Motor system control method, device and equipment and storage medium

Abstract

The invention discloses a motor system control method and device, equipment and a storage medium, which are used for prolonging the service life of a driving battery. The maximum power, the actual consumed power and the actual rotating speed of a driving motor corresponding to the current period are obtained; determining target driving motor system efficiency based on the driving motor actual rotating speed and the driving motor external characteristic table; based on the maximum power, the actual consumed power, the actual rotating speed of the driving motor and the target driving motor system efficiency, the driving motor output torque of the motor system is obtained; and adjusting the driving motor of the motor system based on the driving motor output torque. The target driving motor system efficiency is determined through the actual rotating speed of the driving motor, the driving motor output torque of the motor system is determined according to the target driving motor system efficiency, the problem that the battery output power is overloaded when the efficiency of the driving motor system is reduced is avoided, the service life of the driving battery is prolonged, and the user experience is improved. And the use safety of the driving battery is ensured.

Description

Technical Field

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

[0002] With the increasing popularity of automobiles, the market share of new energy vehicles is gradually approaching that of traditional fuel vehicles. Batteries are typically the primary energy source for new energy vehicles, and the drive motor is the primary power output. This demonstrates the importance of batteries to new energy vehicles. After long-term operation, the drive motor typically experiences reduced system efficiency. The vehicle control unit (VCU) is responsible for coordinating the distribution of power in new energy vehicles. When the drive motor system efficiency decreases, the actual power consumption of the drive motor may exceed the required power calculated by the VCU controller, resulting in battery output power overload, further affecting battery life and safety. Summary of the Invention

[0003] In view of this, the present application provides a motor system control method, device, equipment and storage medium for extending the service life of a driving battery.

[0004] In a first aspect, an embodiment of the present application provides a motor system control method, the method comprising:

[0005] Obtain the maximum power, actual power consumption and actual speed of the drive motor corresponding to the current cycle;

[0006] determining a target drive motor system efficiency based on the actual drive motor speed and a drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on the motor system data acquired during the current cycle;

[0007] Obtaining a drive motor output torque of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the target drive motor system efficiency;

[0008] The drive motor of the motor system is adjusted based on the output torque of the drive motor.

[0009] In this application, the target drive motor system efficiency is determined by the actual drive motor speed, and the drive motor output torque of the motor system is determined based on the target drive motor system efficiency, thereby avoiding the problem of battery output power overload caused by the reduction of the drive motor system efficiency, thereby extending the service life of the drive battery and ensuring the safety of the drive battery.

[0010] In some possible embodiments, before determining the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, the method further includes:

[0011] Acquiring motor system data corresponding to each cycle of the motor system;

[0012] The drive motor external characteristic table is constructed based on the motor system data.

[0013] In the present application, the time required to determine the efficiency of the motor system is shortened by constructing a drive motor external characteristic table.

[0014] In some possible embodiments, obtaining motor system data corresponding to each cycle of the motor system includes:

[0015] Obtaining the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to each cycle of the motor system;

[0016] The step of constructing the drive motor external characteristic table based on the motor system data includes:

[0017] The drive motor system efficiency corresponding to each cycle is obtained based on the output torque of the drive motor corresponding to each cycle, the actual speed of the drive motor, the bus current of the drive motor, the bus voltage of the drive motor, and the motor efficiency formula;

[0018] The drive motor external characteristic table is constructed based on the actual speed of the drive motor corresponding to each cycle and the system efficiency of the drive motor corresponding to each cycle.

[0019] In the present application, the drive motor external characteristic table is constructed by using the motor system data corresponding to each cycle before the current cycle, thereby ensuring the timeliness of the obtained drive motor external characteristic table.

[0020] In some possible embodiments, determining the target drive motor system efficiency based on the actual drive motor speed and a drive motor external characteristic table includes:

[0021] determining whether a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor;

[0022] If a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual drive motor speed, the drive motor system efficiency in the drive motor external characteristic table is used as the target drive motor system efficiency;

[0023] If the corresponding drive motor system efficiency is not found in the drive motor external characteristic table based on the actual drive motor speed, the original drive motor external characteristic table is obtained, and the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

[0024] In the present application, when the target drive motor system efficiency cannot be obtained based on the drive motor external characteristic table, the target drive motor system efficiency is determined by the original drive motor external characteristic table, thereby ensuring the accuracy of the obtained target drive motor system efficiency.

[0025] In some possible embodiments, the original driving motor external characteristic table is constructed according to the following method:

[0026] adjusting the actual speed of the drive motor of the motor system from a first preset value to a second preset value according to a first preset step size;

[0027] determining the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques;

[0028] The original drive motor external characteristic table is constructed based on the actual speed of the drive motor after each adjustment and the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques.

[0029] In the present application, by constructing an original drive motor external characteristic table, it is ensured that the corresponding target drive motor system efficiency can be determined according to the actual speed of the drive motor.

[0030] In some possible embodiments, obtaining the target drive motor system efficiency based on the actual drive motor speed and the original drive motor external characteristic table includes:

[0031] determining an output torque of the driving motor corresponding to a previous cycle, and determining a target torque from the plurality of specified torques based on the output torque of the driving motor corresponding to the previous cycle;

[0032] If a corresponding drive motor system efficiency is found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the drive motor system efficiency in the original drive motor external characteristic table is used as the target drive motor system efficiency;

[0033] If the corresponding drive motor system efficiency is not found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the two target drive motor actual speeds with the smallest difference from the actual drive motor speed in the original drive motor external characteristic table are determined; and linear interpolation is performed on the drive motor system efficiencies corresponding to the two target drive motor actual speeds under the target torque to obtain the target drive motor system efficiency.

[0034] In this application, when the target drive motor system efficiency cannot be determined based on the original drive motor external characteristic table, the target drive motor system efficiency is determined by a linear interpolation method, thereby ensuring the accuracy of the determined target drive motor system efficiency.

[0035] In some possible embodiments, after obtaining the output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the efficiency of the drive motor system, the method further includes:

[0036] The efficiency of the drive motor system corresponding to the current cycle is driven based on the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to the current cycle;

[0037] The drive motor external characteristic table is updated based on the actual speed of the drive motor corresponding to the current cycle and the system efficiency of the drive motor corresponding to the current cycle.

[0038] In the present application, by updating the drive motor external characteristic table based on the drive motor system efficiency corresponding to the current cycle, the obtained drive motor external characteristic table is guaranteed to be timely.

[0039] In a second aspect, an embodiment of the present application provides a motor system control device, the device comprising:

[0040] The acquisition module is used to obtain the maximum power, actual power consumption and actual speed of the drive motor corresponding to the current cycle;

[0041] an efficiency determination module, configured to determine a target drive motor system efficiency based on the actual drive motor speed and a drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on data of the motor system acquired during the current cycle;

[0042] an output torque determination module, configured to obtain an output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the target drive motor system efficiency;

[0043] An adjustment module is used to adjust the drive motor of the motor system based on the output torque of the drive motor.

[0044] In some possible embodiments, before determining the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, the efficiency determination module is further configured to:

[0045] Acquiring motor system data corresponding to each cycle of the motor system;

[0046] The drive motor external characteristic table is constructed based on the motor system data.

[0047] In some possible embodiments, when the efficiency determination module executes the acquisition of motor system data corresponding to each cycle of the motor system, it is specifically configured to:

[0048] Obtaining the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to each cycle of the motor system;

[0049] When the efficiency determination module constructs the drive motor external characteristic table based on the motor system data, it is specifically used to:

[0050] The drive motor system efficiency corresponding to each cycle is obtained based on the output torque of the drive motor corresponding to each cycle, the actual speed of the drive motor, the bus current of the drive motor, the bus voltage of the drive motor, and the motor efficiency formula;

[0051] The drive motor external characteristic table is constructed based on the actual speed of the drive motor corresponding to each cycle and the system efficiency of the drive motor corresponding to each cycle.

[0052] In some possible embodiments, when the efficiency determination module determines the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, it is specifically configured to:

[0053] determining whether a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor;

[0054] If a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual drive motor speed, the drive motor system efficiency in the drive motor external characteristic table is used as the target drive motor system efficiency;

[0055] If the corresponding drive motor system efficiency is not found in the drive motor external characteristic table based on the actual drive motor speed, the original drive motor external characteristic table is obtained, and the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

[0056] In some possible embodiments, the original driving motor external characteristic table is constructed according to the following method:

[0057] adjusting the actual speed of the drive motor of the motor system from a first preset value to a second preset value according to a first preset step size;

[0058] determining the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques;

[0059] The original drive motor external characteristic table is constructed based on the actual speed of the drive motor after each adjustment and the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques.

[0060] In some possible embodiments, when the efficiency determination module obtains the target drive motor system efficiency based on the actual drive motor speed and the original drive motor external characteristic table, it is specifically configured to:

[0061] determining an output torque of the driving motor corresponding to a previous cycle, and determining a target torque from the plurality of specified torques based on the output torque of the driving motor corresponding to the previous cycle;

[0062] If a corresponding drive motor system efficiency is found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the drive motor system efficiency in the original drive motor external characteristic table is used as the target drive motor system efficiency;

[0063] If the corresponding drive motor system efficiency is not found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the two target drive motor actual speeds with the smallest difference from the actual drive motor speed in the original drive motor external characteristic table are determined; and linear interpolation is performed on the drive motor system efficiencies corresponding to the two target drive motor actual speeds under the target torque to obtain the target drive motor system efficiency.

[0064] In some possible embodiments, after the output torque determination module obtains the output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the efficiency of the drive motor system, the output torque determination module is further configured to:

[0065] The efficiency of the drive motor system corresponding to the current cycle is driven based on the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to the current cycle;

[0066] The drive motor external characteristic table is updated based on the actual speed of the drive motor corresponding to the current cycle and the system efficiency of the drive motor corresponding to the current cycle.

[0067] In the third aspect, another embodiment of the present application also provides an electronic device, comprising at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute any method provided in the embodiment of the first aspect of the present application.

[0068] In a fourth aspect, another embodiment of the present application further provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to enable a computer to execute any method provided in the embodiment of the first aspect of the present application.

[0069] Other features and advantages of the present application will be described in the following description, and in part will become apparent from the description, or will be understood by practicing the present application. The purposes and other advantages of the present application can be realized and obtained by the structures particularly pointed out in the written description, claims, and drawings. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0071] Figure 1 A schematic diagram of an application scenario of a motor system control method provided in an embodiment of the present application;

[0072] Figure 2 A flow chart of a motor system control method provided in an embodiment of the present application;

[0073] Figure 3 A schematic diagram of a flow chart for constructing a drive motor external characteristic table in a motor system control method provided in an embodiment of the present application;

[0074] Figure 4 A schematic diagram showing the external characteristics of a driving motor in a motor system control method provided in an embodiment of the present application;

[0075] Figure 5 A schematic diagram of a flow chart for determining a target drive motor system efficiency in a motor system control method provided in an embodiment of the present application;

[0076] Figure 6 A schematic diagram of a flow chart for constructing an original drive motor external characteristic table in a motor system control method provided in an embodiment of the present application;

[0077] Figure 7 A schematic flow chart of an original drive motor external characteristic table of a motor system control method provided in an embodiment of the present application;

[0078] Figure 8 A schematic diagram of a flow chart for determining a target drive motor system efficiency in a motor system control method provided in an embodiment of the present application;

[0079] Figure 9 A schematic diagram of a flow chart of updating a drive motor external characteristic table in a motor system control method provided in an embodiment of the present application;

[0080] Figure 10 A schematic diagram of an updated drive motor external characteristic table of a motor system control method provided in an embodiment of the present application;

[0081] Figure 11 A schematic diagram of a device for a motor system control method provided in an embodiment of the present application;

[0082] Figure 12 A schematic diagram of an electronic device for a motor system control method provided in an embodiment of the present application. DETAILED DESCRIPTION

[0083] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0084] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0085] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0086] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0087] The inventors' research has found that with the increasing popularity of automobiles, the market share of new energy vehicles is gradually approaching that of traditional fuel vehicles. Batteries are typically the primary energy source for new energy vehicles, and drive motors are the primary power output for these vehicles. This demonstrates the importance of batteries to these vehicles. After prolonged operation, drive motors typically experience reduced system efficiency. The VCU controller, responsible for allocating and coordinating the power distribution for new energy vehicles, can reduce drive motor system efficiency. When this occurs, the actual power consumption of the drive motor may exceed the required power calculated by the VCU controller, leading to battery output power overload and further impacting battery life and safety.

[0088] In view of this, the embodiments of the present application provide a motor system control method, device, equipment and storage medium for extending the service life of the drive battery. The inventive concept of the present application can be summarized as follows: obtaining the maximum power, actual power consumption and actual speed of the drive motor corresponding to the current cycle; determining the target drive motor system efficiency based on the actual speed of the drive motor and the drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on the data of the motor system obtained between the current cycle; obtaining the output torque of the drive motor of the motor system based on the maximum power, actual power consumption, actual speed of the drive motor and the target drive motor system efficiency; adjusting the drive motor of the motor system based on the output torque of the drive motor. In the present application, the target drive motor system efficiency is determined by the actual speed of the drive motor, and the output torque of the drive motor of the motor system is determined based on the target drive motor system efficiency, thereby avoiding the problem of battery output power overload caused by the reduction of the drive motor system efficiency, thereby extending the service life of the drive battery and ensuring the safety of the drive battery.

[0089] For ease of understanding, a motor system control method provided by an embodiment of the present application is described in detail below with reference to the accompanying drawings:

[0090] like Figure 1 The figure shows an application scenario diagram of a motor system control method in an embodiment of the present application. The figure includes: VCU 10, drive motor 20; wherein:

[0091] VCU10 obtains the maximum power, actual power consumption and actual speed of the drive motor corresponding to the current cycle; determines the target drive motor system efficiency based on the actual speed of the drive motor and the drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on the data of the motor system obtained between the current cycle; obtains the output torque of the drive motor of the motor system based on the maximum power, actual power consumption, actual speed of the drive motor and the target drive motor system efficiency; and adjusts the drive motor 20 of the motor system based on the output torque of the drive motor.

[0092] The description in this application details only a single VCU 10 and drive motor 20. However, those skilled in the art will appreciate that the illustrated VCU 10 and drive motor 20 are intended to illustrate the operation of the VCU 10 and drive motor 20 involved in the technical solution of this application. This does not imply any limitation on the number, type, or location of the VCU 10 and drive motor 20. It should be noted that adding additional modules to the illustrated environment or removing individual modules from it does not alter the underlying concepts of the exemplary embodiments of this application.

[0093] It should be noted that the motor system control method proposed in this application is not only applicable to Figure 1 The application scenario shown is also applicable to any device that requires motor system control.

[0094] like Figure 2 FIG. 1 is a flow chart of a motor system control method provided by an embodiment of the present application, wherein:

[0095] In step 201: the maximum power, actual power consumption and actual speed of the driving motor corresponding to the current cycle are obtained.

[0096] In step 202 : a target drive motor system efficiency is determined based on the actual drive motor speed and a drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on motor system data acquired during the current cycle.

[0097] In step 203 , the output torque of the drive motor of the motor system is obtained based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the target drive motor system efficiency.

[0098] In step 204 : the drive motor of the motor system is adjusted based on the output torque of the drive motor.

[0099] In this application, the target drive motor system efficiency is determined by the actual drive motor speed, and the drive motor output torque of the motor system is determined based on the target drive motor system efficiency, thereby avoiding the problem of battery output power overload caused by the reduction of the drive motor system efficiency, thereby extending the service life of the drive battery and ensuring the safety of the drive battery.

[0100] In order to facilitate further understanding of the motor system control method provided in the embodiment of the present application, Figure 2 The steps are described in detail:

[0101] In some possible embodiments, in order to avoid overloading of the driving battery, a driving motor adjustment cycle is set in the present application, and in each cycle, Figure 2 The method in the paper uses the method to adjust the output torque of the drive motor in real time. To ensure the accuracy of the determined output torque of the drive motor while shortening the time spent determining the output torque of the drive motor, it is necessary to first obtain the motor system data corresponding to each cycle of the motor system; and then construct the drive motor external characteristic table based on the motor system data.

[0102] For example, if the current cycle is the fifth cycle, the motor system data corresponding to each cycle obtained when constructing the external characteristic table corresponding to the fifth cycle is the motor system data of each cycle before the fifth cycle, that is, the motor system data corresponding to the first cycle, the second cycle, the third cycle, and the fourth cycle respectively.

[0103] In some possible embodiments, the motor efficiency formula is as shown in Formula 1:

[0104]

[0105] Where η is the efficiency of the drive motor system, T1 is the output torque of the drive motor, n1 is the actual speed of the drive motor, I1 is the bus current of the drive motor, V1 is the bus voltage of the drive motor, and k is a constant.

[0106] According to the motor efficiency formula, the motor system data obtained include: the output torque of the drive motor corresponding to each cycle of the motor system, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor. After obtaining the motor system data, the external characteristic table of the drive motor can be constructed based on the motor system data. Figure 3 The steps shown, where:

[0107] In step 301 , the drive motor system efficiency corresponding to each cycle is obtained based on the drive motor output torque, the actual drive motor speed, the drive motor bus current, the drive motor bus voltage, and the motor efficiency formula corresponding to each cycle.

[0108] For example: the motor efficiency formula is shown in Formula 1, and the acquired motor system data are the motor system efficiencies corresponding to the first cycle, the second cycle, the third cycle, and the fourth cycle, respectively. Based on the motor system data corresponding to each cycle, the drive motor system efficiency corresponding to the first cycle is η1, the drive motor system efficiency corresponding to the second cycle is η2, the drive motor system efficiency corresponding to the third cycle is η3, and the drive motor system efficiency corresponding to the fourth cycle is η4.

[0109] In step 302 : a drive motor external characteristic table is constructed based on the actual speed of the drive motor corresponding to each cycle and the system efficiency of the drive motor corresponding to each cycle.

[0110] For example: Continuing with the above example, the drive motor system efficiency corresponding to the first cycle is determined to be η1, and the corresponding actual speed of the drive motor is n 11 ; Determine the drive motor system efficiency corresponding to the second cycle as η2, and the corresponding actual speed of the drive motor is n 12 ; Determine the drive motor system efficiency corresponding to the third cycle as η3, and the corresponding actual speed of the drive motor is n 13 ; Determine the drive motor system efficiency corresponding to the fourth cycle as η4, and the corresponding actual speed of the drive motor is n 14 Based on the actual speed of the drive motor corresponding to each cycle and the efficiency of the drive motor system corresponding to each cycle, the drive motor external characteristic table can be constructed as follows: Figure 4 shown.

[0111] In some possible embodiments, after determining the external characteristic table of the driving motor, the target driving motor system efficiency is determined based on the actual speed of the driving motor and the external characteristic table of the driving motor, which can be implemented as follows: Figure 5 The steps shown, where:

[0112] In step 501 : determine whether the corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor; if so, proceed to step 502 , otherwise proceed to step 503 .

[0113] In step 502 : the drive motor system efficiency in the drive motor external characteristic table is used as the target drive motor system efficiency.

[0114] For example: The constructed external characteristic table of the driving motor is as follows: Figure 4 As shown, the actual speed of the driving motor obtained in this cycle is determined to be n 12 , then according to Figure 4 The external characteristic table of the driving motor shown in the figure can be used to obtain n 12 The corresponding drive motor system efficiency is η2, and η2 is used as the target drive motor system efficiency.

[0115] In step 503 : an original drive motor external characteristic table is obtained, and a target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

[0116] For example: The constructed external characteristic table of the driving motor is as follows: Figure 4 As shown, the actual speed of the driving motor obtained in this cycle is determined to be n 22 , according to Figure 4 If the drive motor external characteristic table shown cannot determine the corresponding drive motor system efficiency, the original drive motor external characteristic table is obtained, and the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

[0117] In some other possible embodiments, constructing the original driving motor external characteristic table may be implemented as follows: Figure 6 The steps shown, where:

[0118] In step 601 : the actual speed of the driving motor of the motor system is adjusted from a first preset value to a second preset value according to a first preset step size.

[0119] In step 602 , the drive motor system efficiency corresponding to each adjusted actual speed of the drive motor under a plurality of specified torques is determined.

[0120] In step 603 , an original drive motor external characteristic table is constructed based on the actual speed of the drive motor after each adjustment and the drive motor system efficiencies corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques.

[0121] For example: the first preset value of the actual speed of the driving motor of the motor system is 0, the first preset step size is 100, the second preset value is 1000, and the specified torques are 100, 300, and 500 respectively. When the actual speed of the driving motor of the motor system is 0, the efficiency of the driving motor system is 0 when the specified torque is 100, the efficiency of the driving motor system is 0 when the specified torque is 300, and the efficiency of the driving motor system is 0 when the specified torque is 500; when the actual speed of the driving motor of the motor system is 100, the efficiency of the driving motor system is 30% when the specified torque is 100, the efficiency of the driving motor system is 40% when the specified torque is 300, and the efficiency of the driving motor system is 500. The efficiency of the drive motor system is 45% when the actual speed of the drive motor of the motor system is 200, the efficiency of the drive motor system is 66% when the specified torque is 100, the efficiency of the drive motor system is 50% when the specified torque is 300, and the efficiency of the drive motor system is 70% when the specified torque is 500; ...; when the actual speed of the drive motor of the motor system is 1000, the efficiency of the drive motor system is 70% when the specified torque is 100, the efficiency of the drive motor system is 75% when the specified torque is 300, and the efficiency of the drive motor system is 80% when the specified torque is 500. The external characteristic table of the original drive motor is constructed as follows: Figure 7 shown.

[0122] In some possible embodiments, after obtaining the original drive motor external characteristic table, the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table, which can be implemented as follows: Figure 8 The steps shown, where:

[0123] In step 801 : the output torque of the driving motor corresponding to the previous cycle is determined, and a target torque is determined from the multiple specified torques based on the output torque of the driving motor corresponding to the previous cycle.

[0124] In some possible embodiments, for the motor system, the difference in the output torque of the driving motor in adjacent cycles will not be particularly large. Therefore, when determining the target torque, the specified torque among multiple specified torques that has the smallest difference with the output torque of the driving motor in the previous cycle can be used as the target torque.

[0125] For example: The external characteristic table of the original drive motor is as follows: Figure 7 As shown, it is determined that the output torque of the drive motor corresponding to the previous cycle is 508, and the specified torques are 100, 300, and 500 respectively, so the target torque can be determined to be 500.

[0126] In step 802 : if the corresponding drive motor system efficiency is found in the original drive motor external characteristic table based on the actual drive motor speed and target torque, the drive motor system efficiency in the original drive motor external characteristic table is used as the target drive motor system efficiency.

[0127] For example: The external characteristic table of the original drive motor is as follows: Figure 7 As shown, the actual speed of the drive motor corresponding to the current cycle is determined to be 500, and the target torque is determined to be 500. In the original drive motor external characteristic table, it is found that the drive motor system efficiency corresponding to the actual speed of the drive motor 500 when the output torque is 500 is 79%, and 79% is used as the target drive motor system efficiency.

[0128] Step 803: If the corresponding drive motor system efficiency is not found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, then determine the two target drive motor actual speeds in the original drive motor external characteristic table with the smallest difference from the actual drive motor speed; perform linear interpolation based on the drive motor system efficiencies corresponding to the two target drive motor actual speeds to obtain the target drive motor system efficiency.

[0129] For example: The external characteristic table of the original drive motor is as follows: Figure 7 As shown, it is determined that the actual speed of the drive motor corresponding to the current cycle is 462, and the target torque is 500. The drive motor system efficiency corresponding to the actual speed of the drive motor 462 when the output torque is 500 is not found in the original drive motor external characteristic table. It is determined that the two target drive motor actual speeds with the smallest difference from the actual speed of the drive motor 462 in the original drive motor external characteristic table are 400 and 500 respectively. It is determined that the drive motor system efficiency corresponding to the actual speed of the drive motor 400 when the output torque is 500 is 72%, and it is determined that the drive motor system efficiency corresponding to the actual speed of the drive motor 500 when the output torque is 500 is 79%. Then, a linear difference is taken between the drive motor system efficiency 72% and the drive motor system efficiency 79% to obtain the target drive motor system efficiency.

[0130] It should be noted that after determining the two target drive motor actual speeds with the smallest difference from the actual speed of the drive motor in the original drive motor external characteristic table, in addition to the above-mentioned linear interpolation method, other calculation methods such as the mean method can also be used. This application does not limit this, and technicians can set it according to their needs.

[0131] In some possible embodiments, after obtaining the target drive motor system efficiency, the drive motor output torque of the motor system may be determined using Formula 2, where:

[0132]

[0133] Where: P1 is the maximum power, P2 is the actual power consumption, n1 is the actual speed of the drive motor, η is the target drive motor system efficiency, k is a constant, and T2 is the output torque of the drive motor of the motor system.

[0134] In some possible embodiments, according to the experience of those skilled in the art, k may be set to 9550.

[0135] In some possible embodiments, after obtaining the output torque of the drive motor of the motor system based on the maximum power, actual power consumption, actual speed of the drive motor, and efficiency of the drive motor system, in order to ensure the real-time performance of the external characteristic table of the drive motor, the following may be implemented: Figure 9 The method shown is to update the external characteristic table of the driving motor, wherein:

[0136] In step 901 : the drive motor system efficiency corresponding to the current cycle is determined based on the drive motor output torque, the drive motor actual speed, the drive motor bus current, and the drive motor bus voltage corresponding to the current cycle.

[0137] In step 902 : the drive motor external characteristic table is updated based on the actual speed of the drive motor corresponding to the current cycle and the drive motor system efficiency corresponding to the current cycle.

[0138] For example: the current cycle is the fifth cycle, and the actual speed of the drive motor is determined to be n 15 The obtained drive motor system efficiency is η5, and the drive motor external characteristics obtained based on the first four cycles are shown in the table below. Figure 4 As shown in the figure, the updated external characteristic table of the drive motor is as follows: Figure 10 shown.

[0139] Based on the same inventive concept, the present application also provides a motor system control device 1100, such as Figure 11 As shown, the device includes:

[0140] The acquisition module 11001 is used to obtain the maximum power, actual power consumption and actual speed of the driving motor corresponding to the current cycle;

[0141] an efficiency determination module 11002 for determining a target drive motor system efficiency based on the actual drive motor speed and a drive motor external characteristic table, wherein the drive motor external characteristic table is constructed based on the motor system data acquired during the current cycle;

[0142] an output torque determination module 11003, configured to obtain an output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the target drive motor system efficiency;

[0143] The adjustment module 11004 is configured to adjust the drive motor of the motor system based on the output torque of the drive motor.

[0144] In some possible embodiments, before determining the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, the efficiency determination module 11002 is further configured to:

[0145] Acquiring motor system data corresponding to each cycle of the motor system;

[0146] The drive motor external characteristic table is constructed based on the motor system data.

[0147] In some possible embodiments, when the efficiency determination module 11002 executes the acquisition of motor system data corresponding to each cycle of the motor system, it is specifically configured to:

[0148] Obtaining the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to each cycle of the motor system;

[0149] When the efficiency determination module 11002 constructs the drive motor external characteristic table based on the motor system data, it is specifically used to:

[0150] The drive motor system efficiency corresponding to each cycle is obtained based on the output torque of the drive motor corresponding to each cycle, the actual speed of the drive motor, the bus current of the drive motor, the bus voltage of the drive motor, and the motor efficiency formula;

[0151] The drive motor external characteristic table is constructed based on the actual speed of the drive motor corresponding to each cycle and the system efficiency of the drive motor corresponding to each cycle.

[0152] In some possible embodiments, when the efficiency determination module 11002 determines the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, it is specifically configured to:

[0153] determining whether a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor;

[0154] If a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual drive motor speed, the drive motor system efficiency in the drive motor external characteristic table is used as the target drive motor system efficiency;

[0155] If the corresponding drive motor system efficiency is not found in the drive motor external characteristic table based on the actual drive motor speed, the original drive motor external characteristic table is obtained, and the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

[0156] In some possible embodiments, the original driving motor external characteristic table is constructed according to the following method:

[0157] adjusting the actual speed of the drive motor of the motor system from a first preset value to a second preset value according to a first preset step size;

[0158] determining the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques;

[0159] The original drive motor external characteristic table is constructed based on the actual speed of the drive motor after each adjustment and the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques.

[0160] In some possible embodiments, when the efficiency determination module 11002 obtains the target drive motor system efficiency based on the actual drive motor speed and the original drive motor external characteristic table, it is specifically configured to:

[0161] determining an output torque of the driving motor corresponding to a previous cycle, and determining a target torque from the plurality of specified torques based on the output torque of the driving motor corresponding to the previous cycle;

[0162] If a corresponding drive motor system efficiency is found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the drive motor system efficiency in the original drive motor external characteristic table is used as the target drive motor system efficiency;

[0163] If the corresponding drive motor system efficiency is not found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the two target drive motor actual speeds with the smallest difference from the actual drive motor speed in the original drive motor external characteristic table are determined; and linear interpolation is performed on the drive motor system efficiencies corresponding to the two target drive motor actual speeds under the target torque to obtain the target drive motor system efficiency.

[0164] In some possible embodiments, after obtaining the output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the efficiency of the drive motor system, the output torque determination module 11003 is further configured to:

[0165] The efficiency of the drive motor system corresponding to the current cycle is driven based on the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to the current cycle;

[0166] The drive motor external characteristic table is updated based on the actual speed of the drive motor corresponding to the current cycle and the system efficiency of the drive motor corresponding to the current cycle.

[0167] Corresponding to the above embodiments, the present application also provides an electronic device. Figure 12 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. The electronic device 1200 may include: a processor 1201, a memory 1202, and a communication unit 1203. These components communicate via one or more buses. Those skilled in the art will appreciate that the structure of the electronic device shown in the figure does not limit the embodiments of the present invention. It may be a bus structure or a star structure, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0168] The communication unit 1203 is configured to establish a communication channel so that the electronic device can communicate with other devices, receive user data sent by other devices, or send user data to other devices.

[0169] The processor 1201 is the control center of the electronic device. It uses various interfaces and lines to connect various parts of the entire electronic device. It runs or executes software programs and / or modules stored in the memory 1202, and calls data stored in the memory to perform various functions of the electronic device and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 1201 can only include a central processing unit (CPU). In an embodiment of the present invention, the CPU can be a single computing core or multiple computing cores.

[0170] The memory 1202 is used to store the execution instructions of the processor 1201. The memory 1202 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0171] When the execution instructions in the memory 1202 are executed by the processor 1201, the electronic device 1200 can execute Figure 7 Some or all of the steps in the illustrated embodiments.

[0172] In a specific implementation, the present invention further provides a computer storage medium, wherein the computer storage medium may store a program that, when executed, may include some or all of the steps of each embodiment of the calling method provided by the present invention. The storage medium may be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0173] Those skilled in the art will clearly understand that the techniques in the embodiments of the present invention can be implemented using software plus a necessary general-purpose hardware platform. Based on this understanding, the technical solutions in the embodiments of the present invention, or the portion that contributes to the prior art, can be embodied in the form of a software product. This computer software product can be stored in a storage medium such as ROM / RAM, a magnetic disk, or an optical disk, and includes a number of instructions for enabling a computer device (which can be a personal computer, server, or network device, etc.) to execute the methods described in various embodiments of the present invention or certain portions of the embodiments.

[0174] In this specification, reference can be made to the same or similar parts between the various embodiments. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A motor system control method, characterized in that: The method comprises: Obtain the maximum power, actual power consumption and actual speed of the drive motor corresponding to the current cycle; Determining a target drive motor system efficiency based on the actual drive motor speed and a drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on the motor system data acquired during the current cycle; Obtaining a drive motor output torque of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor, and the target drive motor system efficiency; A drive motor of the motor system is adjusted based on the drive motor output torque.

2. The method according to claim 1, characterized in that Before determining the target drive motor system efficiency based on the actual drive motor speed and the drive motor external characteristic table, the method further includes: Acquire motor system data corresponding to each cycle of the motor system; The drive motor external characteristic table is constructed based on the motor system data.

3. The method according to claim 2, characterized in that The obtaining of motor system data corresponding to each cycle of the motor system includes: Obtaining the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to each cycle of the motor system; The step of constructing the drive motor external characteristic table based on the motor system data comprises: The drive motor system efficiency corresponding to each cycle is obtained based on the output torque of the drive motor corresponding to each cycle, the actual speed of the drive motor, the bus current of the drive motor, the bus voltage of the drive motor and the motor efficiency formula; The drive motor external characteristic table is constructed based on the actual speed of the drive motor corresponding to each of the cycles and the system efficiency of the drive motor corresponding to each of the cycles.

4. The method according to claim 1, characterized in that: The determining the target drive motor system efficiency based on the actual speed of the drive motor and the drive motor external characteristic table includes: Determine whether a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor; If a corresponding drive motor system efficiency is found in the drive motor external characteristic table based on the actual speed of the drive motor, the drive motor system efficiency in the drive motor external characteristic table is used as the target drive motor system efficiency; If the corresponding drive motor system efficiency is not found in the drive motor external characteristic table based on the actual drive motor speed, the original drive motor external characteristic table is obtained, and the target drive motor system efficiency is obtained based on the actual drive motor speed and the original drive motor external characteristic table.

5. The method according to claim 4, characterized in that The original drive motor external characteristic table is constructed according to the following method: Adjusting the actual speed of the driving motor of the motor system from a first preset value to a second preset value according to a first preset step length; Determine the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques; The original drive motor external characteristic table is constructed based on the actual speed of the drive motor after each adjustment and the drive motor system efficiency corresponding to the actual speed of the drive motor after each adjustment under multiple specified torques.

6. The method according to claim 5, characterized in that The step of obtaining the target drive motor system efficiency based on the actual drive motor speed and the original drive motor external characteristic table includes: Determine the output torque of the driving motor corresponding to the previous cycle, and determine the target torque from the multiple specified torques based on the output torque of the driving motor corresponding to the previous cycle; If the corresponding drive motor system efficiency is found in the original drive motor external characteristic table based on the actual speed of the drive motor and the target torque, the drive motor system efficiency in the original drive motor external characteristic table is used as the target drive motor system efficiency; If the corresponding drive motor system efficiency is not found in the original drive motor external characteristic table based on the actual drive motor speed and the target torque, the two target drive motor actual speeds with the smallest difference from the actual drive motor speed in the original drive motor external characteristic table are determined; based on the drive motor system efficiencies corresponding to the two target drive motor actual speeds at the target torque, linear interpolation is performed to obtain the target drive motor system efficiency.

7. The method according to claim 2, characterized in that After obtaining the output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor and the efficiency of the drive motor system, the method further includes: The system efficiency of the drive motor corresponding to the current cycle is driven based on the output torque of the drive motor, the actual speed of the drive motor, the bus current of the drive motor, and the bus voltage of the drive motor corresponding to the current cycle; The drive motor external characteristic table is updated based on the actual speed of the drive motor corresponding to the current cycle and the system efficiency of the drive motor corresponding to the current cycle.

8. A motor system control device, characterized in that: The device comprises: An acquisition module is used to obtain the maximum power, actual power consumption and actual speed of the driving motor corresponding to the current cycle; an efficiency determination module, configured to determine a target drive motor system efficiency based on the actual speed of the drive motor and a drive motor external characteristic table; wherein the drive motor external characteristic table is constructed based on the data of the motor system acquired during the current cycle; an output torque determination module, configured to obtain an output torque of the drive motor of the motor system based on the maximum power, the actual power consumption, the actual speed of the drive motor and the target drive motor system efficiency; An adjustment module is used to adjust the drive motor of the motor system based on the output torque of the drive motor.

9. An electronic device, characterized in that: The device comprises a memory for storing computer program instructions and a processor for executing the program instructions, wherein when the computer program instructions are executed by the processor, the electronic device is triggered to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium includes a stored program, wherein when the program is executed, the device where the computer-readable storage medium is located is controlled to execute the method according to any one of claims 1 to 7.

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