A method, device, equipment and medium for adjusting motor torque when it is unreliable

Abstract

The present application provides a method, device, equipment and medium for adjusting the motor torque when it is unreliable. The method includes: obtaining a first current value of a power battery, a second current value of an electrical device, the motor torque and the actual speed of the motor, and determining whether there is a motor torque unreliable fault based on whether the first current value and the second current value satisfy the current relationship, whether the motor torque is 0 and whether the actual speed of the motor is greater than the speed threshold. If so, the torque increase direction and the torque reduction direction are determined based on the positive and negative of the actual speed of the motor and the positive and negative of the rate of change of the actual speed of the motor, and the actual torque when the rate of change of the actual speed of the motor is equal to 0 is controlled according to the torque increase direction and the torque reduction direction. The actual speed of the motor is adjusted to 0 to obtain the actual zero torque of the motor. The adjusted torque obtained by parsing the actual torque based on the actual zero torque of the motor is more accurate, and a reliable actual torque of the motor is achieved, thereby improving driving safety.

Description

Technical Field

[0001] The present invention relates to the field of vehicles, and in particular to a method, device, equipment and medium for adjusting motor torque when the motor torque is unreliable. Background Art

[0002] With the continuous development of relevant social technologies, vehicles have become the primary means of transportation for users. Vehicles can be powered by electric motors. The actual torque of the motor is reported by the motor controller (MCU) to the vehicle control unit (VCU).

[0003] However, there are situations where the actual torque is unreliable due to inconsistent offsets between the communication protocols of the motor controller and the vehicle controller, errors in the initial angle of the motor controller, and errors in the calibration data of the vehicle controller or the motor controller, which reduces driving safety. Summary of the Invention

[0004] In view of this, the purpose of this application is to provide a method, device, equipment and medium for adjusting the motor torque when the motor torque is unreliable, which can self-adjust the motor torque when the actual motor torque is unreliable, thereby improving driving safety.

[0005] The present application provides a method for adjusting motor torque when it is unreliable, the method comprising:

[0006] Obtaining a first current value of the power battery, a second current value of an electrical component, a motor torque, and an actual motor speed, wherein the electrical component is a component currently running in the vehicle that requires energy provided by the power battery;

[0007] determining whether a motor torque unreliable fault exists according to whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold;

[0008] If it exists, determining a torque increase direction and a torque reduction direction according to the positive or negative sign of the actual speed of the motor and the positive or negative sign of the actual speed change rate of the motor; controlling the actual speed change rate of the motor to be equal to 0 according to the torque increase direction and the torque reduction direction combined with the positive or negative sign of the actual speed of the motor and the positive or negative sign of the actual speed change rate of the motor, and obtaining the actual torque when the actual speed change rate of the motor is equal to 0;

[0009] The actual torque is adjusted according to the torque increase direction and the torque reduction direction to adjust the actual speed of the motor to 0, and the actual zero torque of the motor when the actual speed of the motor is 0 is obtained. The actual torque is analyzed based on the actual zero torque of the motor to obtain the adjusted torque.

[0010] Optionally, the current relationship is that the first current value is greater than the second current value.

[0011] Optionally, the current relationship is that the first current value is greater than the sum of the second current value and a preset error value.

[0012] Optionally, determining the torque increase direction and the torque reduction direction according to the positive or negative sign of the actual motor speed and the positive or negative sign of the actual motor speed change rate, controlling the actual motor speed change rate to be equal to 0 according to the torque increase direction and the torque reduction direction combined with the positive or negative sign of the actual motor speed and the positive or negative sign of the actual motor speed change rate, and obtaining the actual torque when the actual motor speed change rate is equal to 0 includes:

[0013] When the actual speed of the motor is positive, the motor is controlled to reduce torque. If the actual speed change rate of the motor is negative, a torque reduction direction is determined. If the actual speed change rate of the motor is positive, a torque increase direction is determined, and the motor is controlled to increase torque in the torque increase direction. The actual speed change rate of the motor is controlled to be equal to 0.

[0014] When the actual speed of the motor is negative, the motor is controlled to increase torque. If the actual speed change rate of the motor is positive, the torque increase direction is determined. If the actual speed change rate of the motor is negative, the torque reduction direction is determined, and the motor is controlled to reduce torque in the torque reduction direction, and the actual speed change rate of the motor is controlled to be equal to 0.

[0015] The actual torque when the actual speed change rate of the motor is equal to 0 is obtained.

[0016] Optionally, adjusting the actual torque according to the torque increasing direction and the torque decreasing direction to adjust the actual speed of the motor to 0 includes:

[0017] The actual torque is adjusted according to the torque increase direction and the torque reduction direction in combination with a proportional-integral-differential control method to adjust the actual speed of the motor to 0.

[0018] Optionally, determining whether a motor torque untrustworthy fault exists according to whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold includes:

[0019] If the first current value and the second current value satisfy a current relationship, the motor torque is 0, and the actual motor speed is greater than a speed threshold, it is determined that a motor torque unreliable fault exists.

[0020] Optionally, analyzing the actual torque based on the actual zero torque of the motor to obtain the adjusted torque includes:

[0021] The actual torque minus the actual zero torque of the motor is the adjustment torque.

[0022] The present application provides a device for adjusting motor torque when it is unreliable, the device comprising:

[0023] a first acquiring unit, configured to acquire a first current value of the power battery, a second current value of an electrical device, a motor torque, and an actual motor speed, wherein the electrical device is a device currently running in the vehicle that requires energy provided by the power battery;

[0024] a determining unit, configured to determine whether a motor torque untrustworthy fault exists based on whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold;

[0025] a second acquiring unit, if present, for determining a torque-increasing direction and a torque-reducing direction according to the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, controlling the rate of change of the actual motor speed to be equal to 0 according to the torque-increasing direction and the torque-reducing direction in combination with the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, and acquiring an actual torque when the rate of change of the actual motor speed is equal to 0;

[0026] The analyzing unit is used to adjust the actual torque according to the torque increasing direction and the torque reducing direction to adjust the actual speed of the motor to 0, obtain the actual zero torque of the motor when the actual speed of the motor is 0, and analyze the actual torque based on the actual zero torque of the motor to obtain the adjusted torque.

[0027] The present application provides a device for adjusting motor torque when it is unreliable, the device comprising: a processor and a memory;

[0028] The memory is used to store instructions;

[0029] The processor is configured to execute the instructions in the memory and perform the method described above.

[0030] The present application provides a computer-readable medium comprising instructions, which, when executed on a computer, enables the computer to perform the method as described above.

[0031] The present application provides an adjustment method when the motor torque is unreliable, the method comprising: obtaining a first current value of a power battery, a second current value of an electrical device, a motor torque and an actual motor speed, the electrical device being a device currently running in the vehicle that requires energy provided by a power battery, and determining whether there is a motor torque unreliable fault based on whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0 and whether the actual motor speed is greater than a speed threshold. That is, the first current value, the second current value, the motor torque and the actual motor speed can be used to achieve a simple and convenient diagnosis of the motor torque unreliable fault. If there is a motor torque unreliable fault, the torque increase direction and torque reduction direction are determined according to the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed. The actual motor speed change rate is controlled to be equal to 0 according to the torque increase direction and torque reduction direction combined with the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed, and the actual torque when the actual motor speed change rate is equal to 0 is obtained. That is, when the motor torque unreliable fault is determined, the torque increase direction and torque reduction direction of the subsequent adjustment of the actual motor torque can be determined according to the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed, so as to avoid the actual torque change direction of the motor being opposite to the expected change direction due to incorrect judgment of the torque increase direction and torque reduction direction, and the actual motor speed change rate is controlled to be equal to 0 according to the torque increase direction and torque reduction direction. The actual motor speed can be adjusted smoothly subsequently to provide a data basis for obtaining the actual zero torque of the motor. The actual torque is adjusted according to the torque-increasing and torque-reducing directions to adjust the actual motor speed to 0, obtaining the actual zero torque of the motor when the actual motor speed is 0, and the actual torque is parsed with the actual zero torque of the motor as a reference to obtain the adjusted torque. That is, the actual motor speed is adjusted to 0 using the determined torque-increasing and torque-reducing directions to obtain the actual zero torque of the motor. The adjusted torque obtained by parsing the actual torque with the actual zero torque of the motor as a reference is more accurate, achieving a reliable actual motor torque, thereby improving driving safety. As can be seen from this, the present application can self-adjust the motor torque when the actual motor torque is unreliable, thereby improving driving safety. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0033] Figure 1 A schematic flow chart of a method for adjusting motor torque when it is unreliable, provided in an embodiment of the present application, is shown;

[0034] Figure 2A schematic diagram of an adjustment process when the motor torque is unreliable is shown in an embodiment of the present application;

[0035] Figure 3 A schematic structural diagram of an adjustment device for motor torque unreliability provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0036] In order to help those skilled in the art better understand the present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative work are within the scope of protection of this application.

[0037] The actual torque of the motor is reported by the motor controller (MCU) to the vehicle control unit (VCU). In other words, the VCU currently uses the current torque fed back by the MCU as the actual torque.

[0038] However, there are situations where the actual torque is unreliable due to inconsistent offsets between the communication protocols of the motor controller and the vehicle controller, errors in the initial angle of the motor controller, and errors in the calibration data of the vehicle controller or the motor controller, which reduces driving safety.

[0039] Based on this, the present application provides an adjustment method when the motor torque is unreliable, the method including: obtaining a first current value of the power battery, a second current value of the electrical device, the motor torque and the actual speed of the motor, the electrical device being a device currently running in the vehicle that needs to use the power battery to provide energy, and determining whether there is a motor torque unreliable fault based on whether the first current value and the second current value satisfy the current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than the speed threshold. That is, the first current value, the second current value, the motor torque and the actual motor speed can be used to achieve a simple and convenient diagnosis of the motor torque unreliable fault. If there is a motor torque unreliable fault, the torque increase direction and torque reduction direction are determined according to the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed. The actual motor speed change rate is controlled to be equal to 0 according to the torque increase direction and torque reduction direction combined with the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed, and the actual torque when the actual motor speed change rate is equal to 0 is obtained. That is, when the motor torque unreliable fault is determined, the torque increase direction and torque reduction direction of the subsequent adjustment of the actual motor torque can be determined according to the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed, so as to avoid the actual torque change direction of the motor being opposite to the expected change direction due to incorrect judgment of the torque increase direction and torque reduction direction, and the actual motor speed change rate is controlled to be equal to 0 according to the torque increase direction and torque reduction direction. The actual motor speed can be adjusted smoothly subsequently to provide a data basis for obtaining the actual zero torque of the motor. The actual torque is adjusted according to the torque-increasing and torque-reducing directions to adjust the actual motor speed to 0, obtaining the actual zero torque of the motor when the actual motor speed is 0, and the actual torque is parsed with the actual zero torque of the motor as a reference to obtain the adjusted torque. That is, the actual motor speed is adjusted to 0 using the determined torque-increasing and torque-reducing directions to obtain the actual zero torque of the motor. The adjusted torque obtained by parsing the actual torque with the actual zero torque of the motor as a reference is more accurate, achieving a reliable actual motor torque, thereby improving driving safety. As can be seen from this, the present application can self-adjust the motor torque when the actual motor torque is unreliable, thereby improving driving safety.

[0040] In order to better understand the technical solutions and technical effects of the present application, specific embodiments will be described in detail below with reference to the accompanying drawings.

[0041] See also Figure 1 , this figure is a flow chart of an adjustment method when the motor torque is unreliable provided in an embodiment of the present application.

[0042] The method for adjusting the motor torque when it is unreliable provided in this embodiment includes the following steps:

[0043] S101 , obtaining a first current value of a power battery, a second current value of an electrical component, a motor torque, and an actual motor speed, where the electrical component is a component currently running in a vehicle that requires energy provided by a power battery.

[0044] In an embodiment of the present application, when a motor torque unreliable fault occurs, the motor torque is displayed as 0, the motor has an actual speed, and the power battery has a large discharge current. Therefore, a first current value of the power battery, a second current value of the electrical component, the motor torque, and the actual motor speed can be obtained to provide a data basis for diagnosing whether a motor torque unreliable fault exists. The electrical component is a device currently operating in the vehicle that requires energy from the power battery.

[0045] As an example, the electrical components may include an oil pump, an air pump, an air conditioner, and a DC-DC converter (DCDC). In this case, the second current value of the electrical components may be calculated using the following formula.

[0046] I Accessories = (I Oil Pump × Stwork Oil Pump + I Air Pump × Stwork Air Pump + I Air Conditioner × Stwork Air Conditioner + I DCDC ×Stwork DCDC ) / conversion efficiency.

[0047] Among them, I 附件 is the second current value, Stwork represents whether the electrical device is in a working state, 1 if it is in a working state, and 0 if it is not in a working state.

[0048] S102 , determining whether there is a motor torque unreliable fault based on whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold.

[0049] In an embodiment of the present application, after obtaining the first current value of the power battery, the second current value of the electrical device, the motor torque and the actual speed of the motor, it is possible to determine whether there is a motor torque unreliable fault based on whether the first current value and the second current value satisfy the current relationship, whether the motor torque is 0, and whether the actual speed of the motor is greater than the speed threshold, thereby achieving a simple and convenient diagnosis of the motor torque unreliable fault using the first current value, the second current value, the motor torque and the actual speed of the motor.

[0050] Specifically, if the first and second current values ​​satisfy a current relationship, the motor torque is 0, and the actual motor speed is greater than the speed threshold, a motor torque unreliable fault is determined. In other words, if the VCU displays a motor torque of 0 but the actual motor speed is greater than the speed threshold, it means the motor is running. Combined with the fact that the first and second current values ​​satisfy the current relationship, this indicates a high discharge current in the power battery, potentially indicating a motor torque unreliable fault.

[0051] As a possible implementation, the current relationship is that the first current value is greater than the second current value, that is, I Battcurr >I 附件, I Battcurr is the first current value, indicating that the power battery not only supplies power to electrical devices but also has a discharge current.

[0052] As another possible implementation, refer to Figure 2 As shown, the current relationship is that the first current value is greater than the sum of the second current value and the preset error value, that is, I Battcurr >I 附件 +△I unrely , △I unrely is a preset error value, which is used to reduce the comparison error between the first current value and the second current value. When the first current value is greater than the sum of the second current value and the preset error value, it means that the power battery has a large discharge current in addition to supplying power to electrical devices.

[0053] In practical applications, it is also possible to determine whether the actual motor speed is 0, whether the first current value and the second current value satisfy the current relationship, and whether the motor torque is 0 to determine whether there is a motor torque unreliable fault. Figure 2 As shown, when the current relationship is that the first current value is greater than the sum of the second current value and the preset error value, at this time, the first current value and the second current value satisfy the current relationship, the motor torque is 0, and the actual motor speed is not 0, which determines that there is a motor torque unreliable fault.

[0054] S103, if it exists, determine the torque increase direction and torque reduction direction according to the positive or negative actual speed of the motor and the positive or negative actual speed change rate of the motor, and control the actual speed change rate of the motor to be equal to 0 according to the torque increase direction and torque reduction direction combined with the positive or negative actual speed of the motor and the positive or negative actual speed change rate of the motor, and obtain the actual torque when the actual speed change rate of the motor is equal to 0.

[0055] In an embodiment of the present application, upon determining that a motor torque unreliable fault exists, a motor torque unreliable fault alarm can be issued, and the motor torque can be self-adjusted. Considering that the actual motor speed has positive and negative values, when adjusting the motor torque, it is necessary to determine the increasing and decreasing directions of the motor torque. The increasing and decreasing directions can determine the increase or decrease in the actual motor speed. Therefore, to obtain the actual zero torque of the motor when the actual motor speed is increased or decreased to 0, it is first necessary to determine the increasing and decreasing directions. The increasing and decreasing directions can be determined based on the positive and negative values ​​of the actual motor speed and the positive and negative values ​​of the actual motor speed change rate. Then, based on the increasing and decreasing directions combined with the positive and negative values ​​of the actual motor speed and the positive and negative values ​​of the actual motor speed change rate, the actual motor speed change rate is controlled to be equal to 0, thereby obtaining the actual torque when the actual motor speed change rate is equal to 0.

[0056] Specifically, when the actual speed of the motor is positive, the motor is controlled to reduce torque. If the actual speed change rate of the motor is negative, the direction of torque reduction is determined. If the actual speed change rate of the motor is positive, the direction of torque increase is determined, and the motor is controlled to increase torque in the direction of torque increase. The actual speed change rate of the motor is controlled to be equal to 0.

[0057] When the actual motor speed is negative, the motor is controlled to increase torque. If the actual motor speed change rate is positive, the torque increase direction is determined. If the actual motor speed change rate is negative, the torque reduction direction is determined and the motor is controlled to reduce torque in the torque reduction direction. The actual motor speed change rate is controlled to be equal to 0.

[0058] refer to Figure 2 As shown, when the actual motor speed is positive, the motor torque is controlled to reduce and the actual motor speed change rate a is calculated. 转速 :If at this time a 转速 If it is less than 0, the torque will continue to decrease; if a 转速 If it is greater than 0, the motor will be controlled to increase torque until a 转速 Less than 0. When the actual motor speed is negative, the motor is controlled to increase torque and the actual motor speed change rate a is calculated. 转速 :If at this time a 转速 If it is greater than 0, the torque will continue to increase; if a 转速 If it is less than 0, the motor is controlled to reduce torque until a 转速 Less than 0; record a 转速 Equal to the actual torque Trq_a0 fed back by the motor at time 0.

[0059] That is to say, after determining the torque increase direction and torque reduction direction based on the positive and negative actual motor speed and the positive and negative rate of change of the actual motor speed, the motor torque can be controlled according to the torque increase direction and torque reduction direction to achieve the actual rate of change of the motor speed equal to 0, and obtain the actual torque when the actual rate of change of the motor speed is equal to 0. Subsequently, the actual motor speed can be smoothly adjusted to provide a data basis for obtaining the actual zero torque of the motor.

[0060] S104 , adjusting the actual torque according to the torque increase direction and the torque reduction direction to adjust the actual motor speed to 0, obtaining the actual zero torque of the motor when the actual motor speed is 0, and analyzing the actual torque based on the actual zero torque of the motor to obtain the adjusted torque.

[0061] In an embodiment of the present application, after determining the torque increase direction and the torque reduction direction based on the positive or negative actual speed of the motor and the positive or negative rate of change of the actual speed of the motor, the actual torque can be adjusted according to the torque increase direction and the torque reduction direction to adjust the actual speed of the motor to 0, and the actual zero torque of the motor when the actual speed of the motor is 0 is obtained. The actual torque is analyzed based on the actual zero torque of the motor to obtain the adjusted torque.

[0062] In other words, the actual motor speed is adjusted to 0 using the determined torque increase and torque reduction directions to obtain the actual zero torque of the motor. The adjusted torque obtained by analyzing the actual torque based on the actual zero torque of the motor is more accurate, achieving a reliable actual motor torque, thereby improving driving safety.

[0063] As a possible implementation method, the actual torque can be adjusted according to the torque increase direction and the torque reduction direction in combination with the proportional-integral-differential control (PID) method to adjust the actual motor speed to 0, thereby achieving slow and accurate adjustment of the actual motor speed.

[0064] refer to Figure 2 As shown, the torque Trq_offset fed back by the motor controller when the actual motor speed is 0 is obtained, and Trq_offset is determined as the actual zero torque Trq_zero of the motor. Subsequently, when the VCU analyzes the actual torque fed back by the motor controller, the actual torque minus the actual zero torque of the motor is the adjustment torque. That is, when the VCU controls the motor torque and analyzes the actual torque, Trq_zero can be subtracted to achieve normal control of the motor.

[0065] It can be seen from this that the present application can self-adjust the motor torque when the actual motor torque is unreliable, thereby increasing the safety factor of the entire vehicle, improving driving safety, and saving time and energy in manual troubleshooting and correction.

[0066] Based on the above embodiment, a method for adjusting the motor torque when it is unreliable is provided. The embodiment of the present application further provides a device for adjusting the motor torque when it is unreliable. The working principle thereof is described in detail below with reference to the accompanying drawings.

[0067] See also Figure 3 , this figure is a structural block diagram of an adjustment device for when the motor torque is unreliable provided in an embodiment of the present application.

[0068] The adjustment device 200 for the motor torque when it is unreliable provided in this embodiment includes:

[0069] A first acquiring unit 210 is configured to acquire a first current value of the power battery, a second current value of an electrical device, a motor torque, and an actual motor speed, wherein the electrical device is a device currently running in the vehicle that requires energy provided by the power battery;

[0070] A determining unit 220 is configured to determine whether a motor torque unreliable fault exists based on whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold;

[0071] a second acquiring unit 230, for, if present, determining a torque-increasing direction and a torque-reducing direction based on the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, controlling the rate of change of the actual motor speed to be equal to 0 based on the torque-increasing direction and the torque-reducing direction in combination with the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, and acquiring an actual torque when the rate of change of the actual motor speed is equal to 0;

[0072] The analyzing unit 240 is used to adjust the actual torque according to the torque increasing direction and the torque reducing direction to adjust the actual speed of the motor to 0, obtain the actual zero torque of the motor when the actual speed of the motor is 0, and analyze the actual torque based on the actual zero torque of the motor to obtain the adjusted torque.

[0073] Optionally, the current relationship is that the first current value is greater than the second current value.

[0074] Optionally, the current relationship is that the first current value is greater than the sum of the second current value and a preset error value.

[0075] Optionally, the second acquiring unit 230 is configured to:

[0076] When the actual speed of the motor is positive, the motor is controlled to reduce torque. If the actual speed change rate of the motor is negative, a torque reduction direction is determined. If the actual speed change rate of the motor is positive, a torque increase direction is determined, and the motor is controlled to increase torque in the torque increase direction. The actual speed change rate of the motor is controlled to be equal to 0.

[0077] When the actual speed of the motor is negative, the motor is controlled to increase torque. If the actual speed change rate of the motor is positive, the torque increase direction is determined. If the actual speed change rate of the motor is negative, the torque reduction direction is determined, and the motor is controlled to reduce torque in the torque reduction direction, and the actual speed change rate of the motor is controlled to be equal to 0.

[0078] The actual torque when the actual speed change rate of the motor is equal to 0 is obtained.

[0079] Optionally, the parsing unit 240 is configured to:

[0080] The actual torque is adjusted according to the torque increase direction and the torque reduction direction in combination with a proportional-integral-differential control method to adjust the actual speed of the motor to 0.

[0081] Optionally, the determining unit 220 is configured to:

[0082] If the first current value and the second current value satisfy a current relationship, the motor torque is 0, and the actual motor speed is greater than a speed threshold, it is determined that a motor torque unreliable fault exists.

[0083] Optionally, the parsing unit 240 is configured to:

[0084] The actual torque minus the actual zero torque of the motor is the adjustment torque.

[0085] The units involved in the embodiments described in this application may be implemented by software or hardware. In some cases, the name of a unit does not constitute a limitation on the unit itself.

[0086] The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chip (SOCs), complex programmable logic devices (CPLDs), and the like.

[0087] Based on the method for adjusting the motor torque when it is unreliable provided in the above embodiment, the embodiment of the present application further provides a device for adjusting the motor torque when it is unreliable. The device for adjusting the motor torque when it is unreliable includes:

[0088] The processor and the memory may be one or more processors. In some embodiments of the present application, the processor and the memory may be connected via a bus or other means.

[0089] The memory may include read-only memory and random access memory, and provides instructions and data to the processor. A portion of the memory may also include NVRAM. The memory stores an operating system and operating instructions, executable modules, or data structures, or subsets or extended sets thereof. The operating instructions may include various operating instructions for implementing various operations. The operating system may include various system programs for implementing various basic services and processing hardware-based tasks.

[0090] The processor controls the operation of the terminal device and may also be referred to as a CPU.

[0091] The methods disclosed in the above embodiments of the present application can be applied to or implemented by a processor. The processor can be an integrated circuit chip with signal processing capabilities. During implementation, each step of the above method can be completed by hardware integrated logic circuits in the processor or by software instructions. The above processor can be a general-purpose processor, a DSP, an ASIC, an FPGA, or other programmable logic device, a discrete gate or transistor logic device, or a discrete hardware component. The methods, steps, and logic block diagrams disclosed in the embodiments of the present application can be implemented or executed. The general-purpose processor can be a microprocessor or any conventional processor. The steps of the methods disclosed in the embodiments of the present application can be directly implemented and executed by a hardware decoding processor, or by a combination of hardware and software modules in the decoding processor. The software module can be located in a storage medium well-known in the art, such as random access memory, flash memory, read-only memory, programmable read-only memory, electrically erasable programmable memory, registers, etc. The storage medium is located in the memory, and the processor reads the information in the memory and, in conjunction with its hardware, completes the steps of the above method.

[0092] An embodiment of the present application also provides a computer-readable medium for storing program code, which is used to execute any implementation of the methods of the aforementioned embodiments.

[0093] It should be noted that the computer-readable medium mentioned above in this application can be a computer-readable signal medium or a computer-readable storage medium, or any combination of the two. The computer-readable storage medium can be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or device, or any combination of the above. More specific examples of computer-readable storage media can include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this application, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, device, or device. In this application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries computer-readable program code. This propagated data signal can take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the computer-readable medium may be transmitted using any suitable medium, including but not limited to wires, optical cables, RF (radio frequency), etc., or any suitable combination thereof.

[0094] The computer-readable medium may be included in the electronic device, or may exist independently without being incorporated into the electronic device.

[0095] It should be noted that those skilled in the art will appreciate that all or part of the processes in the above method embodiments can be implemented by instructing related hardware through a computer program. The program can be stored in a computer-readable medium, and when executed, the program can include the processes in the above method embodiments. The medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM).

[0096] Each embodiment in this specification is described in a progressive manner, and the same or similar parts between the embodiments can be referred to each other, and each embodiment focuses on the differences from other embodiments. In particular, for the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment. The device embodiment described above is merely illustrative, and the units and modules described as separate components may or may not be physically separated. In addition, some or all of the units and modules can be selected according to actual needs to achieve the purpose of the scheme of this embodiment. A person of ordinary skill in the art can understand and implement it without paying any creative work.

[0097] The above is only a preferred embodiment of the present application. Although the present application has been disclosed as a preferred embodiment, it is not intended to limit the present application. Any technician familiar with the art can use the above-disclosed methods and technical contents to make many possible changes and modifications to the technical solution of the present application without departing from the scope of the technical solution of the present application, or modify it into an equivalent embodiment with equivalent changes. Therefore, any simple modifications, equivalent changes and modifications made to the above embodiments based on the technical essence of the present application without departing from the content of the technical solution of the present application are still within the scope of protection of the technical solution of the present application.

Claims

1. A method for adjusting motor torque when it is unreliable, characterized in that: The method comprises: Obtaining a first current value of the power battery, a second current value of an electrical component, a motor torque, and an actual motor speed, wherein the electrical component is a component currently running in the vehicle that requires energy provided by the power battery; determining whether a motor torque unreliable fault exists according to whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold; If it exists, determining a torque increase direction and a torque reduction direction according to the positive or negative sign of the actual speed of the motor and the positive or negative sign of the actual speed change rate of the motor; controlling the actual speed change rate of the motor to be equal to 0 according to the torque increase direction and the torque reduction direction combined with the positive or negative sign of the actual speed of the motor and the positive or negative sign of the actual speed change rate of the motor, and obtaining the actual torque when the actual speed change rate of the motor is equal to 0; The actual torque is adjusted according to the torque increase direction and the torque reduction direction to adjust the actual speed of the motor to 0, and the actual zero torque of the motor when the actual speed of the motor is 0 is obtained. The actual torque is analyzed based on the actual zero torque of the motor to obtain the adjusted torque.

2. The method according to claim 1, characterized in that The current relationship is that the first current value is greater than the second current value.

3. The method according to claim 1, characterized in that The current relationship is that the first current value is greater than the sum of the second current value and a preset error value.

4. The method according to claim 1, wherein The step of determining a torque increase direction and a torque reduction direction according to the positive or negative sign of the actual motor speed and the positive or negative sign of the actual motor speed change rate, controlling the actual motor speed change rate to be equal to 0 according to the torque increase direction and the torque reduction direction in combination with the positive or negative sign of the actual motor speed and the positive or negative sign of the actual motor speed change rate, and obtaining the actual torque when the actual motor speed change rate is equal to 0 includes: When the actual speed of the motor is positive, the motor is controlled to reduce torque. If the actual speed change rate of the motor is negative, a torque reduction direction is determined. If the actual speed change rate of the motor is positive, a torque increase direction is determined, and the motor is controlled to increase torque in the torque increase direction, and the actual speed change rate of the motor is controlled to be equal to 0. When the actual speed of the motor is negative, the motor is controlled to increase torque. If the actual speed change rate of the motor is positive, the torque increase direction is determined. If the actual speed change rate of the motor is negative, the torque reduction direction is determined, and the motor is controlled to reduce torque in the torque reduction direction, and the actual speed change rate of the motor is controlled to be equal to 0. The actual torque when the actual speed change rate of the motor is equal to 0 is obtained.

5. The method according to claim 1, wherein The adjusting the actual torque according to the torque increasing direction and the torque decreasing direction to adjust the actual speed of the motor to 0 includes: The actual torque is adjusted according to the torque increase direction and the torque reduction direction in combination with a proportional-integral-differential control method to adjust the actual speed of the motor to 0.

6. The method according to any one of claims 1 to 5, characterized in that The determining whether there is a motor torque unreliable fault according to whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold includes: If the first current value and the second current value satisfy a current relationship, the motor torque is 0, and the actual motor speed is greater than a speed threshold, it is determined that a motor torque unreliable fault exists.

7. The method according to any one of claims 1 to 5, characterized in that The step of analyzing the actual torque based on the actual zero torque of the motor to obtain the adjusted torque includes: The actual torque minus the actual zero torque of the motor is the adjustment torque.

8. A device for adjusting motor torque when it is unreliable, characterized in that: The device comprises: a first acquiring unit, configured to acquire a first current value of the power battery, a second current value of an electrical device, a motor torque, and an actual motor speed, wherein the electrical device is a device currently running in the vehicle that requires energy provided by the power battery; a determining unit, configured to determine whether a motor torque untrustworthy fault exists based on whether the first current value and the second current value satisfy a current relationship, whether the motor torque is 0, and whether the actual motor speed is greater than a speed threshold; a second acquiring unit, if present, for determining a torque-increasing direction and a torque-reducing direction according to the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, controlling the rate of change of the actual motor speed to be equal to 0 according to the torque-increasing direction and the torque-reducing direction in combination with the positive or negative sign of the actual motor speed and the positive or negative sign of the rate of change of the actual motor speed, and acquiring an actual torque when the rate of change of the actual motor speed is equal to 0; The analyzing unit is used to adjust the actual torque according to the torque increasing direction and the torque reducing direction to adjust the actual speed of the motor to 0, obtain the actual zero torque of the motor when the actual speed of the motor is 0, and analyze the actual torque based on the actual zero torque of the motor to obtain the adjusted torque.

9. A device for adjusting motor torque when it is unreliable, characterized in that: The device includes: a processor and a memory; The memory is used to store instructions; The processor is configured to execute the instructions in the memory and perform the method according to any one of claims 1 to 7.

10. A computer-readable medium, characterized in that The method comprises instructions which, when executed on a computer, cause the computer to execute the method according to any one of claims 1 to 7.

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