Motor control method, device, equipment and storage medium

Abstract

The embodiment of the present application discloses a motor control method, device, equipment and storage medium, wherein the method includes: obtaining the real-time speed and first torque of the motor during the tooth surface switching process of the vehicle; the first torque is the torque required by the motor under the real-time working condition; determining the second torque based on the real-time speed and the preset target speed; the second torque is the torque required to adjust the real-time speed to the target speed; determining the target torque based on the smaller value of the first torque and the second torque, and controlling the rotation of the motor based on the target torque. In this way, the difficult balance between the torque parameter acceleration response and vibration sound can be avoided, and the calibration parameter reuse rate can be improved, saving workload.

Description

Technical Field

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

[0002] In the gear shifting operation of electric vehicles, such as switching between forward, reverse and parking gears, the force-bearing tooth surfaces of the transmission shaft system are switched. Since the tooth clearance cannot be zero, there is impact during the switching process, which causes vehicle vibration and even noise.

[0003] The commonly used technology is the S-curve torque suppression strategy, that is, during the tooth surface switching process, the torque is suppressed to a sufficiently low level through the suppression curve (because the shape is similar to S, it is also called S-curve), so as to suppress the vibration and sound of the vehicle to an acceptable level. However, the problems brought about by this are: 1. The torque is too sensitive and difficult to balance during the suppression period: low torque is likely to lead to slow acceleration response, and high torque is likely to lead to unacceptable vibration and sound of the vehicle; 2. Different vehicles have different parameters, which are difficult to reuse and require a large calibration workload. Summary of the invention

[0004] In view of this, the embodiments of the present application at least provide a motor control method, device, equipment and storage medium.

[0005] The technical solution of the embodiment of the present application is implemented as follows:

[0006] On the one hand, an embodiment of the present application provides a motor control method, the method comprising: during the tooth surface switching process of the vehicle, obtaining the real-time speed and the first torque of the motor; the first torque is the torque required by the motor under the real-time working condition; based on the real-time speed and the preset target speed, determining the second torque; the second torque is the torque required to adjust the real-time speed to the target speed; based on the smaller value of the first torque and the second torque, determining the target torque, and controlling the rotation of the motor based on the target torque.

[0007] On the other hand, an embodiment of the present application provides a motor control device, which includes: an acquisition module, used to acquire the real-time speed and a first torque of the motor during the tooth surface switching process of the vehicle; the first torque is the torque required by the motor under real-time working conditions; a first determination module, used to determine the second torque based on the real-time speed and a preset target speed; the second torque is the torque required to adjust the real-time speed to the target speed; a second determination module, used to determine the target torque based on the smaller value of the first torque and the second torque; a control module, used to control the rotation of the motor based on the target torque.

[0008] On the other hand, an embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be executed on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0009] On the other hand, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, which implements part or all of the steps in the above method when executed by a processor.

[0010] In the embodiment of the present application, during the tooth surface switching process of the vehicle, the real-time speed and the first torque of the motor are obtained; based on the real-time speed and the preset target speed, the second torque is determined; based on the first torque and the second torque, the target torque is determined, and the rotation of the motor is controlled based on the target torque. In this way, during the tooth surface switching process, the real-time speed is limited to the target speed, the speed is directly suppressed, and the rotation energy accumulation during the tooth surface switching is prevented from being too large, and the torque parameter is avoided from being difficult to balance between the acceleration response and the vibration sound, and the calibration parameter reuse rate is also improved, saving workload.

[0011] It should be understood that the above general description and the following detailed description are merely exemplary and explanatory, and are not intended to limit the technical solutions of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0012] The drawings herein are incorporated into the specification and constitute a part of the specification. These drawings illustrate embodiments consistent with the present application and are used together with the specification to illustrate the technical solution of the present application.

[0013] Figure 1A FIG1 is a brief description of the torque S curve attenuation effect and problems provided in the embodiment of the present application;

[0014] Figure 1B Brief description of the torque S curve attenuation effect and problems provided in the embodiments of the present application Figure 2 ;

[0015] Figure 1C Brief description of the torque S curve attenuation effect and problems provided in the embodiments of the present application Figure 3 ;

[0016] Figure 2 A schematic diagram of a motor control method according to an embodiment of the present application;

[0017] Figure 3 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 2 ;

[0018] Figure 4 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 3 ;

[0019] Figure 5 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 4 ;

[0020] Figure 6 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 5 ;

[0021] Figure 7 A diagram briefly describing the control principle of the speed control method provided in an embodiment of the present application;

[0022] Figure 8 An expanded diagram of the torque limiting module in the control principle diagram provided in an embodiment of the present application;

[0023] Fig. 9A FIG1 is a schematic diagram of the effect of the speed control method provided in the embodiment of the present application;

[0024] Fig. 9B A brief description of the effect of the speed control method provided in the embodiment of the present application Figure 2 ;

[0025] Fig. 9C A brief description of the effect of the speed control method provided in the embodiment of the present application Figure 3 ;

[0026] Fig.10 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application;

[0027] Fig.11 A hardware entity diagram of a computer device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0028] In order to make the purpose, technical solutions and advantages of the present application clearer, the technical solutions of the present application are further elaborated in detail below in conjunction with the drawings and embodiments. The described embodiments should not be regarded as limiting the present application. All other embodiments obtained by ordinary technicians in the field without making creative work are within the scope of protection of the present application.

[0029] In the following description, reference is made to "some embodiments", which describe a subset of all possible embodiments, but it is understood that "some embodiments" may be the same subset or different subsets of all possible embodiments, and may be combined with each other without conflict. The terms "first / second / third" involved are merely used to distinguish similar objects and do not represent a specific order for the objects. It is understood that "first / second / third" may be interchanged in a specific order or sequence where permitted, so that the embodiments of the present application described herein can be implemented in an order other than that illustrated or described herein.

[0030] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as those commonly understood by those skilled in the art to which this application belongs. The terms used herein are only for the purpose of describing this application and are not intended to limit this application.

[0031] In the gear shifting operation of electric vehicles, such as switching between forward, reverse and parking gears, the force-bearing tooth surfaces of the transmission shaft system are switched. Since the tooth clearance cannot be zero, there is impact during the switching process, which causes vehicle vibration and even noise.

[0032] In the related art, an S-curve torque suppression strategy is usually adopted, that is, during the tooth surface switching process, the torque is suppressed to a sufficiently low level through a suppression curve (because its shape is similar to S, it is also called S curve), thereby suppressing the vehicle vibration and sound to an acceptable level. Figure 1A FIG1 is a brief description of the torque S curve attenuation effect and problems provided in the embodiment of the present application. Figure 1B Brief description of the torque S curve attenuation effect and problems provided in the embodiments of the present application Figure 2 , Figure 1C Brief description of the torque S curve attenuation effect and problems provided in the embodiments of the present application Figure 3 .like Figure 1A As shown in the figure, when the vehicle is stationary and the accelerator is pressed after a rapid gear shift at time t1, the vehicle controller sends a demand torque that starts from 0 and continues to rise according to the scenario. If the motor's execution torque involves tooth surface switching, in order to avoid excessive energy accumulation during the switching period, resulting in severe impact vibration and sound, the execution torque will be limited and attenuated by an S curve, such as Figure 1B In the stage from t1 to t4, the torque is limited to a very small value. Figure 1CAs shown in the figure, if there is elastic potential energy on the initial tooth surface at time t1, the release of elastic potential energy will cause the speed of the rotating parts such as the motor rotor to increase rapidly. After the elastic potential energy is released, the speed will continue to increase due to the small execution torque. As time goes by, the attenuation of the S curve becomes smaller and smaller, the execution torque gradually increases, and the speed will increase rapidly. At time t3, the tooth surface switches to the other side, the collision occurs, and the kinetic energy of the rotating part is converted into vibration, sound and vehicle kinetic energy. If the vibration and sound are strong, it is difficult to accept. It is necessary to continue to reduce the execution torque at this stage, but at the same time it may cause the power response delay to increase. At time t4, the motor controller defaults to the tooth surface switching being completed at this time, and the acceleration follows the required torque of the vehicle controller to quickly respond to the acceleration demand. It can be seen that during the period from t1 to t3, the tooth surface is switched, the energy of the rotating part increases too much, and the vibration and sound are difficult to overcome. In order to apply to more working conditions, when it is impossible to judge that the tooth surface switching is completed, the default is to wait for a more stable and conservative switching time to t4, quickly follow the required torque of the vehicle controller, respond to the acceleration demand, waste the time period from t3 to t4, and increase the throttle response delay.

[0033] The embodiment of the present application provides a motor control method, which obtains the real-time speed and the first torque of the motor during the tooth surface switching process of the vehicle; the first torque is the torque required by the motor under the real-time working condition; the second torque is determined based on the real-time speed and the preset target speed; the second torque is the torque required to adjust the real-time speed to the target speed; based on the first torque and the second torque, the target torque is determined, and the rotation of the motor is controlled based on the target torque. In this way, during the tooth surface switching process, the real-time speed is limited to the target speed, the speed is directly suppressed, and the rotation energy accumulation during the tooth surface switching is prevented from being too large, and the torque parameter is avoided from being difficult to balance between the acceleration response and the vibration sound, and the calibration parameter reuse rate is also improved, saving workload.

[0034] The present application provides a motor control method, which can be executed by a processor of a computer device. The computer device may refer to a server, a laptop, a tablet computer, a desktop computer, a smart TV, a set-top box, a mobile device (such as a mobile phone, a portable video player, a personal digital assistant, a dedicated messaging device, a portable gaming device), or other device with data processing capabilities.

[0035] Figure 2 A schematic diagram of a motor control method according to an embodiment of the present application is shown in FIG. Figure 2 As shown, the method includes the following steps S101 to S103:

[0036] Step S101, during the tooth surface switching process of the vehicle, obtaining the real-time rotation speed and the first torque of the motor; the first torque is the torque required by the motor under the real-time working condition.

[0037] Among them, the gear shifting operation is a key link in car driving, which involves the reorganization of the gear set inside the transmission to change the transmission ratio to adapt to different vehicle speeds and power requirements. During the gear shifting process, the driver operates the shift lever to activate the gear shift mechanism inside the transmission, thereby changing the meshing state of the gears.

[0038] The tooth surface switching process refers to the process in which the force-bearing tooth surface of the transmission shaft system switches during the gear shifting operation. Force-bearing tooth surface switching means that during the gear shifting process, as the gear position changes, the tooth surface originally in a non-stressed state gradually changes to a stressed state, while the tooth surface originally in a stressed state gradually unloads the force.

[0039] Among them, in the gear design of the transmission shaft system, a certain amount of tooth clearance is usually left in order to achieve normal operation and lubrication of the gears. The existence of tooth clearance means that during the gear shifting process, when switching from one gear to another, there will be a certain gap between the gears, which will cause impact. When the gears come into contact with each other due to the gear shift, an impact force will be generated due to the existence of tooth clearance. This impact force will be transmitted to the entire transmission system, causing vibration of the vehicle. In some cases, the impact force may also cause damage to components such as gears and bearings, exacerbating vibration and sound.

[0040] In some embodiments, when the vehicle switches gears quickly from a stationary state and the accelerator is pressed (for example, the vehicle switches from the parking gear to the forward gear), the force tooth surface switching process will be executed, and the real-time speed of the motor needs to be obtained during the tooth surface switching process. The motor is equipped with a position sensor, and the rotation of the motor can drive the position sensor to rotate. The real-time position information of the motor can be obtained through the position sensor and converted into the real-time speed of the motor.

[0041] In some embodiments, the real-time speed of the motor is obtained based on a tachometer. The tachometer is installed at a sampling point on the motor shaft, and after starting, the motor speed is read until it stabilizes, and the reading is recorded.

[0042] In some embodiments, the vehicle is typically equipped with an electronic control system that can read real-time data of the vehicle, including the speed of the motor.

[0043] In some embodiments, during the tooth surface switching process, it is necessary to obtain the first torque of the motor in real time, and the first torque is the torque required by the motor under the real-time working condition. During the tooth surface switching process, the vehicle controller will calculate the third torque required by the motor according to the current working condition, and then the motor controller will judge and calculate the first torque based on its own working condition and capability in combination with the third torque. Among them, during the gear shifting operation, based on the accelerator action, the third torque will continue to increase from 0, and then remain stable after a certain period of time. The first torque is adjusted on the basis of the third torque. Under normal circumstances, the change law of the first torque is consistent with the third torque.

[0044] In some embodiments, during the tooth surface switching process, the vehicle controller will calculate the first torque required by the motor based on the current working conditions. The vehicle controller will collect signals from multiple components such as the motor controller, accelerator pedal, gear sensor, and vehicle speed sensor. These signals include the actual motor speed, accelerator pedal opening, gear information, vehicle speed, etc. The vehicle controller calculates the first torque required by the vehicle under the current working conditions based on the collected signals through a series of complex algorithms and logical judgments. This calculation process may involve consideration of multiple factors, such as the external characteristics of the motor, the discharge capacity of the battery, the driving status of the vehicle, etc.

[0045] In the tooth surface switching process, multiple sampling moments are preset, and when each sampling moment arrives, the real-time speed of the motor and the required first torque at the current moment are obtained. The interval between adjacent sampling moments is fixed, for example, sampling is performed every 5 ms.

[0046] Step S102: determining a second torque based on the real-time speed and a preset target speed; the second torque is a torque required to adjust the real-time speed to the target speed.

[0047] Among them, during the tooth surface switching process, at the initial moment, there is elastic potential energy on the initial tooth surface. Due to the release of elastic potential energy, the speed of the rotating parts such as the motor rotor increases rapidly. After that, because the motor controller follows the third torque of the vehicle controller and increases the torque output, the speed of the motor will continue to increase. The rotating part of the motor continues to move to overcome the tooth gap, and after a certain period of time, it switches to another tooth surface, and impact vibration occurs. The embodiment of the present application proposes that during the tooth surface switching process, the real-time speed of the motor is limited to a preset target speed. When the speed of the motor reaches the target speed, the speed of the motor is controlled to no longer increase. In this way, when a collision occurs, the speed can be controlled, the energy released by the collision can be controlled, and the vibration and sound can be easily controlled to an acceptable level. The preset target speed can achieve an acceptable range for the vibration and sound generated when the tooth surface switching occurs and the collision occurs. The embodiment of the present application does not limit the size of the target speed.

[0048] In some embodiments, during the tooth surface switching process, it is necessary to limit the real-time speed of the motor to a preset target speed by controlling the target torque of the motor. Therefore, based on the real-time speed and the preset target speed, the second torque is first determined, and then the target torque is determined based on the second torque, and the rotation of the motor is controlled by the target torque to limit the real-time speed of the motor to the target speed. The second torque is the torque required to adjust the real-time speed of the motor to the target speed.

[0049] In some embodiments, the second torque is determined based on proportional-integral-derivative (PID) control. The real-time speed and the preset target speed are input into the PID controller, the PID controller calculates the difference between the real-time speed and the target speed, and outputs the second torque based on the difference, and the second torque can make the speed of the motor approach the target speed.

[0050] In some embodiments, the second torque is determined based on an Engineering Fastest Controller (EFC). The real-time speed and a preset target speed are input into the EFC controller, and the EFC controller calculates the difference between the real-time speed and the target speed, and outputs the second torque based on the difference.

[0051] Step S103: determining a target torque based on the smaller value of the first torque and the second torque, and controlling the rotation of the motor based on the target torque.

[0052] In the process of tooth surface switching, the real-time speed needs to be adjusted to the target speed based on the target torque. In order to avoid a sharp fluctuation of the torque due to an excessive torque adjustment, the embodiment of the present application determines the target torque based on the first torque and the second torque, rather than determining the target torque only by the second torque. For example, the target torque is determined based on the smaller value of the first torque and the second torque, which can avoid a single target torque adjustment range being too large.

[0053] In some embodiments, the first torque and the second torque are compared in magnitude, and the smaller value is selected directly as the target torque.

[0054] In some embodiments, in order to prevent unnecessary impact caused by the torque rising too fast, the smaller value between the first torque and the second torque is first determined as the intermediate torque, and then the rising slope of the intermediate torque is limited according to the target torque at the historical moment to obtain the adjusted target torque. In this way, the difference between the target torque at the current moment and the target torque at the previous moment can be within a smaller range.

[0055] In some embodiments, after the target torque is obtained, the target torque and the current torque at the current moment are input into the PID controller to obtain the adjustment parameters output by the PID controller, and the adjustment parameters are converted into electrical control signals to control the inverter bridge, and the rotation of the motor is controlled by the inverter bridge. While the inverter bridge controls the rotation of the motor, its current parameters can be monitored by the current sensor, and the current torque can be determined based on the current parameters.

[0056] In some embodiments, the target torque and the current torque at the current moment are input into the EFC controller to obtain the adjustment parameters output by the EFC controller, and the adjustment parameters are converted into electrical control signals to control the inverter bridge, and the rotation of the motor is controlled through the inverter bridge.

[0057] In some embodiments, there is a nonlinear relationship between the target torque and the electrical control signal of the inverter bridge, and the nonlinear relationship can be predetermined based on experiments. After the target torque is obtained, the electrical control signal can be determined based on the nonlinear relationship, and the inverter bridge can be controlled based on the electrical control signal.

[0058] Exemplarily, during the tooth surface switching process, the first torque of the motor starts to rise continuously from 0. At the initial moment, the real-time speed of the motor is 0. The second torque obtained based on the real-time speed and the target speed is greater than the first torque. In the initial stage, the target torque is determined by the first torque; then the real-time speed of the motor reaches the preset target speed. In the second stage thereafter, the real-time speed of the motor is always limited to the target speed. The second torque is less than the first torque. In the second stage, the target torque is determined by the second torque; then, the tooth surface switches, the collision occurs, and the real-time speed drops rapidly. When the collision occurs, since the real-time speed is controllable and the energy released by the collision is controllable, the vibration and sound are easily controlled to an acceptable level. In the third stage thereafter, the second torque is greater than the first torque. In the third stage, the speed has dropped to a very small value, and the target torque is determined by the first torque. At this time, it is considered that the tooth surface switching is completed. Compared with the related art, in the embodiment of the present application, when the target torque is switched from the second torque to the first torque, the tooth surface switching can be considered completed. At this time, the torque adjustment quickly follows the first torque, and the vehicle responds to the driver's intention to accelerate quickly, avoiding the waiting time of the tooth surface switching from t3 to t4, which can improve the power response speed and avoid the difficult balance between the torque parameter acceleration response and vibration sound. In addition, the preset target speed will not change dramatically with the vehicle model switching, has fewer parameters than the S curve, and the single value changes little, which greatly reduces the workload of adaptation calibration.

[0059] In the embodiment of the present application, during the tooth surface switching process of the vehicle, the real-time speed and the first torque of the motor are obtained; the first torque is the torque required by the motor under the real-time working condition; based on the real-time speed and the preset target speed, the second torque is determined; the second torque is the torque required to adjust the real-time speed to the target speed; based on the smaller value of the first torque and the second torque, the target torque is determined, and the rotation of the motor is controlled based on the target torque. In this way, during the tooth surface switching process, the real-time speed is limited to the target speed, the speed is directly suppressed, and the rotation energy accumulation during the tooth surface switching is prevented from being too large, and the torque parameter is avoided from being difficult to balance between the acceleration response and the vibration sound, and the calibration parameter reuse rate is also improved, saving workload.

[0060] Figure 3 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 2 The method may be executed by a processor of a computer device. “Determining a target torque based on the first torque and the second torque” may be updated to S201 to S202, and the combination Figure 3 The steps shown are explained.

[0061] Step S201: Determine the smaller value of the first torque and the second torque as the intermediate torque.

[0062] Among them, during the tooth surface switching process, in order to adjust the real-time speed of the motor to the target speed, the torque of the motor needs to be adjusted in real time. In order to avoid drastic fluctuations in torque caused by excessive torque amplitude adjustment, the upper and lower limits of the target torque need to be controlled.

[0063] In some embodiments, at each sampling moment, the magnitudes of the first torque and the second torque corresponding to the moment are compared, and the smaller value between the two is selected to be determined as the intermediate torque.

[0064] In some embodiments, the second torque is input as an input signal into a dynamic saturator, the upper limit of the dynamic saturator is the first torque, and the lower limit of the dynamic saturator is a preset torque, usually a smaller torque in the opposite direction of the upper limit, so as to limit the magnitude of the output intermediate torque. When the second torque is between the upper limit and the lower limit, the second torque is used as the intermediate torque; when the second torque is greater than the upper limit, the first torque is used as the intermediate torque; when the second torque is less than the lower limit, the lower limit is used as the intermediate torque.

[0065] Exemplarily, during the tooth surface switching process, the first torque gradually increases from 0. In the initial stage, the second torque obtained based on the real-time speed and the target speed is greater than the first torque. In the initial stage, the target torque is determined by the first torque, which can avoid excessive torque adjustment in the initial stage; then the real-time speed of the motor reaches the preset target speed. In the second stage thereafter, the second torque is less than the first torque. In the second stage, the target torque is determined by the second torque. In this way, in the second stage, the real-time speed of the motor is always limited to the target speed; then, the tooth surface switches, the collision occurs, and the real-time speed drops rapidly. In the third stage thereafter, the second torque is greater than the first torque. In the third stage, the target torque is determined by the first torque. At this time, it is considered that the tooth surface switching is completed, the target torque can quickly follow the first torque, the real-time speed increases rapidly, and the driver's intention is quickly responded to.

[0066] Step S202: Determine the target torque based on the intermediate torque.

[0067] In some embodiments, after the intermediate torque is obtained, the intermediate torque is directly used as the target torque.

[0068] In some embodiments, determining the target torque based on the intermediate torque includes: adjusting the intermediate torque based on a preset adjustment range and a target torque at a historical moment to obtain the target torque at the current moment.

[0069] In order to prevent the torque from rising too fast and causing unnecessary impact, the intermediate torque needs to be further adjusted to obtain the target torque. The preset adjustment range refers to the maximum change of the target torque at the current moment compared with the target torque at the historical moment.

[0070] In some embodiments, the historical moment may be a moment immediately preceding the current moment, and the target torque at the historical moment is the target torque calculated at the historical moment.

[0071] In some embodiments, the historical moment may be at least two historical moments adjacent to the current moment, and the target torque at the historical moment is an average value of the target torques respectively calculated at the at least two historical moments.

[0072] Among them, the intermediate torque at the current moment is compared with the target torque at the historical moment. When the difference between the two is greater than the preset adjustment range, the intermediate torque is adjusted based on the preset adjustment range to obtain the target torque at the current moment; when the difference between the two is less than or equal to the preset adjustment range, the intermediate torque at the current moment is used as the target torque at the current moment.

[0073] All the moments mentioned in the embodiments of the present application are sampling moments, that is, the moments corresponding to the target torque.

[0074] For example, the adjustment range is 10 Nm, which means that the current target torque is increased or decreased by 10 Nm at most compared with the target torque at the historical moment. If the target torque at the historical moment is 50 Nm and the intermediate torque at the current moment is 55 Nm, the target torque at the current moment is 55 Nm; if the target torque at the historical moment is 50 Nm and the intermediate torque at the current moment is 65 Nm, the target torque at the current moment is 60 Nm.

[0075] In the embodiment of the present application, the intermediate torque is adjusted based on the preset adjustment range and the target torque at the historical moment to obtain the target torque at the current moment. In this way, by considering the target torque at the historical moment and adjusting the target torque at the current moment, it is possible to prevent unnecessary impact caused by excessively fast torque increase.

[0076] In the embodiment of the present application, the smaller value of the first torque and the second torque is determined as the intermediate torque; based on the intermediate torque, the target torque is determined. In this way, during the tooth surface switching process, it is possible to avoid excessive torque adjustment, avoid continuous increase in speed, and avoid excessive rotational energy accumulation that causes unacceptable vibration and sound, avoid unnecessary switching waiting time, and improve power response speed.

[0077] In some embodiments, during the tooth surface switching process, in response to the intermediate torque switching from the second torque to the first torque, it is determined that the tooth surface switching is completed.

[0078] Among them, in the related art, during the tooth surface switching process, the execution torque is suppressed to a sufficiently low level, thereby suppressing the vehicle vibration and sound to an acceptable level. Figure 1B In the stage from t1 to t4, the torque is limited to a very small value. At t4, the motor controller assumes that the tooth surface switching is complete, and the acceleration follows the torque required by the vehicle controller to quickly respond to the acceleration demand. In fact, the tooth surface has already switched to the other side at t3, but in order to apply to more working conditions, when it is impossible to determine whether the tooth surface switching is complete, the default is to wait for a more conservative switching time to t4, quickly follow the torque required by the vehicle controller, and respond to the acceleration demand, which wastes the time period from t3 to t4 and increases the throttle response delay.

[0079] In the embodiment of the present application, during the tooth surface switching process, before the tooth surface switching, the real-time speed is limited to the target speed, the second torque is less than the first torque, and the intermediate torque is the second torque; when the tooth surface is switched, the collision occurs, and the real-time speed decreases rapidly. In the subsequent stage, the second torque will be greater than the first torque, and the intermediate torque is the first torque. At this time, the tooth surface switching is considered to be completed. Therefore, in response to the intermediate torque switching from the second torque to the first torque, it can be determined that the tooth surface switching is completed. Compared with the related art, in the embodiment of the present application, when the intermediate torque is determined to switch from the second torque to the first torque, the tooth surface switching can be considered to be completed. At this time, the torque regulation quickly follows the first torque, and the vehicle responds to the driver's intention to accelerate quickly, avoiding the waiting time of the tooth surface switching t3 to t4, and can improve the power response speed.

[0080] In the embodiment of the present application, during the tooth surface switching process, in response to the intermediate torque switching from the second torque to the first torque, it is determined that the tooth surface switching is completed. In this way, by judging whether the tooth surface switching is completed based on the source of the intermediate torque, the moment when the tooth surface switching is completed can be determined more quickly. When the tooth surface switching is identified to be completed, the intermediate torque is quickly adjusted following the first torque, which can save waiting time and improve the vehicle power response speed.

[0081] Figure 4 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 3 , the method can be executed by a processor of a computer device. Figure 2 , Figure 2 The "determining the second torque based on the real-time speed and the preset target speed" in the above method can be updated to S301 to S302, which will be combined with Figure 4 The steps shown are explained.

[0082] Step S301: Determine a speed difference based on the real-time speed and the target speed.

[0083] Among them, at each sampling moment, after obtaining the real-time speed, it is necessary to subtract the real-time speed from the target speed to obtain the speed difference.

[0084] In some embodiments, the speed difference is obtained by subtracting the target speed from the current real-time speed.

[0085] In some embodiments, the target speed is subtracted from the current real-time speed to obtain the speed difference.

[0086] It can be understood that the real-time speed changes in real time, while the target speed is a preset value.

[0087] Step S302: Perform a first PID adjustment on the speed difference to obtain the second torque.

[0088] Among them, the role of PID regulation is to integrate the proportional, integral and differential signals of the deviation between the given value and the actual measured value of the controlled variable into a control quantity to control the controlled process. The expression of this control quantity usually contains proportional terms, integral terms and differential terms, corresponding to the three parameters P, I and D respectively.

[0089] The first PID adjustment is performed on the speed difference to obtain a second torque, which can make the adjusted real-time speed reach or approach the target speed.

[0090] In the embodiment of the present application, the speed difference is determined based on the real-time speed and the target speed, and the first PID adjustment is performed on the speed difference to obtain the second torque. In this way, the torque required to adjust the real-time speed to the target speed can be accurately obtained through PID adjustment.

[0091] Figure 5 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 4 , the method can be executed by a processor of a computer device. Figure 2 The "obtaining the first torque" in can be updated to S401 to S402, which will be combined with Figure 5 The steps shown are explained.

[0092] Step S401: determining a third torque by a vehicle controller based on the working condition of the vehicle controller.

[0093] During the tooth surface switching, the vehicle controller will respond to the driver's driving needs and calculate the third torque.

[0094] In some embodiments, the vehicle controller will determine the current vehicle driving requirements based on the current vehicle status information, such as the position of the accelerator / brake pedal, the current vehicle speed, whether the vehicle has fault information, etc. These driving requirements may include starting, accelerating, decelerating, driving at a constant speed, limping, speed limiting, emergency high voltage disconnection, etc. Based on the determined vehicle operating conditions, power battery system and motor drive system status, the vehicle controller will calculate the torque currently required by the vehicle, i.e., the third torque.

[0095] Step S402: determining the first torque by a motor controller based on the third torque and the working condition of the motor controller.

[0096] Among them, after receiving the third torque sent by the vehicle controller, the motor controller will determine the first torque according to the third torque and the working condition of the motor controller.

[0097] In some embodiments, after receiving the third torque sent by the vehicle controller, the motor controller will perform logical judgment and calculation based on its own operating conditions and capabilities. This includes considering factors such as the temperature of the motor, the actual speed of the motor, the allowable charge and discharge power of the power battery, and the battery pack (remaining power). The motor controller will adjust the third torque based on these factors to ensure that while meeting the driver's requirements for power, the utilization efficiency of the limited energy on board is maximized. After this series of calculations and judgments, the motor controller will obtain the first torque, which will serve as the basis for motor control.

[0098] In the embodiment of the present application, the third torque is determined by the vehicle controller based on the working condition of the vehicle controller, and the first torque is determined by the motor controller based on the third torque and the working condition of the motor controller. In this way, the working conditions of the vehicle controller and the motor controller can be comprehensively considered to obtain an accurate first torque.

[0099] In some embodiments, the method further includes: in response to the tooth surface switching being completed and reaching a preset time threshold, adjusting the target speed to a preset speed; the preset speed is greater than the target speed.

[0100] Among them, the completion of tooth surface switching refers to the state in which the switching of the force-bearing tooth surface has been completed at a certain moment. In the embodiment of the present application, in response to the intermediate torque switching from the second torque to the first torque, it is determined that the tooth surface switching is completed. After the tooth surface switching is completed, the target torque will be adjusted following the first torque to improve the power response speed. At this time, the preset target speed no longer works, and the target speed needs to be adjusted to a sufficiently large value to avoid the target speed from playing a role again in the subsequent control of the vehicle and limiting the speed of the motor.

[0101] After the tooth surface switching is completed for a preset time threshold, the target speed is adjusted to a preset speed, which is greater than the target speed, so as to avoid the target speed from taking effect again after the tooth surface switching is completed. The preset speed should be large enough and can be set to a value that the real-time speed of the motor cannot reach.

[0102] In the embodiment of the present application, in response to the tooth surface switching being completed and reaching a preset time threshold, the target speed is adjusted to a preset speed, which is greater than the target speed. In this way, the previous target speed can be prevented from having a negative impact on the normal operation of the subsequent motor.

[0103] Figure 6 A schematic diagram of an implementation process of a motor control method provided in an embodiment of the present application Figure 5 , the method can be executed by a processor of a computer device. Figure 2 , Figure 2The "controlling the rotation of the motor based on the target torque" in the above method can be updated to S501 to S504, which will be combined with Figure 6 The steps shown are explained.

[0104] Step S501: Determine the real-time torque of the motor based on the current of the inverter bridge.

[0105] Among them, the inverter bridge, also known as the inverter, is a power electronic device that converts direct current (DC) into alternating current (AC). In the motor controller, the inverter bridge is usually composed of multiple switching devices (such as insulated gate bipolar transistors IGBT or metal-oxide semiconductor field effect transistors MOSFET), which are turned on and off in a specific order and timing to achieve the conversion of DC to AC.

[0106] Among them, in the motor control system, the real-time torque is indirectly estimated through the current of the inverter bridge because there is a certain relationship between the real-time torque and the current of the motor.

[0107] In some embodiments, the real-time torque can be obtained by multiplying the torque constant by the current. The torque constant is determined when the motor is designed, and it represents the torque generated when a unit current flows through the motor. The torque constant can be calculated by measuring the torque and corresponding current of the motor under specific conditions. Once the torque constant is obtained, the real-time torque of the motor can be estimated by measuring the current.

[0108] In some embodiments, the current sensor plays a vital role in the motor control system, which can monitor the current changes in the motor operation process in real time. When the inverter bridge controls the motor to rotate, the current sensor will accurately capture the current value flowing through the inverter bridge switch device (such as IGBT or MOSFET). These current values ​​reflect the load condition and power demand of the motor during operation.

[0109] Step S502: Determine the torque difference based on the real-time torque and the target torque.

[0110] Among them, at each sampling moment, after the target torque is obtained, it is necessary to subtract the target torque from the real-time torque at the current moment to obtain the torque difference.

[0111] In some embodiments, the current torque difference is obtained by subtracting the current target torque from the current real-time torque.

[0112] In some embodiments, the current moment's torque difference is obtained by subtracting the current moment's real-time torque from the current moment's target torque.

[0113] Step S503: perform a second PID adjustment on the torque difference to obtain an adjustment parameter, and convert the adjustment parameter into an electrical signal.

[0114] The torque difference is subjected to a second PID adjustment to obtain an adjustment parameter, which may be a proportional output, an integral output, and a differential output corresponding to the torque difference.

[0115] In some embodiments, the electrical signal may be an on / off signal of a switch device in an inverter bridge. The on / off signal is used to indicate the on / off state and time ratio of the switch device. There is a preset conversion relationship between the adjustment parameter and the electrical signal, and the adjustment parameter is converted into the electrical signal based on the preset conversion relationship.

[0116] Step S504: Control the rotation of the motor through the inverter bridge based on the electrical signal.

[0117] The inverter bridge can control the on and off of its own switching devices based on electrical signals, thereby converting DC power into the AC power required by the motor. The inverter bridge is connected to the motor, inputs AC power into the motor, and controls the rotation of the motor through AC power.

[0118] Among them, the inverter bridge can adjust the frequency of the rotating magnetic field by changing the frequency of the voltage applied to the motor, thereby controlling the speed of the motor. The inverter bridge can also adjust the amplitude of the voltage, that is, the size of the voltage, which affects the strength of the magnetic field. By adjusting the amplitude, the torque output of the motor can be controlled. The correct phase sequence is the key to generating a clockwise or counterclockwise rotating magnetic field. The inverter bridge must ensure the correct phase sequence to achieve the correct direction of rotation of the motor. The phase difference between voltage and current has an important impact on the performance of the motor, such as vibration, noise and efficiency. The inverter bridge can optimize these performance parameters by adjusting the phase difference.

[0119] In the embodiment of the present application, the real-time torque of the motor is determined based on the current of the inverter bridge; the torque difference is determined based on the real-time torque and the target torque; the torque difference is subjected to a second PID adjustment to obtain an adjustment parameter, and the adjustment parameter is converted into an electrical signal; the rotation of the motor is controlled through the inverter bridge based on the electrical signal. In this way, the motor can be controlled based on the target torque, so that the motor rotates following the target torque.

[0120] The following describes the application of the motor control method provided in the embodiment of the present application in a practical scenario.

[0121] The embodiment of the present application adopts a torque loop superimposed speed loop suppression strategy to directly suppress the speed during the suppression period, prevent excessive accumulation of rotational energy during tooth surface switching, avoid the difficult balance of torque parameters between acceleration response and vibration and sound, and also improve the reuse rate of calibration parameters to save workload.

[0122] The idea of ​​the embodiment of the present application is to use the speed as the limiting value to avoid the speed from increasing continuously during the tooth surface switching, accumulating excessive rotational energy and causing unacceptable vibration and sound. At the same time, the speed loop is connected in series based on the torque loop, and automatically switches to the torque loop immediately after the tooth surface switching is completed, avoiding unnecessary switching waiting time and improving the power response speed.

[0123] Figure 7 This is a simplified diagram of the control principle of the speed control method provided in an embodiment of the present application. Figure 7 The intermediate speed limit value 601 (corresponding to the preset target speed in the above embodiment) is the preset limited speed. This parameter is subtracted from the speed obtained by the position sensor 602 from the motor 603 (corresponding to the real-time speed in the above embodiment) to obtain the speed difference. The speed difference is adjusted by the speed adjustment module 604 (commonly the classic PID adjustment) to obtain the speed limit torque 605 (corresponding to the second torque in the above embodiment). The required torque 606 (corresponding to the third torque in the above embodiment) is the torque calculated by the vehicle controller according to the current working condition. After the target torque calculation 607 (i.e. the logical judgment and calculation of the motor controller according to its own working condition and capability, etc.), the target torque (corresponding to the first torque in the above embodiment) is obtained. After the target torque and the speed limit torque 605 are compared and judged by the torque limit module 608, the pre-execution torque 609 (corresponding to the intermediate torque in the above embodiment) is obtained. In order to prevent the torque from rising too fast and causing unnecessary impact, the slope suppression module 610 limits the rising slope according to the torque of the previous cycle, and obtains the execution torque 611 (corresponding to the target torque in the above embodiment), which is given to the subsequent torque loop 612 for execution output. The difference (corresponding to the torque difference in the above embodiment) is obtained by subtracting the execution torque 611 from the current torque estimation value (corresponding to the real-time torque in the above embodiment) output by the torque estimation module 613, and is given to the torque adjustment module 614 (commonly the classic PID adjustment) for adjustment. The adjustment parameter is output to the control conversion module 615 and converted into an electrical control signal (corresponding to the electrical signal in the above embodiment) to control the inverter bridge 616 (such as a three-phase full bridge). While the inverter bridge 616 controls the rotation of the motor 603, its current parameters can be monitored by the current sensor 617 and provided to the torque estimation module 613 for current torque estimation. The rotation of the motor 603 can drive the position sensor 602 to rotate, and the parameters such as angle and speed are monitored for the control of the speed loop 618.

[0124] in, Figure 7 The loop in which the torque estimation module, current sensor, torque regulation module, control conversion module, and inverter bridge are located is the torque loop; the loop in which the speed regulation module, torque limiting module, slope suppression module, torque regulation module, control conversion module, inverter bridge, motor, and position sensor are located is the speed loop.

[0125] Figure 8 The expanded diagram of the torque limit module in the control principle diagram provided in the embodiment of the present application. The core part of the torque limit module 608 is the dynamic saturator 701, whose input signal is the speed limit torque 605 obtained by speed regulation calculation, the upper limit signal is the target torque 702 calculated by further judging the required torque calculated by the vehicle controller, and the lower limit signal is the torque lower limit 703, which is generally a smaller torque in the opposite direction to limit the torque adjustment range and avoid violent torque fluctuations. The output signal is the pre-execution torque 609.

[0126] Fig. 9A FIG1 is a schematic diagram of the effect of the speed control method provided in the embodiment of the present application. Fig. 9B A brief description of the effect of the speed control method provided in the embodiment of the present application Figure 2 , Fig. 9C A brief description of the effect of the speed control method provided in the embodiment of the present application Figure 3 .like Fig. 9A As shown in , when the vehicle is stationary and the gear is quickly switched at time t1 and the accelerator is pressed, the vehicle controller sends a demand torque that starts from 0 and continues to increase according to the scenario. Fig. 9C As shown in the figure, if the motor's execution torque involves tooth surface switching, there is elastic potential energy on the initial tooth surface at time t1. Due to the release of elastic potential energy, the speed of the motor rotor and other rotating parts will increase rapidly. After that, the motor controller follows the torque demand of the vehicle controller and increases the torque output, and the speed continues to increase until the preset speed limit is reached at time t2 (if the speed limit is not reached, the execution torque is increased to increase the motor speed to the preset speed limit; if the motor speed exceeds the preset speed limit, the reverse execution torque is increased to maintain the motor speed at the preset speed limit). Fig. 9C As shown by the dotted line, the speed loop described in the embodiment of the present application is triggered to enter the speed control stage. In this stage, the speed no longer increases, and the rotating part continues to move to overcome the tooth gap until time t3, and then switches to another tooth surface, and impact vibration occurs. Since the speed is controllable during impact, the energy released by the impact is controllable, and the vibration and sound are easily controlled to an acceptable level. Due to the impact deceleration, the speed drops rapidly, and the embodiment of the present application automatically switches to the torque loop operation. The execution torque of the motor controller quickly follows the demand torque of the vehicle controller, and the vehicle responds to the driver's intention to accelerate quickly without waiting until time t4, saving waiting time and reducing throttle response delay. At time t5, it is determined that speed suppression is no longer necessary, and the speed loop is disabled to avoid affecting the normal driving of the vehicle.

[0127] Among them, Fig. 9BAs shown in the figure, the speed limit value at time t1 is the dashed value, and the actual speed value of the motor is 0. The difference given to the speed regulation module after subtraction is large, and the speed limit torque calculated by the speed regulation module is large. When it is greater than the target torque, the pre-execution torque value output by the torque limit module is limited to the upper limit of the dynamic saturator, that is, the target torque. That is, at time t1, the speed loop is limited by the upper limit of the dynamic saturator and does not work. At this time, the torque loop works, and the motor controller quickly increases the torque according to the target torque. At time t2, the motor speed approaches the preset speed limit value, and the value after subtracting the two speeds decreases. The speed limit torque output by the speed regulation module gradually decreases to below the target torque, then the pre-execution torque output by the torque limit module switches to the speed limit torque of the speed loop, and the target torque no longer directly participates in the loop control. The motor controller enters speed control, and the speed no longer increases. At time t3, the motor speed drops rapidly due to the fit of the other tooth surface, and the tooth surface switching is completed. At this time, because the motor speed is much lower than the speed limit value, the loop switches to be similar to time t1, the speed loop does not work, the torque loop works, and the torque is quickly adjusted to follow the target torque, avoiding the waiting time from t3 to t4 and improving the power response speed. At time t5 and later, the speed loop is no longer needed, and the speed limit value is adjusted to a sufficiently large value to avoid the negative impact of the speed loop participating in the control, achieving the same control effect as the single torque loop.

[0128] In some embodiments, speed feedback is added on the basis of torque control, and when the speed is high, the target torque is multiplied by a small coefficient to reduce the output torque and the speed increase slope. The speed loop and the torque loop are used in parallel.

[0129] In the embodiment of the present application, speed control is introduced, and its stability is better than that of single torque control; no additional switching logic is required (switching between the torque loop and the speed loop), and it is easy to control; the waiting time t3 to t4 is saved, and the vehicle power response speed is improved; the speed limit value will not change drastically with the switching of vehicle models, has fewer parameters than the S curve, and has a small single value change, which greatly reduces the workload of adaptation and calibration.

[0130] In the embodiment of the present application, the speed loop and the torque loop are connected in series to complete the speed suppression during the tooth surface switching, greatly reducing vibration and abnormal noise; the speed loop and the torque loop are automatically switched to save the waiting time from t3 to t4 and improve the power response speed; the speed loop can be disabled without switching the loop, and the speed limit value can be set to be large enough.

[0131] Based on the foregoing embodiments, an embodiment of the present application provides a motor control device, which includes the units included and the modules included in the units, which can be implemented by a processor in a computer device; of course, it can also be implemented by a specific logic circuit; in the implementation process, the processor can be a central processing unit (CPU), a microprocessor (MPU), a digital signal processor (DSP) or a field programmable gate array (FPGA), etc.

[0132] Fig.10 A schematic diagram of the structure of a motor control device provided in an embodiment of the present application is shown in FIG. Fig.10 As shown, the motor control device 900 includes: an acquisition module 910, a first determination module 920, a second determination module 930 and a control module 940, wherein:

[0133] The acquisition module 910 is used to acquire the real-time rotation speed and the first torque of the motor during the tooth surface switching process of the vehicle; the first torque is the torque required by the motor under the real-time working condition;

[0134] A first determination module 920 is used to determine a second torque based on the real-time speed and a preset target speed; the second torque is a torque required to adjust the real-time speed to the target speed;

[0135] A second determination module 930, configured to determine a target torque based on a smaller value between the first torque and the second torque;

[0136] The control module 940 is configured to control the rotation of the motor based on the target torque.

[0137] In some embodiments, the second determination module 930 is further configured to determine a smaller value between the first torque and the second torque as an intermediate torque; and determine the target torque based on the intermediate torque.

[0138] In some embodiments, during the tooth surface switching process, in response to the intermediate torque switching from the second torque to the first torque, it is determined that the tooth surface switching is completed.

[0139] In some embodiments, the second determination module 930 is further configured to adjust the intermediate torque based on a preset adjustment range and a target torque at a historical moment to obtain a target torque at a current moment.

[0140] In some embodiments, the first determination module 920 is further configured to determine a speed difference based on the real-time speed and the target speed; and perform a first PID adjustment on the speed difference to obtain the second torque.

[0141] In some embodiments, the acquisition module 910 is further used to determine the third torque through the vehicle controller based on the operating condition of the vehicle controller; and determine the first torque through the motor controller based on the third torque and the operating condition of the motor controller.

[0142] In some embodiments, the control module 940 is further configured to adjust the target speed to a preset speed in response to the tooth surface switching being completed and reaching a preset time threshold; the preset speed is greater than the target speed.

[0143] In some embodiments, the control module 940 is also used to determine the real-time torque of the motor based on the current of the inverter bridge; determine the torque difference based on the real-time torque and the target torque; perform a second PID adjustment on the torque difference to obtain an adjustment parameter, and convert the adjustment parameter into an electrical signal; and control the rotation of the motor through the inverter bridge based on the electrical signal.

[0144] The description of the above device embodiment is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. In some embodiments, the functions or modules included in the device provided in the embodiment of the present application can be used to execute the method described in the above method embodiment. For technical details not disclosed in the device embodiment of the present application, please refer to the description of the method embodiment of the present application for understanding.

[0145] It should be noted that in the embodiments of the present application, if the above-mentioned motor control method is implemented in the form of a software function module and sold or used as an independent product, it can also be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the embodiment of the present application can be essentially or partly reflected in the form of a software product that contributes to the relevant technology. The software product is stored in a storage medium, including several instructions to enable a computer device (which can be a personal computer, server, or network device, etc.) to execute all or part of the methods described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a U disk, a mobile hard disk, a read-only memory (ROM), a disk or an optical disk. In this way, the embodiments of the present application are not limited to any specific hardware, software or firmware, or any combination of hardware, software, and firmware.

[0146] An embodiment of the present application provides a vehicle, including a controller, which implements some or all of the steps in the above method when executing a program.

[0147] An embodiment of the present application provides a computer device, including a memory and a processor, wherein the memory stores a computer program that can be run on the processor, and when the processor executes the program, some or all of the steps in the above method are implemented.

[0148] The embodiment of the present application provides a computer-readable storage medium on which a computer program is stored, and when the computer program is executed by a processor, some or all of the steps in the above method are implemented. The computer-readable storage medium can be transient or non-transient.

[0149] An embodiment of the present application provides a computer program, including a computer-readable code. When the computer-readable code is run in a computer device, a processor in the computer device executes some or all of the steps for implementing the above method.

[0150] The embodiment of the present application provides a computer program product, which includes a non-transitory computer-readable storage medium storing a computer program, and when the computer program is read and executed by a computer, some or all of the steps in the above method are implemented. The computer program product can be implemented in hardware, software, or a combination thereof. In some embodiments, the computer program product is specifically embodied as a computer storage medium, and in other embodiments, the computer program product is specifically embodied as a software product, such as a software development kit (SDK), etc.

[0151] It should be noted here that the description of the various embodiments above tends to emphasize the differences between the various embodiments, and the same or similar aspects can be referenced to each other. The description of the above device, storage medium, computer program and computer program product embodiments is similar to the description of the above method embodiment, and has similar beneficial effects as the method embodiment. For technical details not disclosed in the embodiments of the device, storage medium, computer program and computer program product of this application, please refer to the description of the method embodiment of this application for understanding.

[0152] Fig.11 A hardware entity diagram of a computer device provided in an embodiment of the present application is shown in FIG. Fig.11 As shown, the hardware entity of the computer device 1000 includes: a processor 1001 and a memory 1002, wherein the memory 1002 stores a computer program that can be run on the processor 1001, and the processor 1001 implements the steps in the method of any of the above embodiments when executing the program.

[0153] The memory 1002 stores a computer program that can be run on the processor. The memory 1002 is configured to store instructions and applications executable by the processor 1001. It can also cache data to be processed or processed by the processor 1001 and various modules in the computer device 1000 (for example, image data, audio data, voice communication data, and video communication data). This can be achieved through flash memory (FLASH) or random access memory (Random Access Memory, RAM).

[0154] When the processor 1001 executes the program, the steps of any of the above motor control methods are implemented. The processor 1001 generally controls the overall operation of the computer device 1000.

[0155] An embodiment of the present application provides a computer storage medium, which stores one or more programs. The one or more programs can be executed by one or more processors to implement the steps of the motor control method of any of the above embodiments.

[0156] It should be noted here that the description of the above storage medium and device embodiments is similar to the description of the above method embodiments, and has similar beneficial effects as the method embodiments. For technical details not disclosed in the storage medium and device embodiments of this application, please refer to the description of the method embodiments of this application for understanding.

[0157] The processor may be at least one of an Application Specific Integrated Circuit (ASIC), a Digital Signal Processor (DSP), a Digital Signal Processing Device (DSPD), a Programmable Logic Device (PLD), a Field Programmable Gate Array (FPGA), a Central Processing Unit (CPU), a controller, a microcontroller, and a microprocessor. It is understandable that the electronic device that implements the functions of the processor may also be other, and the embodiments of the present application do not specifically limit this.

[0158] The above-mentioned computer storage medium / memory can be a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic random access memory (FRAM), a flash memory (Flash Memory), a magnetic surface memory, an optical disk, or a compact disc read-only memory (CD-ROM) and the like; it can also be various terminals including one or any combination of the above-mentioned memories, such as a mobile phone, a computer, a tablet device, a personal digital assistant, etc.

[0159] The above is only an implementation method of the present application, but the protection scope of the present application is not limited thereto. Any technician familiar with the technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application.

Claims

1. A motor control method, characterized in that: The method comprises: During the tooth surface switching process of the vehicle, the real-time speed and the first torque of the motor are obtained; the first torque is the torque required by the motor under the real-time working condition; Based on the real-time speed and the preset target speed, a second torque is determined; the second torque is the torque required to adjust the real-time speed to the target speed; determining a target torque based on a smaller value of the first torque and the second torque, and controlling the rotation of the motor based on the target torque; The determining the target torque based on the smaller value of the first torque and the second torque comprises: determining the smaller value as the intermediate torque; Based on the preset adjustment range and the target torque at the historical moment, the intermediate torque is adjusted to obtain the target torque at the current moment.

2. The method according to claim 1, characterized in that In the tooth surface switching process, in response to the intermediate torque being switched from the second torque to the first torque, it is determined that the tooth surface switching is completed.

3. The method according to claim 1, characterized in that The determining the second torque based on the real-time speed and the preset target speed includes: Determining a speed difference based on the real-time speed and the target speed; A first PID adjustment is performed on the rotational speed difference to obtain the second torque.

4. The method according to any one of claims 1 to 3, characterized in that: Obtaining the first torque includes: determining, by a vehicle controller, a third torque based on an operating condition of the vehicle controller; The first torque is determined by a motor controller based on the third torque and an operating condition of the motor controller.

5. The method according to any one of claims 1 to 3, characterized in that: The method further comprises: In response to the tooth surface switching being completed and reaching a preset time threshold, the target speed is adjusted to a preset speed; the preset speed is greater than the target speed.

6. The method according to any one of claims 1 to 3, characterized in that: The controlling the rotation of the motor based on the target torque comprises: Determining the real-time torque of the motor based on the current of the inverter bridge; determining a torque difference based on the real-time torque and the target torque; Performing a second PID adjustment on the torque difference to obtain an adjustment parameter, and converting the adjustment parameter into an electrical signal; The rotation of the motor is controlled through the inverter bridge based on the electrical signal.

7. A motor control device, characterized in that: The device comprises: An acquisition module, used for acquiring the real-time rotation speed and the first torque of the motor during the tooth surface switching process of the vehicle; the first torque is the torque required by the motor under the real-time working condition; A first determination module is used to determine a second torque based on the real-time speed and a preset target speed; the second torque is a torque required to adjust the real-time speed to the target speed; A second determination module is configured to determine a target torque based on a smaller value between the first torque and the second torque; determine the smaller value as an intermediate torque; and adjust the intermediate torque based on a preset adjustment range and a target torque at a historical moment to obtain a target torque at a current moment; A control module is used to control the rotation of the motor based on the target torque.

8. A computer device comprising a memory and a processor, wherein the memory stores a computer program running on the processor, wherein: When the processor executes the program, the steps in the method according to any one of claims 1 to 6 are implemented.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the steps in the method according to any one of claims 1 to 6 are implemented.

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