A closed-loop based speed control method and system for a range-extended vehicle

Abstract

The application belongs to the technical field of automobile speed control, and discloses a speed control method and system based on a closed loop for a range extending automobile, which comprises the following steps: obtaining a target speed of a motor according to a required power generation of a range extender, calculating a speed difference between the target speed and an actual speed, looking up a preset relationship table between the speed difference and a target acceleration to obtain the target acceleration, and obtaining a motor speed regulation torque according to the target acceleration; obtaining an actual acceleration according to the actual speed, obtaining an actual acceleration torque of the motor according to the actual acceleration, and obtaining a motor reverse drag force according to the actual acceleration torque of the motor; and obtaining a motor output torque according to the motor speed regulation torque and the motor reverse drag force. The method can provide a speed control algorithm, and can normally operate according to the designed performance of the range extender no matter whether various complex working conditions such as sudden acceleration, sudden deceleration, rapid shutdown and the like are encountered.

Description

TECHNICAL FIELD

[0001] The application belongs to the technical field of automobile speed control, and particularly relates to a speed control method and system based on a closed loop for a range-extender automobile. BACKGROUND

[0002] With the increasing popularity of new energy vehicles, range-extender automobiles have become one of the mainstream vehicle models in the current society. However, a range-extender is composed of a series connection of an engine and a motor, and the coordinated control of the two is a difficulty in the control of the range-extender. One of the most important problems is the control in a non-steady state. In the process of engine speed change, the motor and the engine are rigidly connected, so the speed values of the two are constantly kept equal. Both the engine and the motor need to output torque, and the torque values of the two can be different, which jointly act on the range-extender to realize the rise or fall of the speed. Through two inputs (engine torque and motor torque), the rise or fall of the speed is realized, and in the control process, the problems of speed fluctuation or overshoot may occur.

[0003] At present, in the prior art, the control of the motor speed is generally performed by PID to calculate the motor torque, that is, the motor target speed and the actual motor speed are calculated by PID to obtain the torque that needs to be compensated by the motor. For example, when the vehicle needs to generate electricity by the range-extender, the range-extender needs to provide engine power. At this time, a motor target speed should be set, the motor outputs the motor torque through PID control, and then reaches the target speed to support the normal electricity generation of the range-extender.

[0004] However, the above prior art is limited to general use scenarios. In the actual driving process, the vehicle may encounter various complex working conditions, and such algorithms are difficult to adapt to various working conditions of the vehicle, such as rapid acceleration, rapid deceleration, rapid shutdown, etc. For example, in the process of rapid acceleration of the vehicle with full throttle, the range-extender needs to provide a large power. At this time, a higher target speed should be set, the motor outputs the motor torque through PID control, and then reaches the target speed. However, the PID algorithm often brings a large overshoot when responding quickly, resulting in large fluctuations of the engine speed. Moreover, the P value and the I value of the PID algorithm are difficult to calibrate because the P value and the I value are generally one-dimensional or two-dimensional tables.

[0005] Therefore, a speed control algorithm is needed, which can normally operate according to the designed performance of the range-extender regardless of various complex working conditions such as rapid acceleration, rapid deceleration, rapid shutdown, etc. SUMMARY

[0006] Based on this, the application provides a speed control method and system based on a closed loop for a range-extender automobile, which aims to provide a speed control algorithm that can normally operate according to the designed performance of the range-extender regardless of various complex working conditions such as rapid acceleration, rapid deceleration, rapid shutdown, etc.

[0007] The first aspect of the present application provides a closed-loop speed control method for a range-extender vehicle, the method comprising:

[0008] According to the demand power of the range extender, the target speed of the motor is obtained, the speed difference between the target speed and the actual speed is calculated, the relationship table between the preset speed difference and the target acceleration is searched, the target acceleration is obtained, and the motor speed regulation torque is obtained according to the target acceleration;

[0009] According to the actual speed, the actual acceleration is obtained, the actual acceleration torque of the motor is obtained according to the actual acceleration, and the motor counter drag force is obtained according to the actual acceleration torque of the motor;

[0010] The motor output torque is obtained according to the motor speed regulation torque and the motor counter drag force.

[0011] Compared with the prior art, the closed-loop speed control method for a range-extender vehicle provided by the present application first calculates the target speed of the motor according to the demand power of the range extender, which ensures that the operating state of the motor matches the power generation demand of the range extender, thereby avoiding energy waste and unnecessary power loss; by calculating the speed difference between the target speed and the actual speed and searching the relationship table between the preset speed difference and the target acceleration, the target acceleration can be obtained, which establishes the relationship between the speed difference and the acceleration, ensures that the motor can quickly respond to the speed change, and improves the dynamic response ability of the system; the motor speed regulation torque is calculated according to the target acceleration, which ensures that the motor can run smoothly at the required acceleration, and this process avoids the overshoot phenomenon of the motor during acceleration by accurately controlling the torque, improves the smoothness and comfort of driving; the actual acceleration is calculated by the actual speed, and the actual acceleration torque of the motor is further obtained, and the motor counter drag force is calculated according to the actual acceleration torque, which makes the system able to monitor the operating state of the motor in real time and make corresponding adjustments to ensure the stability of the motor under various working conditions; finally, the motor output torque is obtained according to the motor speed regulation torque and the motor counter drag force, which ensures that the motor can maintain the best output performance under different working conditions, and improves the power response and energy efficiency of the range-extender vehicle. Therefore, the method provides an accurate algorithm for speed control, which can operate normally according to the designed range extender performance under various complex working conditions such as sudden acceleration, sudden deceleration, and rapid shutdown.

[0012] As an optional implementation of the first aspect, the step of obtaining the target speed of the motor according to the demand power of the range extender comprises:

[0013] The demand power of the range extender is obtained by subtracting the power required by the vehicle auxiliary equipment from the power required by the current vehicle driving;

[0014] The output power of the motor is decomposed from the required power generation, and the target speed of the motor is obtained according to the output power of the motor, the torque of the motor and the efficiency of the motor. The calculation formula of the target speed of the motor is:

[0015] ,

[0016] Wherein, n represents the target speed of the motor, P represents the required power generation of the range extender, η represents the efficiency of the motor, and T represents the torque of the motor.

[0017] As an optional implementation of the first aspect, the step of obtaining the motor speed regulating torque according to the target acceleration comprises:

[0018] The mass of the motor and the radius of the rotor winding are determined, and the motor speed regulating torque is obtained in combination with the target acceleration. The calculation formula of the motor speed regulating torque is:

[0019] ,

[0020] Wherein, represents the motor speed regulating torque, represents the target acceleration, m represents the mass of the motor, and r represents the radius of the rotor winding.

[0021] As an optional implementation of the first aspect, the step of obtaining the actual acceleration according to the actual speed comprises:

[0022] The actual speed of the motor is obtained, the actual speed of the motor is smoothed by using a first-order filter, and the filtered speed is obtained. The calculation formula of the filtered speed is:

[0023] ,

[0024] Wherein, and respectively represent the speed at time t and time t-1, and α represents the filter parameter, represents the speed before filtering at time t.

[0025] The filtered speed is fitted by least square method to obtain the actual acceleration of the motor. The calculation formula of the actual acceleration is:

[0026] ,

[0027] Wherein, represents the actual acceleration of the motor, represents the interval speed, represents the interval time.

[0028] As an optional implementation of the first aspect, the step of obtaining the motor actual acceleration torque according to the actual acceleration comprises:

[0029] According to the motor quality and the rotor winding radius, and in combination with the actual acceleration, a motor actual acceleration torque is obtained, and a calculation formula of the motor actual acceleration torque is as follows:

[0030]

[0031] wherein, the motor actual acceleration torque is represented by Tm, the actual acceleration is represented by a.

[0032] As an optional implementation form of the first aspect, a formula for obtaining the motor counter drag force according to the motor actual acceleration torque is as follows:

[0033]

[0034] wherein, the motor counter drag force is represented by Fm, the motor torque of the last period is represented by Tm-1.

[0035] As an optional implementation form of the first aspect, a formula for obtaining the motor output torque according to the motor speed regulation torque and the motor counter drag force is as follows:

[0036]

[0037] wherein, the motor output torque is represented by Tm.

[0038] A second aspect of the embodiment of the present application provides a speed control system based on a closed loop for a range extending vehicle, and the system comprises:

[0039] a target torque calculation module, configured to obtain a target speed of the motor according to a required power generation of the range extender, calculate a speed difference between the target speed and an actual speed, find a preset relationship table between the speed difference and a target acceleration, obtain the target acceleration, and obtain a motor speed regulation torque according to the target acceleration;

[0040] an actual counter drag force calculation module, configured to obtain an actual acceleration according to the actual speed, obtain a motor actual acceleration torque according to the actual acceleration, and obtain a motor counter drag force according to the motor actual acceleration torque;

[0041] a motor output torque calculation module, configured to obtain a motor output torque according to the motor speed regulation torque and the motor counter drag force.

[0042] A third aspect of the embodiment of the present application provides a computer device, comprising a memory, a processor, and a processing program stored in the memory and executable on the processor, and the processing program is executed by the processor to implement the above-mentioned speed control method based on a closed loop for a range extending vehicle.​​​

[0043] A fourth aspect of the embodiments of the present application provides a storage medium, wherein a processing program is stored on the storage medium, and the processing program is run by a processor to execute the above-mentioned closed-loop based speed control method for a range-extended vehicle.

[0044] Additional aspects and advantages of the present application will be made apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0045] Figure 1 A flow chart of a closed-loop based speed control method for a range-extended vehicle according to the first embodiment of the present application;

[0046] Figure 2 A simulation data chart of an urgent acceleration process of a certain light range-extended light truck in the first embodiment of the present application;

[0047] Figure 3 A simulation data chart of an urgent deceleration process of a certain light range-extended light truck in the first embodiment of the present application;

[0048] Figure 4 A structure schematic diagram of a closed-loop based speed control system for a range-extended vehicle according to the second embodiment of the present application.

[0049] The following detailed description will further describe the present application with reference to the above-mentioned drawings. DETAILED DESCRIPTION

[0050] The technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, but not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative work fall within the scope of protection of the present application.

[0051] The terms "first", "second", and the like in the specification and claims of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than those illustrated or described herein. In addition, "and / or" in the specification and claims means at least one of the connected objects, and the character " / ", generally means that the front and rear associated objects are in an "or" relationship.

[0052] In order to illustrate the technical solutions described in the present application, the following will be described by specific embodiments.

[0053] Please refer to Figure 1The above is a flowchart of a closed-loop speed control method for a range-extended vehicle proposed in the first embodiment of this application. The proposed method includes:

[0054] S01: The target speed of the motor is obtained based on the power generation requirements of the range extender.

[0055] First, it is necessary to determine the power required by the range extender under specific operating conditions, which is usually determined by factors such as the vehicle's power requirements, driving speed, and load.

[0056] The required power output of the range extender is obtained by subtracting the power required for vehicle auxiliary equipment from the power required for current vehicle operation.

[0057] The required power generation capacity can be calculated using the following formula:

[0058] P 需求 =P 车辆 +P 辅助设备 ,

[0059] Among them, P 车辆 P is the power required for the vehicle to run. 辅助设备 This refers to the power required by vehicle auxiliary equipment (such as air conditioning, lighting, etc.).

[0060] Next, the output power of the motor is extracted from the demand for power generation;

[0061] Based on the power generation demand of the range extender system, the power generation demand is usually decomposed into the motor output power and the engine output power.

[0062] Motor output power P 电机 and engine output power P 发动机 The following relationship exists:

[0063] P 电机 +P 发动机 ==P 需求，

[0064] The appropriate power distribution ratio can be determined based on the characteristics of the motor and engine.

[0065] Furthermore, based on the motor's output power, torque, and efficiency, the target speed of the motor is obtained. The formula for calculating the target speed of the motor is:

[0066] ,

[0067] Where n represents the target speed of the motor, P represents the required power output of the range extender, η represents the efficiency of the motor, and T represents the torque of the motor.

[0068] Finally, the target speed of the motor is selected based on the motor efficiency, the engine low fuel consumption point and the required power generation.

[0069] Exemplarily, the target speed of the motor is obtained according to the required power generation of the range extender, and a calibration table for selecting the target speed is formed, as shown in Table 1 below.

[0070] Table 1: Selection table of required power generation and target speed of motor

[0071]

[0072] S02: Calculate the speed difference between the target speed and the actual speed, and look up the preset relationship table between the speed difference and the target acceleration to obtain the target acceleration;

[0073] First, the speed difference n dev is calculated according to the following formula:

[0074] n dev =n tar −n act ,

[0075] wherein n tar is the target speed of the motor, and n act is the actual speed of the motor.

[0076] Then, according to the calculated speed difference n dev , the target acceleration a tar is obtained by looking up the pre-established relationship table 1 between the speed difference and the target acceleration, which is usually obtained through experiments or simulation and can reflect the response characteristics of the motor under different speed differences.

[0077] If the required power generation increases, the target acceleration a tar is positive, indicating that the motor needs to be accelerated to increase the motor speed, as shown in Table 2.

[0078] Table 2: Relationship table of speed difference and target acceleration (positive value)

[0079]

[0080] If the required power generation decreases, the target acceleration a tar is negative, indicating that the motor needs to be decelerated to reduce the motor speed, as shown in Table 3.

[0081] Table 3: Relationship table of speed difference and target acceleration (negative value)

[0082]

[0083] Finally, the control signal of the motor can be adjusted according to the calculated target acceleration to achieve the required acceleration or deceleration. During the adjustment process, the actual speed n of the motor is continuously monitored act , and the target acceleration is continuously corrected according to the feedback information to ensure that the motor can stably reach the target speed.

[0084] S03: Obtain the motor speed regulation torque according to the target acceleration.

[0085] Specifically, the mass of the motor and the radius of the rotor winding are determined, and the motor speed regulation torque is obtained in combination with the target acceleration. The calculation formula of the motor speed regulation torque is:

[0086] ,

[0087] wherein, represents the motor speed regulation torque, represents the target acceleration, m represents the mass of the motor, and r represents the radius of the rotor winding.

[0088] S04: Obtain the actual acceleration according to the actual speed.

[0089] First, the actual speed of the motor is obtained, and then a first-order filter is used to smooth the actual speed of the motor to obtain the filtered speed. The calculation formula of the filtered speed is:

[0090] ,

[0091] wherein, and respectively represent the speed at time t and time t-1, and a represents the filter parameter, represents the speed before filtering at time t;

[0092] Next, the filtered speed is fitted by least squares method to obtain the actual acceleration of the motor. The calculation formula of the actual acceleration is:

[0093] ,

[0094] wherein, represents the actual acceleration of the motor, represents the interval speed, represents the interval time.

[0095] Finally, during the calculation process, attention should be paid to the processing of abnormal speed values. A threshold value can be set to filter out obviously unreasonable speed data, ensuring that the calculated acceleration value is smooth and reliable.

[0096] Exemplarily, as Figure 2 and Figure 3The simulation data graph after smoothing and outlier processing of the motor output torque, speed and actual acceleration of a certain light extended-range light truck in the process of sudden acceleration and sudden deceleration is shown.

[0097] S05: Obtain the motor actual acceleration torque according to the actual acceleration.

[0098] Specifically, the motor actual acceleration torque is obtained according to the motor mass and rotor winding radius, combined with the actual acceleration. The calculation formula of the motor actual acceleration torque is:

[0099] ,

[0100] Among them, the motor actual acceleration torque is represented by Tma, the actual acceleration is represented by a.

[0101] S06: Obtain the motor counter drag force according to the motor actual acceleration torque.

[0102] Specifically, the formula for obtaining the motor counter drag force according to the motor actual acceleration torque is:

[0103] ,

[0104] Among them, the motor counter drag force is represented by Tmc, the motor torque of the last period is represented by Tm.

[0105] It should be noted that in the calculation process, the motor torque of the last period Tm and the final motor counter drag force Tmc need to be first-order filtered to smooth the data and reduce noise.

[0106] S07: Obtain the motor output torque according to the motor speed regulation torque and the motor counter drag force.

[0107] Specifically, the formula for obtaining the motor output torque according to the motor speed regulation torque and the motor counter drag force is:

[0108] ,

[0109] Among them, the motor output torque is represented by Tmo.

[0110] In summary, the application provides a closed-loop speed control method for a range-extending vehicle. The method first calculates the target speed of the motor according to the required power generation of the range extender, which ensures that the operating state of the motor matches the power generation requirement of the range extender, thereby avoiding energy waste and unnecessary power loss. By calculating the speed difference between the target speed and the actual speed and looking up the preset relationship table between the speed difference and the target acceleration, the target acceleration can be obtained. This step establishes a relationship between the speed difference and the acceleration, ensuring that the motor can quickly respond to speed changes and improving the dynamic response capability of the system. The motor speed adjustment torque is calculated according to the target acceleration, ensuring that the motor can operate smoothly at the required acceleration. This process avoids overshooting during the acceleration process of the motor, improving the smoothness and comfort of driving. The actual acceleration is calculated from the actual speed, and the actual acceleration torque of the motor is further obtained. The motor counter drag force is calculated according to the actual acceleration torque of the motor. This feedback mechanism enables the system to monitor the operating state of the motor in real time and make corresponding adjustments to ensure the stability of the motor under various operating conditions. Finally, the motor output torque is obtained from the motor speed adjustment torque and the motor counter drag force. This optimization process ensures that the motor maintains optimal output performance under different operating conditions, improving the power response and energy efficiency of the range-extending vehicle. Therefore, the method provides an accurate speed control algorithm that can operate normally according to the designed range extender performance under various complex operating conditions such as sudden acceleration, sudden deceleration, and rapid shutdown.

[0111] Referring to Figure 4 , a structure schematic diagram of a closed-loop speed control system for a range-extending vehicle according to the second embodiment of the application is shown. The system includes:

[0112] A target torque calculation module 10 is configured to obtain the target speed of the motor according to the required power generation of the range extender, calculate the speed difference between the target speed and the actual speed, look up the preset relationship table between the speed difference and the target acceleration, obtain the target acceleration, and obtain the motor speed adjustment torque according to the target acceleration.

[0113] An actual counter drag force calculation module 20 is configured to obtain the actual acceleration from the actual speed, obtain the actual acceleration torque of the motor according to the actual acceleration, and obtain the motor counter drag force according to the actual acceleration torque of the motor.

[0114] A motor output torque calculation module 30 is configured to obtain the motor output torque from the motor speed adjustment torque and the motor counter drag force.

[0115] The application further provides a computer device, which includes a memory, a processor, and a processing program stored in the memory and executable on the processor. When the processing program is executed by the processor, the above-mentioned closed-loop speed control method for a range-extending vehicle is implemented.

[0116] Another aspect of the present application provides a storage medium, wherein a processing program is stored on the storage medium, and the processing program is run by a processor to execute the closed-loop based rotating speed control method for extended-range vehicles.

[0117] It should be noted that, in this document, the terms "comprising", "including", or any other variant thereof are intended to cover a non-exclusive inclusion, such that processes, methods, articles, or apparatuses that comprise a list of elements are not limited to those elements, but can also include other elements not expressly listed, or inherent to such processes, methods, articles, or apparatuses. Without further limitation, an element preceded by "comprising" does not, without more constraints, foreclose the existence of additional identical elements in the process, method, article, or apparatus that comprises the recited element. In addition, it should be noted that the scope of the methods and apparatuses of the present application are not limited by the order of the steps or the sequences of the steps, as some steps could occur in different orders or be executed concurrently with one another. Furthermore, the described features can be combined in any suitable manner in other examples.

[0118] From the above description of the embodiments, it is clear that the above-mentioned method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, or optical disk) and includes a number of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device) execute the methods described in the various embodiments of the present application.

[0119] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the above-described specific embodiments, and the above-described specific embodiments are merely illustrative, rather than limiting. Those skilled in the art can make many forms under the inspiration of the present application without departing from the scope of the present application and the protection scope of the claims, and all of them belong to the protection scope of the present application.

Claims

1. A closed-loop speed control method for range-extended electric vehicles, characterized in that, The method includes: The target speed of the motor is obtained based on the required power output of the range extender. The speed difference between the target speed and the actual speed is calculated. The relationship table between the preset speed difference and the target acceleration is found to obtain the target acceleration. The motor speed regulation torque is obtained based on the target acceleration. The actual acceleration is obtained from the actual rotation speed; the actual acceleration torque of the motor is obtained from the actual acceleration; and the motor counter-draft force is obtained from the actual acceleration torque of the motor. The step of obtaining the actual acceleration based on the actual rotational speed includes: The actual motor speed is obtained, and a first-order filter is used to smooth the actual motor speed to obtain the filtered speed. The formula for calculating the filtered speed is: ， in, and Let represent the rotational speeds at time t and t-1, respectively, and α represent the filter parameter. This represents the rotational speed before filtering at time t; The filtered rotational speed is fitted using the least squares method to obtain the actual acceleration of the motor. The formula for calculating the actual acceleration is: ， in, This indicates the actual acceleration of the motor. Indicates the interval speed. Indicates the interval time; The step of obtaining the actual acceleration torque of the motor based on the actual acceleration includes: Based on the motor's mass and rotor winding radius, and combined with the actual acceleration, the actual accelerating torque of the motor is obtained. The formula for calculating the actual accelerating torque of the motor is: ， in, This indicates the actual accelerating torque of the motor. Indicates actual acceleration; The motor output torque is obtained from the motor speed regulating torque and the motor counter-draft force.

2. The method according to claim 1, characterized in that, The step of obtaining the target speed of the motor based on the required power generation of the range extender includes: The required power output of the range extender is obtained by subtracting the power required for vehicle auxiliary equipment from the power required for current vehicle operation. The output power of the motor is decomposed from the demand for power generation. Based on the motor's output power, torque, and efficiency, the target speed of the motor is obtained. The formula for calculating the target speed of the motor is: ， Where n represents the target speed of the motor, P represents the required power output of the range extender, η represents the efficiency of the motor, and T represents the torque of the motor.

3. The method according to claim 1, characterized in that, The step of obtaining the motor speed regulating torque based on the target acceleration includes: Determine the motor mass and rotor winding radius, and combine this with the target acceleration to obtain the motor speed-regulating torque. The formula for calculating the motor speed-regulating torque is as follows: ， in, Indicates the motor's speed-regulating torque. The target acceleration is represented by m, the mass of the motor is represented by r, and the rotor winding radius is represented by r.

4. The method according to claim 1, characterized in that, The formula for obtaining the motor's counter-draft force based on the actual acceleration torque of the motor is as follows: ， in, Indicates the motor's reverse drag force. This indicates the motor torque in the previous cycle.

5. The method according to claim 4, characterized in that, The formula for obtaining the motor output torque based on the motor speed regulating torque and the motor counter-draft force is as follows: ， in, This indicates the output torque of the motor.

6. A closed-loop speed control system for a range-extended vehicle, characterized in that, The system includes: The target torque calculation module is used to obtain the target speed of the motor based on the required power generation of the range extender, calculate the speed difference between the target speed and the actual speed, look up the preset relationship table between the speed difference and the target acceleration, obtain the target acceleration, and obtain the motor speed regulation torque based on the target acceleration. The actual anti-drag force calculation module is used to obtain the actual acceleration based on the actual rotational speed, the actual acceleration torque of the motor based on the actual acceleration, and the anti-drag force of the motor based on the actual acceleration torque. Obtaining the actual acceleration based on the actual rotational speed includes: acquiring the actual rotational speed of the motor, smoothing the actual rotational speed using a first-order filter to obtain the filtered rotational speed, and the calculation formula for the filtered rotational speed is as follows: ,in, and Let represent the rotational speeds at time t and t-1, respectively, and α represent the filter parameter. Let t represent the rotational speed before filtering; then, perform least squares fitting on the filtered rotational speed to obtain the actual acceleration of the motor. The formula for calculating the actual acceleration is: ,in, This indicates the actual acceleration of the motor. Indicates the interval speed. The interval time is indicated; obtaining the actual acceleration torque of the motor based on the actual acceleration includes: obtaining the actual acceleration torque of the motor based on the motor mass and rotor winding radius, combined with the actual acceleration. The calculation formula for the actual acceleration torque of the motor is: ,in, This indicates the actual accelerating torque of the motor. Indicates actual acceleration; The motor output torque calculation module is used to obtain the motor output torque based on the motor speed regulation torque and the motor counter-draft force.

7. A computer device, characterized in that, The computer device includes a memory, a processor, and a processing program stored in the memory and executable on the processor. When executed by the processor, the processing program implements a closed-loop speed control method for a range-extended vehicle as described in any one of claims 1 to 5.

8. A storage medium, characterized in that, The storage medium stores a processing program, which, when executed by a processor, implements a closed-loop speed control method for range-extended vehicles as described in any one of claims 1 to 5.

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