Motor control method, computer storage medium and vehicle

Abstract

The invention discloses a motor control method, a computer storage medium and a vehicle, and the motor control method comprises the steps: obtaining a current rotating speed value and a current temperature value of a motor when the vehicle triggers a speed limiting function, and obtaining a final torque value of a P item; determining the current maximum available driving torque and the current maximum available braking torque of the motor according to the current rotating speed value and the current temperature value; determining an I-item final torque value according to the current maximum available driving torque and the current maximum available braking torque; and determining a final output torque value of the motor according to the I-item final torque value and the P-item final torque value. By adopting the method, the problem of upshift of the automatic gearbox in a manual mode can be avoided, and the driving risk is reduced.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicles, and in particular to a motor control method, a computer storage medium and a vehicle. Background Art

[0002] In the related art, the peak driving torque and peak braking torque of the motor are used to limit the final torque value of item I. However, if the driver controls the vehicle speed to be lower than the maximum speed of the automatic transmission in automatic mode for a long time by using a small throttle, since the final torque value of item I has the accumulation and holding functions, the final torque value of item I will quickly reach the peak driving torque, and the final output torque value of the motor will also reach the peak torque of the motor. When the driver accelerates with a large throttle, the vehicle speed will quickly exceed the maximum speed, and the final torque value of item I is very large, resulting in an increase in the final output torque value, which will cause the output torque of the motor to be unable to quickly drop to the final output torque value in a short period of time, and will also easily cause the vehicle to overspeed, thereby causing the problem of automatic transmission upshifting in manual mode, greatly increasing driving risks. Summary of the invention

[0003] The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a motor control method, which can avoid the problem of automatic transmission upshifting in manual mode due to vehicle overspeeding, thereby reducing driving risks.

[0004] A second objective of the present invention is to provide a computer storage medium.

[0005] A third object of the present invention is to provide a vehicle.

[0006] In order to solve the above problems, an embodiment of the first aspect of the present invention provides a motor control method, which includes: when the vehicle triggers the speed limit function, obtaining the current speed value and the current temperature value of the motor, and obtaining the final torque value of item P; determining the current maximum available driving torque and the current maximum available braking torque of the motor according to the current speed value and the current temperature value; determining the final torque value of item I according to the current maximum available driving torque and the current maximum available braking torque; determining the final output torque value of the motor according to the final torque value of item I and the final torque value of item P.

[0007] According to the motor control method of the embodiment of the present invention, when the vehicle triggers the speed limit function, the current maximum available driving torque and the current maximum available braking torque are adjusted in real time according to the actual operation of the motor, so that the final torque value of item I is determined by the current maximum available driving torque and the current maximum available braking torque. Therefore, compared with the prior art that uses peak driving torque and peak braking torque to limit the final torque value of item I, in the present application, the final torque value of item I is limited by the current maximum available driving torque and the current maximum available braking torque, so that when the final output torque value of the motor is determined by the final torque value of item I, the final output torque value can be effectively reduced, and the time for the output torque of the motor to drop to the final output torque value is greatly shortened, thereby avoiding the problem of automatic transmission upshifting in manual mode, and also avoiding the problem of vehicle speeding, reducing driving risks and the maximum speed fluctuation range, and improving the comfort of the driver in driving the vehicle.

[0008] In some embodiments, a final torque value of item I is determined by the current maximum available driving torque and the current maximum available braking torque, including: obtaining a torque cumulative value; if the torque cumulative value of item I is greater than or equal to the current maximum available braking torque and the torque cumulative value of item I is less than or equal to the current maximum available driving torque, then the torque cumulative value of item I is used as the final torque value of item I; if the torque cumulative value of item I is greater than the current maximum available driving torque, then the current maximum available driving torque is used as the final torque value of item I; if the torque cumulative value of item I is less than the current maximum available braking torque, then the current maximum available braking torque is used as the final torque value of item I.

[0009] In some embodiments, obtaining I torque cumulative value includes: obtaining the current gear of the automatic transmission and the current speed of the vehicle; obtaining the target speed corresponding to the current gear; determining the current speed difference according to the current speed and the target speed; determining I gain torque according to the current gear and the current speed; obtaining the time interval for calling the PID regulator and the speed limit triggering flag under the speed limit triggering function of the vehicle; obtaining I torque cumulative value according to the time interval, the I gain torque, the current speed difference and the speed limit triggering flag.

[0010] In some embodiments, obtaining I torque cumulative value according to the time interval, the I gain torque, the current vehicle speed difference and the speed limit triggering flag includes: multiplying the time interval, the I gain torque, the current vehicle speed difference and the speed limit triggering flag to obtain a product value; and performing a sum operation on the product value and I final torque value when the speed limit function was last triggered to obtain I torque cumulative value.

[0011] In some embodiments, determining an I-term gain torque according to the current gear position and the current vehicle speed value includes: querying an I-term table of the PID regulator according to the current gear position and the current vehicle speed difference to obtain the I-term gain torque.

[0012] In some embodiments, obtaining the final torque value of item P includes: obtaining the current gear position of the automatic transmission and the current speed value of the vehicle; obtaining the target speed value corresponding to the current gear position; determining the current speed difference according to the current speed value and the target speed value; determining the gain torque of item P according to the current gear position and the current speed value; obtaining the speed limit triggering flag under the speed limit triggering function of the vehicle; and determining the final torque value of item P according to the current speed difference, the gain torque of item P and the speed limit triggering flag.

[0013] In some embodiments, determining the P-term gain torque according to the current gear position and the current vehicle speed value includes: querying a P-term table of a PID regulator through the current gear position and the current vehicle speed difference to obtain the P-term gain torque.

[0014] In some embodiments, determining the final output torque value of the motor based on the final torque value of item I and the final torque value of item P includes: performing a sum operation on the final torque value of item I and the final torque value of item P to obtain the final output torque value of the motor.

[0015] A second aspect of the present invention provides a computer storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the motor control method described in the above embodiment.

[0016] A third aspect of the present invention provides a vehicle, comprising: at least one processor; a memory communicatively connected to at least one of the processors; wherein the memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the motor control method described in the above embodiment is implemented.

[0017] The vehicle according to the embodiment of the present invention can avoid the problem of automatic transmission upshifting in manual mode by executing the motor control method of the above embodiment, thereby reducing driving risks.

[0018] Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] The above and / or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which: Figure 1is a flow chart of a motor control method according to an embodiment of the present invention; Figure 2 is a schematic diagram of parameter acquisition in a motor control method according to an embodiment of the present invention; Figure 3 is a flow chart of a motor control method according to another embodiment of the present invention; Figure 4 is a structural block diagram of a vehicle according to an embodiment of the present invention.

[0020] Reference numerals: Vehicle 10; Processor 1; Memory 2. DETAILED DESCRIPTION

[0021] Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.

[0022] Automatic transmission (AMT) is widely used in new energy commercial vehicles. Whether on flat ground or down a steep slope, the automatic transmission cannot automatically shift up in manual mode, which leads to the problem of transmission shifting up due to motor overspeed. It also increases driving risks and the fluctuation range of the maximum vehicle speed, reducing the driver's comfort in driving the vehicle.

[0023] In order to solve the above problems, a first embodiment of the present invention provides a motor control method, which can avoid the problem of automatic transmission upshifting in manual mode due to vehicle speeding, thereby reducing driving risks.

[0024] Reference below Figure 1 The motor control method according to the embodiment of the present invention is described as follows. Figure 1 As shown, the method includes: steps S1 to S4.

[0025] Step S1, when the vehicle triggers the speed limit function, obtain the current speed value and current temperature value of the motor, and obtain the final torque value of item P.

[0026] Specifically, when the current speed of the vehicle is higher than the first preset threshold, it means that the current speed is about to exceed the maximum speed of each gear of the automatic transmission in manual mode, and the vehicle triggers the speed limit function. When the vehicle triggers the speed limit function, the current speed value and the current temperature value of the motor are obtained, and the final torque value of the P item is obtained.

[0027] Step S2, determining the current maximum available driving torque and the current maximum available braking torque of the motor according to the current rotation speed value and the current temperature value.

[0028] Among them, the current maximum available driving torque can be understood as the maximum torque value that the motor can actually output for driving. The current maximum available braking torque can be understood as the maximum torque value that the motor can actually output for braking. The current maximum available driving torque and the current maximum available braking torque are adjusted according to the actual operating conditions of the motor. The current maximum available driving torque and the current maximum available braking torque can reflect the true capacity of the motor under the current operating conditions in real time. Among them, the actual operating conditions can be fault conditions, motor overheating, the current speed value and the current temperature value of the motor. For example, if the current temperature value of the motor is too high, the current maximum available driving torque and the current maximum available braking torque are lowered.

[0029] Specifically, the current maximum available driving torque and the current maximum available braking torque fed back by the motor controller through the current rotation speed value and the current temperature value are obtained.

[0030] In an embodiment, the current speed value or the current temperature value is proportional to the current maximum available driving torque and the current maximum available braking torque, and the current maximum available driving torque and the current maximum available braking torque of the motor are determined according to the current speed value and the current temperature value, including: if the current speed value and the current temperature value are higher, the current maximum available driving torque and the current maximum available braking torque are lower; if the current speed value is high, a low maximum available driving torque and a low maximum available braking torque are used, and the current temperature value is low, a high maximum available driving torque and a high maximum available braking torque are used, then the current maximum available driving torque is the low maximum available driving torque, and the current maximum available braking torque is the low maximum available braking torque; if the current speed value is low, a high maximum available driving torque and a high maximum available braking torque are used, and the current temperature value is high, a low maximum available driving torque and a low maximum available braking torque are used, then the current maximum available driving torque is the low maximum available driving torque, and the current maximum available braking torque is the low maximum available braking torque.

[0031] In the embodiment, the rotation speed value and the temperature value are preset with corresponding maximum available driving torque and maximum available braking torque, thereby, the corresponding current maximum available driving torque and current maximum available braking torque can be obtained through the current rotation speed value and the current temperature value.

[0032] Step S3, determining a final torque value according to the current maximum available driving torque and the current maximum available braking torque.

[0033] Specifically, the peak driving torque and peak braking torque of the motor in the related art are fixed torque values ​​of the motor under ideal conditions, and the peak driving torque and peak braking torque do not take into account the actual operating conditions of the motor, while the current maximum available driving torque and the current maximum available braking torque in the present application are torque values ​​adjusted in real time according to the actual operating conditions of the motor, and the current maximum available driving torque is lower than the peak driving torque, and the current maximum available braking torque is lower than the peak braking torque. Based on this, the final torque value of item I is determined by the current maximum available driving torque and the current maximum available braking torque, that is, the final torque value of item I is limited by the current maximum available driving torque and the current maximum available braking torque, wherein the final torque value of item I is the current maximum available driving torque or the current maximum available braking torque, or is a torque value within the range of the current maximum available driving torque and the current maximum available braking torque. Therefore, compared with the prior art in which the peak driving torque and the peak braking torque are used to limit the final torque value of item I, the final torque value of item I is limited by the current maximum available driving torque and the current maximum available braking torque in the present application, and since the current maximum available driving torque is lower than the peak driving torque, the final torque value of item I is reduced.

[0034] Step S4, determining the final output torque value of the motor according to the final torque value of item I and the final torque value of item P.

[0035] Specifically, after limiting the final torque value of item I by the current maximum available driving torque and the current maximum available braking torque, the final output torque value of the motor is determined according to the final torque value of item I and the final torque value of item P, and then the final output torque value is used as the output torque of the motor. Since the current maximum available driving torque is lower than the peak driving torque, the final output torque value is reduced, and the time for the output torque of the motor to drop to the final output torque value is greatly shortened, thereby avoiding the problem of the vehicle exceeding the maximum speed, and then avoiding the problem of automatic transmission upshifting in manual mode. At the same time, it can also reduce driving risks and the fluctuation range of the maximum speed, improve the driver's driving comfort, and the vehicle has high reliability and stable operation.

[0036] According to the motor control method of the embodiment of the present invention, when the vehicle triggers the speed limit function, the current maximum available driving torque and the current maximum available braking torque are adjusted in real time according to the actual operation of the motor, so that the final torque value of item I is determined by the current maximum available driving torque and the current maximum available braking torque. Therefore, compared with the prior art that uses peak driving torque and peak braking torque to limit the final torque value of item I, in the present application, the final torque value of item I is limited by the current maximum available driving torque and the current maximum available braking torque, so that when the final output torque value is determined by the final torque value of item I, the final output torque value can be effectively reduced, and the time for the output torque of the motor to drop to the final output torque value is greatly shortened, thereby avoiding the problem of automatic transmission upshifting in manual mode, and also avoiding the problem of vehicle speeding, reducing driving risks and the maximum speed fluctuation range, and improving the comfort of the driver in driving the vehicle.

[0037] In some embodiments, the final torque value of item I is determined by the current maximum available driving torque and the current maximum available braking torque, including: obtaining the cumulative value of item I of torque; if the cumulative value of item I of torque is greater than or equal to the current maximum available braking torque and the cumulative value of item I of torque is less than or equal to the current maximum available driving torque, then the cumulative value of item I of torque is used as the final torque value of item I; if the cumulative value of item I of torque is greater than the current maximum available driving torque, then the current maximum available driving torque is used as the final torque value of item I; if the cumulative value of item I of torque is less than the current maximum available braking torque, then the current maximum available braking torque is used as the final torque value of item I.

[0038] Specifically, the current maximum available driving torque is taken as the maximum limiting torque of item I, and the current maximum available braking torque is taken as the minimum limiting torque of item I. Thus, if the accumulated value of item I of torque is greater than or equal to the current maximum available braking torque and the accumulated value of item I of torque is less than or equal to the current maximum available driving torque, then it means that the accumulated value of item I of torque satisfies the torque output range of the motor under the current operating state, and then the accumulated value of item I of torque is taken as the final torque value of item I; if the accumulated value of item I of torque is greater than the current maximum available driving torque, then the accumulated value of item I of torque exceeds the maximum output torque capacity of the motor under the current operating state, and then the current maximum available driving torque is taken as the final torque value of item I, thereby When the final output torque value is determined by the final torque value of item I, the final output torque value can be effectively reduced to reduce the speed of increase of the vehicle speed; if the cumulative value of item I of the torque is less than the current maximum available braking torque, at this time the cumulative value of item I of the torque does not meet the maximum output torque capacity of the motor under the current operating state, then the current maximum available braking torque is used as the final torque value of item I, so that when the final output torque value is determined by the final torque value of item I, since the final torque value of item I is between the current maximum available driving torque and the current maximum available braking torque, the final output torque value can be effectively reduced, so that the vehicle speed increases slowly or decreases rapidly, thereby avoiding speeding of the vehicle due to an increase in the vehicle speed.

[0039] In addition, it should be noted that the current maximum available braking torque is a negative value, and the current maximum available braking torque is lower than the peak braking torque.

[0040] In an embodiment, Figure 2 As shown, the vehicle speed hysteresis interval that triggers the speed limit function in the current gear is obtained, that is, the first preset threshold value and the second preset threshold value in the current gear are obtained.

[0041] In addition, it should be noted that when the vehicle's current speed value is higher than the first preset threshold value, the vehicle triggers the speed limit function, and the speed limit triggering flag is true. At this time, the I torque cumulative value is not zero. When the vehicle's current speed value is lower than the second preset threshold value, the speed limit function is exited, and the speed limit triggering flag is false. At this time, the I torque cumulative value is cleared.

[0042] In some embodiments, obtaining a torque accumulation value includes: obtaining a current gear position of the automatic transmission and a current vehicle speed value of the vehicle; obtaining a target vehicle speed value corresponding to the current gear position; Figure 2 As shown, the current vehicle speed difference is determined according to the current vehicle speed value and the target vehicle speed value; the I-term gain torque is determined according to the current gear position and the current vehicle speed value; the time interval for calling the PID regulator and the speed limit triggering flag under the vehicle triggering speed limit function are obtained; the I-term torque accumulation value is obtained according to the time interval, the I-term gain torque, the current vehicle speed difference and the speed limit triggering flag.

[0043] The target vehicle speed value can be understood as the maximum vehicle speed corresponding to each gear position of the automatic transmission in the manual mode. When the vehicle is driving, the vehicle speed needs to be controlled within the target vehicle speed value range.

[0044] Specifically, a corresponding relationship table between different gears of the automatic transmission in manual mode and the target vehicle speed value is pre-stored in the vehicle, wherein the gear is proportional to the target vehicle speed value. Therefore, the relationship table can be queried by obtaining the current gear of the automatic transmission to obtain the target vehicle speed value corresponding to the current gear, and then the I-term gain torque is determined according to the current gear and the current vehicle speed value, and the time interval for calling the PID regulator and the trigger speed limit flag under the vehicle trigger speed limit function are obtained, wherein the trigger speed limit flag is true, and finally the I-term torque cumulative value is calculated based on the time interval, the I-term gain torque, the current vehicle speed difference and the trigger speed limit flag.

[0045] In addition, it should be noted that when the current speed value of the vehicle is higher than the first preset threshold, the vehicle triggers the speed limit function, and the speed limit triggering flag is true, and when the current speed value of the vehicle is lower than the second preset threshold, the speed limit function is exited, and the speed limit triggering flag is false. Among them, the first preset threshold = target speed value - 2, the second preset threshold = target speed value - 3, and the target speed value > the first preset threshold > the second preset threshold.

[0046] In some embodiments, obtaining a torque accumulation value according to the time interval, the gain torque, the current vehicle speed difference and the speed limit triggering flag includes: multiplying the time interval, the gain torque, the current vehicle speed difference and the speed limit triggering flag to obtain a product value, and then summing the product value with the final torque value when the speed limit function was last triggered to obtain the torque accumulation value. The final torque value when the speed limit function was last triggered is delayed by a delay unit and summed with the product value.

[0047] The final torque value of item I when the speed limit function is triggered last time is the final torque value of item I determined by the current maximum available driving torque and the current maximum available braking torque.

[0048] In some embodiments, determining the gain torque I according to the current gear position and the current vehicle speed value includes: Figure 2 As shown, the I-term table of the PID regulator is queried according to the current gear position and the current vehicle speed difference to obtain the I-term gain torque.

[0049] Specifically, in the prior art, the I-term gain torque and the P-term gain torque are obtained by the current vehicle speed difference. The I-term gain torque and the P-term gain torque use the same parameters under different gear positions of the gearbox so that the torque acceleration and deceleration rate at the motor end is the same. In addition, since the reduction ratios of the gear positions of the gearbox are quite different, the lower the gear position, the greater the rate of change of the torque transmitted to the wheel end, which results in the greater fluctuation of the maximum vehicle speed and the worse vehicle jerkiness. In order to solve this problem, in this application, the I-term table of the PID regulator is queried according to the current gear position and the current vehicle speed difference to obtain the I-term gain torque. That is to say, the I-term table of the PID regulator, i.e., the I-term gain torque parameter selection The table is a correspondence table of gear position, vehicle speed value and I-term gain torque. Based on this, the I-term table of the PID regulator is queried by obtaining the current gear position and the current vehicle speed difference to obtain the I-term gain torque corresponding to the current gear position and the current vehicle speed difference. Therefore, the present application can use different current gear positions and current vehicle speed differences for the I-term gain torque and the P-term gain torque under different gears, so that the torque acceleration and deceleration rate can be adjusted separately, thereby reducing the fluctuation amplitude of the maximum vehicle speed. In addition, in the present application, the I-term gain torque is used to determine the final output torque value, thereby limiting the vehicle speed within the maximum vehicle speed range, so that the speed limit control is more stable, and the problem of gearbox upshifting is effectively avoided.

[0050] In some embodiments, obtaining the final torque value of item P includes: obtaining the current gear position of the automatic transmission and the current speed value of the vehicle; obtaining the target speed value corresponding to the current gear position; determining the current speed difference according to the current speed value and the target speed value; determining the gain torque of item P according to the current gear position and the current speed value; obtaining the speed limit triggering flag under the speed limit triggering function of the vehicle; and determining the final torque value of item P according to the current speed difference, the gain torque of item P and the speed limit triggering flag.

[0051] Among them, when the vehicle triggers the speed limit function, the maximum torque value of item P and the minimum torque value of item P adopt the calibrated engineering experience value.

[0052] Specifically, since the vehicle has a pre-stored relationship table corresponding to different gears of the automatic transmission in manual mode and the target vehicle speed value, wherein the gear is proportional to the target vehicle speed value, the current gear of the automatic transmission is obtained, so as to query the target vehicle speed value corresponding to the current gear through the current gear, and then obtain the current vehicle speed value, calculate the difference between the current vehicle speed value and the target vehicle speed value to obtain the current vehicle speed difference, and then determine the P-term gain torque according to the current gear and the current vehicle speed value, and obtain the trigger speed limit flag under the vehicle trigger speed limit function, wherein the trigger speed limit flag is true, and according to the current vehicle speed difference, the P-term gain torque and The speed limit flag is triggered to determine the final torque value of item P, that is, the product value of the current vehicle speed difference, the P gain torque and the speed limit flag is triggered, and the product value is compared with the maximum torque value of item P and the minimum torque value of item P, so as to determine the final torque value of item P according to the comparison result. For example, if the product value is greater than or equal to the minimum torque value of item P and the product value is less than or equal to the maximum torque value of item P, the product value is used as the final torque value of item P; if the product value is greater than the maximum torque value of item P, the maximum torque value of item P is used as the final torque value of item P; if the product value is less than the minimum torque value of item P, the minimum torque value of item P is used as the final torque value of item P.

[0053] In addition, when the current speed value of the vehicle is higher than the first preset threshold, the vehicle triggers the speed limit function, and the speed limit triggering flag is true. When the current speed value of the vehicle is lower than the second preset threshold, the speed limit function is exited, and the speed limit triggering flag is false. Among them, the first preset threshold = target speed value - 2, the second preset threshold = target speed value - 3, and the target speed value > the first preset threshold > the second preset threshold.

[0054] In some embodiments, determining the P-term gain torque according to the current gear position and the current vehicle speed value includes: Figure 2 As shown, the P-term table of the PID regulator is queried according to the current gear position and the current vehicle speed difference to obtain the P-term gain torque.

[0055] Specifically, in the prior art, the I-term gain torque and the P-term gain torque are obtained by the current vehicle speed difference. The I-term gain torque and the P-term gain torque use the same parameters under different gearbox gears so that the torque acceleration and deceleration rate at the motor end is the same. In addition, since the reduction ratios of the gearbox gears are quite different, the lower the gear, the greater the rate of change of the torque transmitted to the wheel end, which results in the lower the gear of the gearbox, the greater the maximum speed fluctuation and the worse the vehicle jerk. In order to solve this problem, in this application, the P-term table of the PID regulator is queried according to the current gear and the current speed difference to obtain the P-term gain torque. That is to say, the P-term table of the PID regulator, i.e., the P-term gain torque parameter selection table, is A correspondence table of gear positions, vehicle speed values ​​and P-item gain torque. Based on this, the P-item table of the PID regulator is queried by obtaining the current gear position and the current vehicle speed difference to obtain the P-item gain torque corresponding to the current gear position and the current vehicle speed difference. Therefore, the present application can use different current gear positions and current vehicle speed differences for the I-item gain torque and the P-item gain torque under different gears, so that the torque acceleration and deceleration rates can be adjusted separately, thereby reducing the fluctuation amplitude of the maximum vehicle speed. In addition, in the present application, the P-item gain torque is used to determine the final output torque value of the motor, thereby limiting the vehicle speed within the maximum vehicle speed range, so that the speed limit control is more stable, and the problem of gearbox upshifting can be effectively avoided.

[0056] In some embodiments, the final output torque value of the motor is determined according to the final torque value of item I and the final torque value of item P, including: performing a sum operation on the final torque value of item I and the final torque value of item P to obtain the final output torque value of the motor, that is, taking the sum of the final torque value of item I and the final torque value of item P as the final output torque value of the motor. After limiting the final torque value of item I by the current maximum available driving torque and the current maximum available braking torque, taking the sum of the final torque value of item I and the final torque value of item P as the final output torque value of the motor, and then taking the final output torque value as the output torque of the motor, and since the current maximum available driving torque is lower than the peak driving torque, the final output torque value is reduced, and the time for the output torque of the motor to drop to the final output torque value is greatly shortened, thereby avoiding the problem of automatic transmission upshifting in manual mode, and also avoiding the problem of vehicle overspeeding, reducing driving risks and the maximum speed fluctuation range, and improving the comfort of the driver driving the vehicle.

[0057] Reference below Figure 3 The motor control method according to the embodiment of the present invention is illustrated by way of example, and the specific contents are as follows.

[0058] Step S5, obtaining I gain torque, and executing step S11.

[0059] Step S6, obtaining the time interval for calling the PID regulator, and executing step S11.

[0060] Step S7, obtain the current vehicle speed difference, and execute step S10.

[0061] Step S8, obtain the speed limit triggering flag, and execute steps S10 and S15.

[0062] Step S9, obtaining the P-term gain torque, and executing step S16.

[0063] Step S10, multiply the current vehicle speed difference and the speed limit triggering flag, and execute steps S11 and S16.

[0064] Step S11, multiplying the product of the I-term gain torque, the time interval, the current vehicle speed difference and the speed limit triggering flag to obtain a product value, and executing step S13.

[0065] Step S12, obtaining the final torque value of item I when the speed limit function was triggered last time, and executing step S13.

[0066] Step S13, performing a sum operation on the product value and the I final torque value when the speed limit function was last triggered to obtain the I torque cumulative value.

[0067] Step S14: limiting the torque accumulation value by the current maximum available driving torque and the current maximum available braking torque.

[0068] Step S15, multiplying the I-term torque accumulation value by the trigger speed limit flag to obtain the I-term final torque value, executing step S18, and inputting the I-term final torque value back to step S12.

[0069] Step S16, performing a product operation on the product of the P-term gain torque, the current vehicle speed difference and the speed limit triggering flag to obtain a product result.

[0070] Step S17, determining the final torque value of item P according to the multiplication result.

[0071] Step S18, performing a sum operation on the final torque value of item I and the final torque value of item P to obtain the final output torque value of the motor.

[0072] Step S19: limiting the final output torque value of the motor by the peak torque of the motor.

[0073] A second aspect of the present invention provides a computer storage medium having a computer program stored thereon, wherein the computer program implements the motor control method of the above embodiment when executed by a processor.

[0074] A third aspect of the present invention provides a vehicle, such as Figure 4 As shown, the vehicle 10 includes: at least one processor 1 and a memory 2 communicatively connected to the at least one processor 1 .

[0075] The memory stores a computer program executable by at least one processor, and the at least one processor implements the motor control method of the above embodiment when executing the computer program. The vehicle may be a new energy commercial vehicle.

[0076] It should be noted that the specific implementation method of the vehicle of the embodiment of the present invention is similar to the specific implementation method of the motor control method of any of the above-mentioned embodiments of the present invention. Please refer to the description of the method part for details. In order to reduce redundancy, it will not be repeated here.

[0077] The vehicle according to the embodiment of the present invention can avoid the problem of automatic transmission upshifting in manual mode by executing the motor control method of the above embodiment, thereby reducing driving risks.

[0078] In the description of this specification, any process or method description in a flowchart or otherwise described herein may be understood to represent a module, fragment or portion of code including one or more executable instructions for implementing the steps of a custom logical function or process, and the scope of the preferred embodiments of the present invention includes alternative implementations in which functions may not be performed in the order shown or discussed, including performing functions in a substantially simultaneous manner or in reverse order depending on the functions involved, which should be understood by technicians in the technical field to which the embodiments of the present invention belong.

[0079] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as an ordered list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by an instruction execution system, device or apparatus (such as a computer-based system, a system including a processor, or other system that can fetch instructions from an instruction execution system, device or apparatus and execute instructions), or in combination with these instruction execution systems, devices or apparatuses. For the purposes of this specification, "computer-readable medium" can be any device that can contain, store, communicate, propagate or transmit a program for use by an instruction execution system, device or apparatus, or in combination with these instruction execution systems, devices or apparatuses. More specific examples (non-exhaustive list) of computer-readable media include the following: an electrical connection with one or more wires (electronic device), a portable computer disk box (magnetic device), a random access memory (RAM), a read-only memory (ROM), an erasable and programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disk read-only memory (CDROM). In addition, the computer-readable medium may even be paper or other suitable medium on which the program is printed, since the program may be obtained electronically, for example, by optically scanning the paper or other medium and then editing, interpreting or processing in other suitable ways if necessary, and then stored in a computer memory.

[0080] It should be understood that the various parts of the present invention can be implemented by hardware, software, firmware or a combination thereof. In the above-mentioned embodiments, multiple steps or methods can be implemented by software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented by hardware, as in another embodiment, it can be implemented by any one of the following technologies known in the art or their combination: a discrete logic circuit having a logic gate circuit for implementing a logic function for a data signal, a dedicated integrated circuit having a suitable combination of logic gate circuits, a programmable gate array (PGA), a field programmable gate array (FPGA), etc.

[0081] A person skilled in the art may understand that all or part of the steps in the method for implementing the above-mentioned embodiment may be completed by instructing related hardware through a program, and the program may be stored in a computer-readable storage medium, which, when executed, includes one or a combination of the steps of the method embodiment.

[0082] In addition, each functional unit in each embodiment of the present invention may be integrated into a processing module, or each unit may exist physically separately, or two or more units may be integrated into one module. The above-mentioned integrated module may be implemented in the form of hardware or in the form of a software functional module. If the integrated module is implemented in the form of a software functional module and sold or used as an independent product, it may also be stored in a computer-readable storage medium.

[0083] The storage medium mentioned above may be a read-only memory, a magnetic disk or an optical disk, etc. Although the embodiments of the present invention have been shown and described above, it can be understood that the above embodiments are exemplary and cannot be understood as limiting the present invention. A person of ordinary skill in the art may change, modify, replace and modify the above embodiments within the scope of the present invention.

[0084] In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.

[0085] Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.

Claims

1. A motor control method, characterized in that: The method comprises: When the vehicle triggers the speed limit function, obtain the current speed value and current temperature value of the motor, and obtain the final torque value of item P; Determine a current maximum available driving torque and a current maximum available braking torque of the motor according to the current rotation speed value and the current temperature value; Determine a final torque value according to the current maximum available driving torque and the current maximum available braking torque; The final output torque value of the motor is determined according to the I-term final torque value and the P-term final torque value.

2. The motor control method according to claim 1, characterized in that: Determining a final torque value by using the current maximum available driving torque and the current maximum available braking torque includes: Get the accumulated value of torque item I; If the I-item torque accumulation value is greater than or equal to the current maximum available braking torque and the I-item torque accumulation value is less than or equal to the current maximum available driving torque, then the I-item torque accumulation value is used as the I-item final torque value; If the I-term torque cumulative value is greater than the current maximum available driving torque, the current maximum available driving torque is used as the I-term final torque value; If the I-term torque cumulative value is less than the current maximum available braking torque, the current maximum available braking torque is used as the I-term final torque value.

3. The motor control method according to claim 2, characterized in that: Get the accumulated value of I torque, including: Get the current gear position of the automatic transmission and the current speed of the vehicle; Obtaining a target vehicle speed value corresponding to the current gear position; Determine a current vehicle speed difference according to the current vehicle speed value and the target vehicle speed value; Determine a gain torque according to the current gear position and the current vehicle speed value; Obtaining the time interval for calling the PID regulator and the speed limit triggering flag under the speed limit triggering function of the vehicle; The I-term torque accumulation value is obtained according to the time interval, the I-term gain torque, the current vehicle speed difference and the trigger speed limit flag.

4. The motor control method according to claim 3, characterized in that: Obtaining a torque accumulation value according to the time interval, the I gain torque, the current vehicle speed difference and the speed limit triggering flag, including: Performing a product operation on the time interval, the I-term gain torque, the current vehicle speed difference and the trigger speed limit flag to obtain a product value; The product value is summed with the I final torque value when the speed limit function was last triggered to obtain the I torque accumulation value.

5. The motor control method according to claim 3, characterized in that: Determining a gain torque according to the current gear position and the current vehicle speed value includes: The I-term table of the PID regulator is queried according to the current gear position and the current vehicle speed difference to obtain the I-term gain torque.

6. The motor control method according to claim 1, characterized in that: Get the final torque value of item P, including: Get the current gear position of the automatic transmission and the current speed of the vehicle; Obtaining a target vehicle speed value corresponding to the current gear position; Determine a current vehicle speed difference according to the current vehicle speed value and the target vehicle speed value; Determine the P-term gain torque according to the current gear position and the current vehicle speed value; Obtaining a speed limit triggering flag under the speed limit triggering function of the vehicle; The P-term final torque value is determined according to the current vehicle speed difference, the P-term gain torque and the trigger speed limit flag.

7. The motor control method according to claim 6, characterized in that: Determining the P-term gain torque according to the current gear position and the current vehicle speed value includes: The P-term table of the PID regulator is queried through the current gear position and the current vehicle speed difference to obtain the P-term gain torque.

8. The motor control method according to claim 1, characterized in that: Determining a final output torque value of the motor according to the I final torque value and the P final torque value includes: The final torque value of item I and the final torque value of item P are summed to obtain the final output torque value of the motor.

9. A computer storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: include: at least one processor; a memory communicatively coupled to at least one of the processors; The memory stores a computer program executable by at least one of the processors, and when at least one of the processors executes the computer program, the motor control method according to any one of claims 1 to 8 is implemented.

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