end. The method first obtains the initial duty cycle information corresponding to the motor, as well as the intake pressure information of the intake end and the outlet pressure information of the outlet end under the initial duty cycle information, and then determines the initial torque information of the motor according to the intake pressure information and the outlet pressure information; thereafter, the initial duty cycle information is adjusted according to the initial torque information to obtain the target duty cycle information, and the motor operation is controlled based on the target duty cycle information. Thus, the motor can be closed-loop controlled according to the torque information of the motor in the air supply system, thereby improving the system stability and enhancing the NVH (Noise, Vibration, Harshness) performance, while making the vehicle lifting and lowering smoother and improving the driving comfort of the vehicle.

[0112] The embodiment of the present invention further provides a motor control device, such as Fig. 9 As shown, an air supply system for a vehicle, the air supply system comprises a motor, an air inlet end and an air outlet end, one end of the motor is connected to the air inlet end, and the other end of the motor is connected to the air outlet end, the device comprises:

[0113] An acquisition module 910 is used to acquire initial duty cycle information corresponding to the motor, and intake pressure information of the intake end and outlet pressure information of the outlet end under the initial duty cycle information;

[0114] A torque information determination module 920, configured to determine initial torque information of the motor according to the intake pressure information and the outlet pressure information;

[0115] An adjustment module 930, configured to adjust the initial duty cycle information according to the initial torque information to obtain target duty cycle information;

[0116] The control module 940 is used to control the operation of the motor based on the target duty cycle information.

[0117] Optionally, the air supply system further includes a piston structure, the piston structure includes a piston and a piston rod, the output shaft of the motor is connected to the piston through the piston rod, and the torque information determination module 920 includes:

[0118] a first acquisition unit, configured to acquire the rotation angle information of the output shaft, the angle information between the piston rod and the horizontal direction, and the length information of the output shaft;

[0119] a first force information determining unit, configured to determine force information of the piston according to the intake pressure information and the outlet pressure information;

[0120] a second force information determination unit, configured to decompose the force information of the piston based on the rotation angle information and the included angle information to obtain the force information of the output shaft;

[0121] The torque information determination unit is used to calculate the initial torque information based on the force information of the output shaft and the length information of the output shaft.

[0122] Optionally, the piston structure includes an intake piston structure and an exhaust piston structure, the intake piston structure includes an intake piston and an intake piston cavity, the exhaust piston structure includes an exhaust piston, an exhaust piston cavity and the piston rod, and the first force information determination unit includes:

[0123] a second acquisition unit, configured to acquire first movement position information of the intake piston, second movement position information of the outlet piston, length information of the piston rod, first area information of the intake piston cavity, and second area information of the outlet piston cavity;

[0124] a third force information determination unit, configured to determine, when the rotation angle satisfies a first preset angle range, the force information corresponding to the intake piston based on the outlet pressure information, the distance information between the first movement position information and the outer dead point position corresponding to the intake piston, and the first area information; and determine the force information corresponding to the outlet piston based on the intake pressure information, the distance information between the second movement position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod, and the second area information;

[0125] The fourth force information determination unit is used to determine the difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0126] Optionally, the first force information determining unit further includes:

[0127] a fifth force information determining unit, configured to determine, when the rotation angle satisfies a second preset angle range, the force information corresponding to the intake piston based on the intake pressure information, the outlet pressure information, and the first area information; and to determine, based on the intake pressure information, the distance information between the second moving position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod, and the second area information, the force information corresponding to the outlet piston;

[0128] The sixth force information determination unit is used to determine the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0129] Optionally, the first force information determining unit further includes:

[0130] a seventh force information determining unit, configured to determine, when the rotation angle satisfies a third preset angle range, force information corresponding to the intake piston based on the intake pressure information and the first area information; and force information corresponding to the outlet piston based on the outlet pressure information and the second area information;

[0131] The eighth force information determination unit is used to determine the difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston as the force information of the piston.

[0132] Optionally, the adjustment module 930 includes:

[0133] A speed information determination unit, configured to determine the initial speed information of the motor corresponding to the initial torque information according to the initial torque information and first preset mapping information; the first preset mapping information is used to characterize the corresponding relationship between the torque information and the speed information of the motor;

[0134] The adjustment unit is used to adjust the initial duty cycle information to obtain the target duty cycle information based on the fact that the initial speed information does not meet the preset speed range.

[0135] Optionally, the acquisition module 910 includes:

[0136] A third acquisition unit, used to acquire required speed information of the motor;

[0137] The duty cycle information determination unit is used to determine the initial duty cycle information corresponding to the required speed information based on the required speed information and second preset mapping information; the second preset mapping information is used to characterize the correspondence between the speed information and the duty cycle information of the motor.

[0138] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0139] Fig.10 is a block diagram of an electronic device for motor control according to an exemplary embodiment. The electronic device may be a terminal, and its internal structure diagram may be as shown in FIG. Fig.10As shown. The electronic device includes a processor, a memory, a network interface, a display screen and an input device connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motor control method is implemented. The display screen of the electronic device can be a liquid crystal display screen or an electronic ink display screen, and the input device of the electronic device can be a touch layer covering the display screen, or a key, trackball or touchpad set on the housing of the electronic device, or an external keyboard, touchpad or mouse, etc.

[0140] Fig.11 is a block diagram of an electronic device for motor control according to an exemplary embodiment. The electronic device may be a server, and its internal structure diagram may be as shown in FIG. Fig.11 As shown. The electronic device includes a processor, a memory and a network interface connected through a system bus. Among them, the processor of the electronic device is used to provide computing and control capabilities. The memory of the electronic device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The network interface of the electronic device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, a motor control method is implemented.

[0141] Those skilled in the art will understand that Fig.10 or Fig.11 The structure shown in the figure is merely a block diagram of a partial structure related to the disclosed solution of the present invention, and does not constitute a limitation on the electronic device to which the disclosed solution of the present invention is applied. The specific electronic device may include more or fewer components than those shown in the figure, or combine certain components, or have a different arrangement of components.

[0142] In an exemplary embodiment, an electronic device for motor control is also provided, including a processor and a memory, wherein at least one instruction is stored in the memory, and the at least one instruction is loaded and executed by the processor to implement the motor control method in the disclosed embodiment of the present invention.

[0143] In an exemplary embodiment, a computer-readable storage medium is further provided, in which at least one instruction is stored. The at least one instruction is loaded and executed by a processor to implement the motor control method in the disclosed embodiment of the present invention.

[0144] In an exemplary embodiment, a computer program product including instructions is also provided. When the computer program product is run on a computer, the computer is enabled to execute the motor control method in the disclosed embodiment of the present invention.

[0145] Those of ordinary skill in the art will appreciate that all or part of the processes in the above-mentioned embodiments can be implemented by instructing related hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above-mentioned methods. Among them, any reference to memory, storage, database or other media used in the embodiments provided by the present invention may include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM) or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. As an illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double data rate (DDR), and the like.

[0146] SDRAM (DDRSDRAM), Enhanced SDRAM (ESDRAM), Synchlink DRAM (SLDRAM), Rambus direct RAM (RDRAM), direct RAM bus dynamic RAM (DRDRAM), and RAM bus dynamic RAM (RDRAM), etc.

[0147] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. The present invention is intended to cover any variations, uses, or adaptations of the present disclosure that follow the general principles of the present disclosure and include common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The description and examples are to be considered exemplary only, and the true scope and spirit of the present disclosure are indicated by the following claims.

[0148] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims

1. A motor control method, characterized in that: An air supply system for a vehicle, the air supply system comprising a motor, an air inlet and an air outlet, one end of the motor being connected to the air inlet, and the other end of the motor being connected to the air outlet, the method comprising: Acquire initial duty cycle information corresponding to the motor, and, under the initial duty cycle information, air intake pressure information of the air intake end and air outlet pressure information of the air outlet end; Determining initial torque information of the motor according to the intake pressure information and the outlet pressure information; adjusting the initial duty cycle information according to the initial torque information to obtain target duty cycle information; The operation of the motor is controlled based on the target duty cycle information.

2. The method according to claim 1, characterized in that The air supply system further includes a piston structure, the piston structure includes a piston and a piston rod, the output shaft of the motor is connected to the piston through the piston rod, and the determining the initial torque information of the motor according to the intake pressure information and the outlet pressure information includes: Obtaining the rotation angle information of the output shaft, the angle information between the piston rod and the horizontal direction, and the length information of the output shaft; Determining force information of the piston according to the inlet pressure information and the outlet pressure information; Based on the rotation angle information and the included angle information, the force information of the piston is decomposed to obtain the force information of the output shaft; The initial torque information is calculated based on the force information of the output shaft and the length information of the output shaft.

3. The method according to claim 2, characterized in that The piston structure includes an intake piston structure and an exhaust piston structure, wherein the intake piston structure includes an intake piston and an intake piston cavity, and the exhaust piston structure includes an exhaust piston, an exhaust piston cavity and the piston rod. Determining the force information of the piston according to the intake pressure information and the exhaust pressure information includes: Acquire first movement position information of the air inlet piston, second movement position information of the air outlet piston, length information of the piston rod, first area information of the air inlet piston cavity, and second area information of the air outlet piston cavity; In the case where the rotation angle satisfies a first preset angle range, based on the outlet pressure information, the distance information between the first moving position information and the outer dead center position corresponding to the inlet piston, and the first area information, the force information corresponding to the inlet piston is determined; and based on the inlet pressure information, the distance information between the second moving position information and the outer dead center position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod, and the second area information, the force information corresponding to the outlet piston is determined; The difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston is determined as the force information of the piston.

4. The method according to claim 3, characterized in that The step of determining the force information of the piston according to the intake pressure information and the outlet pressure information further comprises: In the case where the rotation angle satisfies the second preset angle range, based on the intake pressure information, the outlet pressure information and the first area information, the force information corresponding to the intake piston is determined; and based on the intake pressure information, the distance information between the second moving position information and the outer dead point position corresponding to the outlet piston, the length information of the output shaft, the length information of the piston rod and the second area information, the force information corresponding to the outlet piston is determined; The force information corresponding to the air inlet piston and the force information corresponding to the air outlet piston are determined as the force information of the piston.

5. The method according to claim 3, characterized in that: The step of determining the force information of the piston according to the intake pressure information and the outlet pressure information further comprises: When the rotation angle satisfies a third preset angle range, force information corresponding to the intake piston is determined based on the intake pressure information and the first area information; and force information corresponding to the outlet piston is determined based on the outlet pressure information and the second area information; The difference between the force information corresponding to the intake piston and the force information corresponding to the exhaust piston is determined as the force information of the piston.

6. The method according to claim 1, characterized in that The step of adjusting the initial duty cycle information according to the initial torque information to obtain the target duty cycle information includes: Determining the initial speed information of the motor corresponding to the initial torque information according to the initial torque information and the first preset mapping information; the first preset mapping information is used to characterize the corresponding relationship between the torque information and the speed information of the motor; Based on the fact that the initial speed information does not satisfy the preset speed range, the initial duty cycle information is adjusted to obtain the target duty cycle information.

7. The method according to claim 1, characterized in that The obtaining of the initial duty cycle information of the motor comprises: Obtaining required speed information of the motor; Based on the required speed information and second preset mapping information, the initial duty cycle information corresponding to the required speed information is determined; the second preset mapping information is used to characterize the corresponding relationship between the speed information and the duty cycle information of the motor.

8. A motor control device, characterized in that: An air supply system for a vehicle, the air supply system comprising a motor, an air inlet end and an air outlet end, one end of the motor being connected to the air inlet end, and the other end of the motor being connected to the air outlet end, the device comprising: An acquisition module, used to acquire initial duty cycle information corresponding to the motor, and intake pressure information of the intake end and outlet pressure information of the outlet end under the initial duty cycle information; A torque information determination module, used to determine the initial torque information of the motor according to the intake pressure information and the outlet pressure information; an adjustment module, configured to adjust the initial duty cycle information according to the initial torque information to obtain target duty cycle information; A control module is used to control the operation of the motor based on the target duty cycle information.

9. An electronic device for motor control, the electronic device comprising a processor and a memory, the memory storing at least one instruction, the at least one instruction being loaded and executed by the processor to implement the motor control method according to any one of claims 1 to 7.

10. A computer storage medium, characterized in that: The computer storage medium stores at least one instruction, and the at least one instruction is loaded and executed by the processor to implement the motor control method according to any one of claims 1 to 7.

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