Motor torque zero-crossing control method and related device

Abstract

The invention provides a motor torque zero-crossing control method and a related device, and relates to the technical field of vehicle control. The method comprises the steps of determining a target rotating speed according to a current rotating speed of a driven gear under the condition that a motor demand torque is detected to be in a target torque zero-crossing interval; before the meshing surfaces of the driven gear and the driving gear are completely attached again, the current rotating speed of the driving gear is adjusted to the target rotating speed; wherein in the process of adjusting the current rotating speed of the driving gear to the target rotating speed, a torque compensation value is determined based on the difference between the actual rotating speed of the driving gear and the intermediate target rotating speed, so that the torque of the motor is adjusted, and the rotating speed of the driving gear is controlled. According to the technical scheme, the problem that in the prior art, when the torque zero-crossing working condition occurs to the motor, a vehicle shakes can be solved.

Description

Technical Field

[0001] The present application relates to the field of vehicle control technology, and in particular to a motor torque zero-crossing control method and related devices. Background Art

[0002] For electric vehicles, the wheels can be driven by motors. During the driving process of such vehicles, the motor may experience a torque zero condition, such as the torque changes from a positive value to a negative value, or from a negative value to a positive value. Under this condition, the meshing surface of the driving gear and the driven gear in the reducer will be transferred from one side to the other, but there is a gap between the two gears. This gap will cause a certain speed difference between the driving gear and the driven gear when the meshing surface is reversed. When the meshing surface is fitted again, the speed difference causes the driving gear and the driven gear to collide, generating a large noise and impact, causing the vehicle to shake and affecting driving comfort. Summary of the invention

[0003] Based on the above-mentioned defects and shortcomings of the prior art, the present application proposes a motor torque zero-crossing control method and related devices, which can solve the problem of vehicle jitter caused by the motor torque zero-crossing condition in the prior art.

[0004] According to a first aspect of an embodiment of the present application, a motor torque zero-crossing control method is provided, which is applied to a vehicle that drives wheels to rotate through a motor, wherein the motor is connected to a driving gear in a vehicle reducer, the driving gear is meshed with a driven gear in the vehicle reducer, and the driven gear is connected to the wheels of the vehicle;

[0005] The method comprises:

[0006] When it is detected that the motor demand torque is in the target torque zero-crossing interval, determining the target speed according to the current speed of the driven gear;

[0007] Before the meshing surfaces of the driven gear and the driving gear are completely in contact with each other again, adjusting the current rotation speed of the driving gear to the target rotation speed;

[0008] In the process of adjusting the current speed of the driving gear to the target speed, a torque compensation value is determined based on the difference between the actual speed of the driving gear and the intermediate target speed to adjust the motor torque and control the speed of the driving gear.

[0009] According to a second aspect of an embodiment of the present application, a motor torque zero-crossing control device is provided, which is applied to a vehicle whose wheels are driven by a motor, wherein the motor is connected to a driving gear in a vehicle reducer, the driving gear is meshed with a driven gear in the vehicle reducer, and the driven gear is connected to the wheels of the vehicle;

[0010] The device comprises:

[0011] A target speed determination module, configured to determine the target speed according to the current speed of the driven gear when it is detected that the motor demand torque is in the target torque zero-crossing interval;

[0012] A speed adjustment module, used for adjusting the current speed of the driving gear to the target speed before the meshing surfaces of the driven gear and the driving gear are completely in contact with each other again;

[0013] In the process of adjusting the current speed of the driving gear to the target speed, the speed adjustment module also determines the torque compensation value based on the difference between the actual speed of the driving gear and the intermediate target speed to adjust the motor torque and control the speed of the driving gear.

[0014] According to a third aspect of an embodiment of the present application, there is provided an electronic device, including: a memory and a processor;

[0015] The memory is connected to the processor and is used to store programs;

[0016] The processor is used to implement the motor torque zero-crossing control method as described in the first aspect by running the program in the memory.

[0017] According to a fourth aspect of an embodiment of the present application, a vehicle is provided, comprising: a motor for driving wheels to rotate and an electronic device as described in the third aspect, wherein the electronic device is used to control the motor to adjust the rotational speed of a driving gear through the motor torque zero-crossing control method as described in the first aspect.

[0018] According to a fifth aspect of an embodiment of the present application, a storage medium is provided, on which a computer program is stored. When the computer program is executed by a processor, the motor torque zero-crossing control method as described in the first aspect is implemented.

[0019] According to a sixth aspect of the embodiments of the present application, a computer program product or a computer program is provided, wherein the computer program product includes the computer program, and when a processor executes the computer program, the steps in the motor torque zero-crossing control method as described in the first aspect are implemented. Optionally, the computer program can be stored in a readable storage medium or a cloud of a computer device; the processor of the computer device reads the computer program from the readable storage medium or the cloud.

[0020] In the technical solution provided by the present application, when it is detected that the motor demand torque is in the torque zero-crossing interval, the change slope of the motor torque is not intervened, so that the motor torque quickly crosses zero to avoid the hysteresis of the vehicle power output. At the same time, the target speed is determined according to the current speed of the driven gear, and before the meshing surface of the driven gear and the driving gear are fully fitted again, the current speed of the driving gear is adjusted to the target speed to reduce the speed difference between the driving gear and the driven gear, thereby reducing the impact force when the meshing surfaces of the two gears are fitted and reducing the vehicle shaking. In addition, in the process of adjusting the current speed of the driving gear to the target speed, the torque compensation value is determined based on the difference between the actual speed of the driving gear and the intermediate target speed to adjust the motor torque and achieve precise control of the speed. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without paying any creative work.

[0022] Figure 1 A schematic diagram of a structure in which a driving gear and a driven gear are meshed with each other provided in an embodiment of the present application;

[0023] Figure 2 A schematic diagram of a flow chart of a motor torque zero-crossing control method provided in an embodiment of the present application;

[0024] Figure 3 A schematic diagram of the change in motor torque provided in an embodiment of the present application;

[0025] Figure 4 A block diagram of a motor torque zero-crossing control device provided in an embodiment of the present application;

[0026] Figure 5 A schematic diagram of the structure of an electronic device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0028] Application Overview

[0029] Considering the need for energy conservation and environmental protection, some new energy vehicles that can be driven by motors have emerged, such as pure electric vehicles, hybrid electric vehicles, etc. For such vehicles, during driving, the motor may have a torque zero-crossing condition, such as the torque changes from a positive value to a negative value, or from a negative value to a positive value. Figure 1 As shown, this operating condition will cause the meshing surface of the driving gear and the driven gear in the reducer to shift from one side to the other, but there is a gap between the two gears. This gap will cause a certain speed difference between the driving gear and the driven gear when the meshing surface is reversed. When the meshing surface fits again, the driving gear and the driven gear collide due to the speed difference, thereby generating greater noise and impact, causing the vehicle to shake and affecting driving comfort.

[0030] The current mainstream solution is to identify the condition where the motor torque passes through zero, and in this condition, reduce the speed at which the motor torque passes through zero, that is, limit the slope of the torque rise or fall, so that the gears fit slowly. However, this method will prolong the time when the torque passes through zero, making the vehicle power output feel hysteretic and affecting the driving experience.

[0031] In order to effectively balance the power tracking and alleviate the vehicle's shaking, an embodiment of the present application provides a torque zero-crossing control technology, which can be seen below for details.

[0032] Exemplary Methods

[0033] An embodiment of the present application provides a motor torque zero-crossing control method, which is applied to a vehicle that drives wheels to rotate through a motor.

[0034] In such vehicles, the motor is connected to a driving gear in a vehicle reducer, the driving gear meshes with a driven gear in the vehicle reducer, and the driven gear is connected to the wheels of the vehicle.

[0035] The driving gear refers to the input gear in the vehicle reducer, which is connected to the output shaft of the motor. The driving gear rotates under the drive of the motor and transmits the torque to the driven gear through the gear transmission system.

[0036] The driven gear refers to the output gear in the vehicle reducer, which meshes with the driving gear and is connected to the wheels. The driven gear can receive torque from the driving gear, and after increasing the torque, transmit the torque to the wheels to control wheel rotation, steering, etc.

[0037] Since the driven gear is connected to the wheel, the rotation speed of the driven gear can be reflected in the vehicle speed perceived by the human body. Therefore, when the motor has a torque zero-crossing condition, in order to make the vehicle speed perceived by the human body smooth, the embodiment of the present application adjusts the rotation speed of the driving gear based on the rotation speed of the driven gear to reduce the speed difference between the master and slave gears and achieve smooth fitting of the master and slave gears.

[0038] The method is described in detail below through some embodiments. The following embodiments can be combined with each other, and the same or similar concepts or processes may not be described in detail in some embodiments.

[0039] like Figure 2 As shown, the method may include steps 201 to 202, as described below:

[0040] Step 201: When it is detected that the motor required torque is in the target torque zero-crossing interval, a target rotation speed is determined according to the current rotation speed of the driven gear.

[0041] The target torque zero-crossing interval described here can be used to indicate the start and end of the torque zero-crossing condition. For example, when it is detected that the motor demand torque enters the target torque zero-crossing interval, it is considered that the motor torque zero-crossing condition begins; when it is detected that the motor demand torque leaves the target torque zero-crossing interval, it is considered that the motor torque zero-crossing condition ends. Among them, the value range of the target torque zero-crossing interval can be set according to actual needs, and the embodiments of the present application specifically define this.

[0042] The motor demand torque mentioned here refers to the torque calculated based on the vehicle's driving demand. The vehicle's driving demand may include but is not limited to: the driver's operating intention (such as accelerator pedal opening, gear position, brake pedal travel, etc.), the vehicle's real-time status (such as vehicle speed, battery charge state, etc.) and the vehicle's dynamic model.

[0043] The current speed of the driven gear described here can be the speed at any time from the beginning of the torque zero-crossing condition to the separation of the meshing surfaces of the driving gear and the driven gear. When the motor torque passes through zero, that is, when the motor torque passes through the 0 torque value, the meshing state of the driving gear and the driven gear begins to change, and the speeds between the two begin to differ. Therefore, it is preferred to use the speed of the driven gear when the motor torque passes through zero as the current speed of the driven gear, and set the target speed based on the current speed. The target speed is the same or similar to the current speed of the driven gear.

[0044] Step 202: Before the meshing surfaces of the driven gear and the driving gear are completely in contact with each other again, the current rotation speed of the driving gear is adjusted to the target rotation speed.

[0045] When the motor torque passes through the 0 torque value, the meshing state of the driving gear and the driven gear begins to change; after the motor torque passes through the 0 torque value, the driving gear and the driven gear will be briefly separated due to the gap between the two. In this process, the speed of the driving gear may change under the drive of the motor, while the speed of the driven gear can be considered to remain basically unchanged or change very little because it is separated from the driving gear and is not driven by the driving gear. In order to make the speeds of the meshing surfaces of the driving gear and the driven gear similar or the same during the re-fitting process, so as to achieve smooth fitting of the meshing surfaces of the master and slave gears and alleviate vehicle jitter, in the embodiment of the present application, after the motor torque passes through the 0 torque value and before the meshing surfaces of the master and slave gears are fully fitted again, the current speed of the driving gear can be adjusted to the target speed determined based on the speed of the driven gear, so that the driving gear and the driven gear fit at the same speed or a similar speed. In this way, the speed change of the driven gear can be relatively smooth during the entire fitting process, thereby alleviating the vehicle jitter problem and improving the smoothness of the vehicle's driving.

[0046] In addition, in the embodiment of the present application, in the process of adjusting the current speed of the driving gear to the target speed, the torque compensation value can also be determined based on the difference between the actual speed of the driving gear and the intermediate target speed, such as appropriately increasing or decreasing the motor torque to adjust the motor torque and control the speed of the driving gear, so that the actual speed change of the driving gear is closer to the pre-planned speed change law, so as to achieve precise control of the speed, and then in the process of the meshing surface of the driving gear and the driven gear being re-fitted, the speed of the driving gear is the same or similar to the speed of the driven gear, so as to achieve smooth fitting of the meshing surface.

[0047] The intermediate target speed mentioned here may be a speed in a conversion variation law obtained by pre-planning, wherein the speed variation law is used to indicate how to adjust the speed of the driving gear to the target speed.

[0048] Optionally, the speed variation rule may be a target speed variation curve, which indicates the intermediate target speeds at different continuous moments. It is understandable that the speed variation rule may also be a target speed variation mapping table, which indicates the intermediate target speeds at different discrete moments.

[0049] Optionally, before the meshing surfaces of the driven gear and the driving gear contact again, the current speed of the driving gear can be adjusted to the target speed, so that the speeds of the master and slave gears are similar or the same, thereby achieving smooth fit between the meshing surfaces of the master and slave gears and alleviating vehicle shaking.

[0050] In some optional embodiments, before “adjusting the current rotation speed of the driving gear to the target rotation speed” in step 202, the method may further include steps A1 to A3, as described below:

[0051] Step A1: Determine the target time required for the meshing surfaces of the driven gear and the driving gear to fully fit together again.

[0052] The target duration mentioned here may be pre-calibrated, or may be estimated based on the rotational speed of the master and slave gears and the rotational speed change trend (such as from fast to slow, or from slow to fast, etc.).

[0053] Step A2: According to the current speed of the driving gear, the target speed and the target duration, a target speed change curve is obtained by fitting.

[0054] The target speed variation curve is used to indicate how to adjust the speed of the driving gear from the current speed to the target speed within a target time period.

[0055] The target speed change curve can be a linear change curve or a smooth curve, which can be set according to actual needs.

[0056] When the target speed change curve is a smooth curve, it is preferably a smooth curve that can indicate that the speed change is fast first and then slow, because before the meshing surfaces of the driving gear and the driven gear are fitted, the driving gear and the driven gear are separated, and the speed change of the driving gear has no effect on the speed change of the driven gear. At this time, the adjustment of the speed of the driving gear can be accelerated to adjust the speed of the driving gear to the target speed as soon as possible. When the meshing surfaces of the master and slave gears begin to fit, in order to achieve smooth fitting of the master and slave gears, the change rate of the speed of the driving gear can be reduced, so that the speed change of the driven gear is smoother.

[0057] After the target speed change curve is obtained, the corresponding motor torque can be output based on the curve to adjust the current speed of the driving gear to the target speed according to the target speed change curve.

[0058] In the process of adjusting the speed of the active gear, there may be an adjustment deviation. For example, at time t1, the speed of the active gear should be adjusted to 1000 revolutions per minute, but the actual speed after adjustment is 900 revolutions per minute. Such deviations will affect the final adjustment result. It should be noted that the speed described here is only for illustration and does not represent the actual situation.

[0059] Since the speed of the driving gear is controlled by the motor torque, in order to overcome this problem, in an embodiment of the present application, when such a deviation is detected, the motor torque can be compensated, that is, based on the difference between the actual speed of the driving gear and the intermediate target speed in the target speed change curve, the torque compensation value is determined to adjust the motor torque and control the speed of the driving gear.

[0060] Optionally, in an embodiment of the present application, the actual speed of the driving gear and the intermediate target speed at the same time in the target speed change curve can be obtained once every preset time period, and then the torque compensation value is determined based on the difference between the actual speed of the driving gear and the intermediate target speed.

[0061] Optionally, the motor torque compensation can be achieved by a proportional-integral (PI) control algorithm, which can be expressed by the following formula:

[0062]

[0063] Among them, T add Indicates the motor compensation torque; P indicates the proportional term adjustment coefficient; I indicates the integral term adjustment coefficient; n dvt Indicates the difference between the actual speed of the driving gear and the intermediate target speed.

[0064] It is understandable that other control algorithms may also be used to perform motor torque compensation, such as a proportional-integral-derivative control (PID) control algorithm, which may be selected based on actual needs.

[0065] In some optional embodiments, after the motor torque passes through zero, the driven gear and the driving gear begin to separate. Since there is no driving gear to drive the driven gear, the speed of the driven gear can be considered to remain basically unchanged or change very little. In order to make the meshing surfaces of the driving gear and the driven gear fit together, the speeds of the two are similar or the same, the current speed of the driven gear described in step 201 can be directly determined as the target speed.

[0066] Optionally, directly determining the current speed of the driven gear described in step 201 as the target speed can meet the requirement of smooth fit between the meshing surfaces of the master and slave gears. In order to make the vehicle speed meet the driver's expectations, speed compensation can also be performed based on this speed.

[0067] For example, after the motor enters the torque zero-crossing condition, the driver may further operate the accelerator pedal, such as increasing the accelerator pedal opening to reduce or increase the power output. At this time, the vehicle speed should be increased, so the target speed can be appropriately increased. For another example, the driver may further operate the brake pedal, such as increasing the brake pedal stroke. At this time, the vehicle speed should be reduced, so the target speed can be appropriately reduced. For another example, when the vehicle is driving on an uphill road, the vehicle speed should be reduced, and the target speed can also be appropriately reduced.

[0068] Based on the above analysis, the step of “determining the target speed according to the current speed of the driven gear” in step 201 may include:

[0069] A rotation speed compensation value is determined based on the target parameter; and a sum of the current rotation speed of the driven gear and the rotation speed compensation value is determined as a final target rotation speed.

[0070] The target parameters mentioned here may include but are not limited to at least one of the following: accelerator pedal opening, brake pedal travel, slope of the road where the vehicle is located, etc.

[0071] In the embodiment of the present application, the target speed for adjusting the speed of the driving gear can be compensated in combination with the driver's operating behavior of the vehicle (such as the stepping behavior of the accelerator pedal and the brake pedal) and the road conditions (such as the slope of the ramp), so that the meshing surfaces of the master and slave gears can be smoothly fitted while the vehicle speed can meet the driving expectations.

[0072] The speed compensation value can be positive or negative, that is, it can be a positive speed compensation value or a negative speed compensation value.

[0073] When the target parameter is one of the accelerator pedal opening, brake pedal travel, and the slope of the road where the vehicle is located, the compensation of the accelerator pedal opening for the speed is positive compensation, and there is a positive correlation between the accelerator pedal opening and the speed compensation value, that is, the larger the accelerator pedal opening, the larger the speed compensation value. The compensation of the brake pedal travel for the speed is negative compensation, and there is a negative correlation between the speed compensation value, that is, the larger the brake pedal travel, the smaller the speed compensation value. The compensation of the road slope for the speed is negative compensation. When the road where the vehicle is located is an uphill road, there is a negative correlation between the road slope and the corresponding speed compensation value, that is, the larger the road slope, the smaller the speed compensation value; when the road where the vehicle is located is a downhill road, there is a positive correlation between the road slope and the speed compensation value, that is, the larger the road slope, the larger the speed compensation value.

[0074] In the case where there are multiple target parameters, for example, the target parameters include the accelerator pedal opening and the road slope, or the target parameters include the brake pedal travel and the road slope, etc., the "determining the speed compensation value based on the target parameters" in the above step may include:

[0075] The speed compensation value corresponding to each target parameter is determined respectively; then the sum of the speed compensation values ​​corresponding to all target parameters is determined as the final speed compensation value.

[0076] Combining multiple target parameters for speed compensation can achieve more comprehensive considerations, making the meshing surfaces of the master and slave gears fit smoothly while also better ensuring that the vehicle speed meets driving expectations.

[0077] Among them, in this embodiment, there is a positive correlation between the accelerator pedal opening and the corresponding speed compensation value; there is a negative correlation between the brake pedal stroke and the corresponding speed compensation value; when the road where the vehicle is located is an uphill road, there is a negative correlation between the road slope and the corresponding speed compensation value; when the road where the vehicle is located is a downhill road, there is a positive correlation between the road slope and the corresponding speed compensation value. For details, please refer to the corresponding relationship between different parameters and the speed compensation value when the target parameter includes one parameter.

[0078] In some optional embodiments, the motor demand torque described in the embodiments of the present application may be the original demand torque, that is, the torque that has not been filtered, so as to more accurately determine the torque zero-crossing condition.

[0079] The original required torque can be calculated based on the wheel end required torque, the speed ratio between the motor and the wheel end, and the power source of the vehicle, as shown in the following formula:

[0080]

[0081] in, Indicates the original required torque of the motor; T whl represents the required torque at the wheel end; i represents the speed ratio between the motor and the wheel end; δ represents the distribution coefficient obtained according to the power source of the vehicle. For example, if the vehicle has a single power source, that is, one motor, then δ=1; if the vehicle has a dual power source, that is, two motors, then δ represents the power distribution coefficient of the current motor setting.

[0082] Optionally, based on the zero-crossing interval between the required torque and the target torque of the motor, it is determined whether the motor torque zero-crossing condition has started and ended, as described in detail as follows:

[0083] (1) The motor torque starts to cross zero

[0084] When it is detected that the required torque of the motor is positive and the positive required torque decreases to the maximum value of the target torque zero-crossing interval, it means that the motor is about to pass the torque zero, and the motor torque zero-crossing condition is determined to start. Among them, the maximum value of the target torque zero-crossing interval is a value greater than 0, which can be set according to actual needs. Assuming the torque threshold is 5Nm, Figure 3 As shown in (a) in the figure, the positive demand torque of the motor gradually decreases in the direction indicated by the arrow. When it decreases to 5Nm, it is determined that the motor torque zero-crossing condition begins.

[0085] Similarly, when it is detected that the required torque of the motor is negative, and the absolute value of the negative required torque decreases to the minimum value of the target torque zero-crossing interval, it means that the motor is about to pass the torque zero, and it is determined that the motor torque zero-crossing condition begins. Figure 3As shown in (b), the absolute value of the negative demand torque of the motor gradually decreases in the direction indicated by the arrow. When it decreases to 5Nm, that is, when the negative demand torque is -5Nm, it is determined that the motor torque zero-crossing condition begins.

[0086] (2) The motor torque zero-crossing condition ends

[0087] for Figure 3 In the case shown in (a), after the motor torque zero-crossing condition begins, the motor's required torque changes from positive to negative. When the negative required torque reaches the minimum value of the target torque zero-crossing interval, that is, when the negative required torque is -5Nm, it can be considered that the motor torque zero-crossing condition ends.

[0088] for Figure 3 In the case shown in (b), after the motor torque zero-crossing condition begins, the motor's required torque changes from negative to positive. When the positive required torque increases to the maximum value of the target torque zero-crossing interval, that is, when the positive required torque increases to 5Nm, it can be considered that the motor torque zero-crossing condition ends.

[0089] The above is a description of the motor torque zero-crossing control method provided in the embodiment of the present application.

[0090] In summary, the motor torque zero-crossing control method provided by the embodiment of the present application does not intervene in the change slope of the motor torque when it is detected that the motor demand torque is in the torque zero-crossing interval, so that the motor torque quickly crosses zero to avoid the hysteresis of the vehicle power output. At the same time, the target speed is determined according to the current speed of the driven gear, and before the meshing surface of the driven gear and the driving gear is fully fitted again, the current speed of the driving gear is adjusted to the target speed to reduce the speed difference between the driving gear and the driven gear, thereby reducing the impact force when the meshing surfaces of the two gears are fitted, and reducing the vehicle shaking. It can be seen that this method can take into account the power response of the motor torque under the zero-crossing working condition and the smoothness of the vehicle, which is conducive to improving the driving experience. In addition, in the process of adjusting the current speed of the driving gear to the target speed, the torque compensation value is determined based on the difference between the actual speed of the driving gear and the intermediate target speed, so as to adjust the motor torque and achieve precise control of the speed.

[0091] Exemplary Devices

[0092] Correspondingly, an embodiment of the present application also provides a motor torque zero-crossing control device, which is applied to a vehicle that drives wheels to rotate through a motor.

[0093] In such vehicles, the motor is connected to a driving gear in a vehicle reducer, the driving gear meshes with a driven gear in the vehicle reducer, and the driven gear is connected to the wheels of the vehicle.

[0094] The driving gear refers to the input gear in the vehicle reducer, which is connected to the output shaft of the motor. The driving gear rotates under the drive of the motor and transmits the torque to the driven gear through the gear transmission system.

[0095] The driven gear refers to the output gear in the vehicle reducer, which meshes with the driving gear and is connected to the wheels. The driven gear can receive torque from the driving gear, and after increasing the torque, transmit the torque to the wheels to control wheel rotation, steering, etc.

[0096] Since the driven gear is connected to the wheel, the rotation speed of the driven gear can be reflected in the vehicle speed perceived by the human body. Therefore, when the motor has a torque zero-crossing condition, in order to make the vehicle speed perceived by the human body smooth, the embodiment of the present application aims to achieve smooth fit between the master and slave gears. Based on the rotation speed of the driven gear, the rotation speed of the driving gear is adjusted to reduce the speed difference between the master and slave gears and achieve smooth fit between the master and slave gears.

[0097] like Figure 4 As shown, the device may include:

[0098] The target speed determination module 401 is used to determine the target speed according to the current speed of the driven gear when it is detected that the motor demand torque is in the target torque zero-crossing interval.

[0099] The speed adjustment module 402 is used to adjust the current speed of the driving gear to the target speed before the meshing surfaces of the driven gear and the driving gear are completely in contact with each other again.

[0100] In the process of adjusting the current speed of the driving gear to the target speed, the speed adjustment module 402 can also determine the torque compensation value based on the difference between the actual speed of the driving gear and the intermediate target speed to adjust the motor torque and control the speed of the driving gear.

[0101] Optionally, the target intermediate speed is a speed in a target speed variation curve, and the target speed variation curve is used to indicate how to adjust the speed of the driving gear to the target speed.

[0102] Optionally, the device may further include:

[0103] The duration determination module is used to determine the target duration required for the meshing surfaces of the driven gear and the driving gear to fully fit again.

[0104] The curve fitting module is used to fit the target speed change curve according to the current speed of the driving gear, the target speed and the target duration.

[0105] The target speed change curve is used to indicate how to adjust the speed of the driving gear from the current speed to the target speed within the target time period.

[0106] Optionally, the target speed determination module 401 may include:

[0107] The speed compensation determination unit is used to determine the speed compensation value based on the target parameter; wherein the target parameter includes at least one of the following: the accelerator pedal opening, the brake pedal travel, and the slope of the road where the vehicle is located.

[0108] The target speed determination unit is used to determine the sum of the current speed of the driven gear and the speed compensation value as the target speed.

[0109] Optionally, the speed compensation determination unit may be specifically configured to: when there are multiple target parameters, respectively determine the speed compensation value corresponding to each target parameter; and determine the sum of the speed compensation values ​​corresponding to all the target parameters as the final speed compensation value.

[0110] Optionally, there is a positive correlation between the accelerator pedal opening and the corresponding speed compensation value; there is a negative correlation between the brake pedal stroke and the corresponding speed compensation value; when the road where the vehicle is located is an uphill road, there is a negative correlation between the road slope and the corresponding speed compensation value; when the road where the vehicle is located is a downhill road, there is a positive correlation between the road slope and the corresponding speed compensation value.

[0111] Optionally, the target speed determination module 401 may be specifically configured to: determine the current speed of the driven gear as the target speed.

[0112] The motor torque zero-crossing control device provided in this embodiment belongs to the same application concept as the motor torque zero-crossing control method provided in the above embodiments of this application, and can execute the motor torque zero-crossing control method provided in any of the above embodiments of this application, and has the corresponding functional modules and beneficial effects of the execution method. For the technical details not described in detail in this embodiment, please refer to the specific processing content of the motor torque zero-crossing control method provided in the above embodiments of this application, which will not be repeated here.

[0113] Exemplary Electronic Devices

[0114] The present application also provides an electronic device, such as Figure 5 As shown, the electronic device includes: a memory 500 and a processor 510 .

[0115] The memory 500 is connected to the processor 510 and is used to store programs.

[0116] The processor 510 is used to implement the motor torque zero-crossing control method in the above embodiment by running the program stored in the memory 500 .

[0117] Specifically, the electronic device may further include: a communication interface 520 , an input device 530 , an output device 540 and a bus 550 .

[0118] The processor 510, the memory 500, the communication interface 520, the input device 530 and the output device 540 are connected to each other via a bus.

[0119] Bus 550 may include a pathway for transferring information between the various components of the computer system.

[0120] The processor 510 may be a general-purpose processor, such as a general-purpose central processing unit (CPU), a microprocessor, etc., or an application-specific integrated circuit (ASIC), or one or more integrated circuits for controlling the execution of the program of the scheme of the present invention. It may also be a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components.

[0121] The processor 510 may include a main processor, and may also include a baseband chip, a modem, and the like.

[0122] The memory 500 stores a program for executing the technical solution of the present invention, and may also store an operating system and other key services. Specifically, the program may include a program code, and the program code includes a computer operation instruction. More specifically, the memory 500 may include a read-only memory (ROM), other types of static storage devices that can store static information and instructions, a random access memory (RAM), other types of dynamic storage devices that can store information and instructions, a disk storage, a flash, and the like.

[0123] The input device 530 may include a device for receiving data and information input by a user, such as a keyboard, a mouse, a camera, a scanner, a light pen, a voice input device, a touch screen, a pedometer, or a gravity sensor.

[0124] Output device 540 may include devices that allow information to be output to a user, such as a display screen, printer, speaker, etc.

[0125] The communication interface 520 may include any transceiver or the like to communicate with other devices or communication networks, such as Ethernet, Radio Access Network (RAN), Wireless Local Area Network (WLAN), etc.

[0126] The processor 510 executes the program stored in the memory 500 and calls other devices, which can be used to implement the various steps of the motor torque zero-crossing control method provided in the above embodiments of the present application.

[0127] Example Vehicles

[0128] An embodiment of the present application further provides a vehicle, comprising: a motor for driving the wheels of the vehicle to rotate and an electronic device as described in the above embodiment, wherein the electronic device is used to control the motor to adjust the rotation speed of the driving gear through the above-mentioned motor torque zero-crossing control method.

[0129] Exemplary computer program products and storage media

[0130] In addition to the above-mentioned methods and devices, an embodiment of the present application may also be a computer program product, which includes computer program instructions, which, when executed by a processor, enable the processor to execute the steps in the motor torque zero-crossing control method described in the embodiment of the present application.

[0131] The computer program product may be implemented in hardware, software or a combination thereof. In one optional embodiment, the computer program product is embodied as a computer storage medium, and in another optional embodiment, the computer program product is embodied as a software product, such as a software development kit (SDK).

[0132] The computer program product may be written in any combination of one or more programming languages ​​to write program codes for performing the operations of the embodiments of the present application, including object-oriented programming languages, such as Java, C++, etc., and conventional procedural programming languages, such as "C" language or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as an independent software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0133] In addition, an embodiment of the present application may also be a storage medium on which a computer program is stored, and the computer program is executed by a processor to execute the steps of the motor torque zero-crossing control method described in the embodiment of the present application.

[0134] In addition, an embodiment of the present application may also be a chip, which includes a processor and a data interface. The processor reads instructions stored in the memory through the data interface to execute the steps in the motor torque zero-crossing control method described in the embodiment of the present application.

[0135] For the aforementioned method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should be aware that the present application is not limited by the order of the actions described, because according to the present application, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions and modules involved are not necessarily required by the present application.

[0136] It should be noted that each embodiment in this specification is described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the embodiments can be referred to each other. For the device embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0137] The steps in the methods of each embodiment of the present application can be adjusted in order, combined and deleted according to actual needs, and the technical features recorded in each embodiment can be replaced or combined.

[0138] The modules and sub-modules in the devices and terminals in the embodiments of the present application can be combined, divided and deleted according to actual needs.

[0139] In the several embodiments provided in the present application, it should be understood that the disclosed terminals, devices and methods can be implemented in other ways. For example, the terminal embodiments described above are only schematic, for example, the division of modules or submodules is only a logical function division, and there may be other division methods in actual implementation, for example, multiple submodules or modules can be combined or integrated into another module, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or modules, which can be electrical, mechanical or other forms.

[0140] The modules or submodules described as separate components may or may not be physically separated, and the components of the modules or submodules may or may not be physical modules or submodules, that is, they may be located in one place, or they may be distributed on multiple network modules or submodules. Some or all of the modules or submodules may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0141] In addition, each functional module or submodule in each embodiment of the present application may be integrated into one processing module, or each module or submodule may exist physically separately, or two or more modules or submodules may be integrated into one module. The above-mentioned integrated modules or submodules may be implemented in the form of hardware or in the form of software functional modules or submodules.

[0142] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the composition and steps of each example have been generally described in the above description according to function. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered to be beyond the scope of this application.

[0143] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly by hardware, software units executed by a processor, or a combination of the two. The software units may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0144] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

Claims

1. A motor torque zero-crossing control method, characterized in that: Applicable to a vehicle whose wheels are driven by a motor, wherein the motor is connected to a driving gear in a vehicle reducer, the driving gear is meshed with a driven gear in the vehicle reducer, and the driven gear is connected to the wheels of the vehicle; The method comprises: When it is detected that the motor demand torque is in the target torque zero-crossing interval, determining the target speed according to the current speed of the driven gear; Before the meshing surfaces of the driven gear and the driving gear are completely in contact with each other again, adjusting the current rotation speed of the driving gear to the target rotation speed; In the process of adjusting the current speed of the driving gear to the target speed, a torque compensation value is determined based on the difference between the actual speed of the driving gear and the intermediate target speed to adjust the motor torque and control the speed of the driving gear.

2. The method according to claim 1, characterized in that: The target intermediate speed is a speed in a target speed variation curve, and the target speed variation curve is used to indicate how to adjust the speed of the driving gear to the target speed.

3. The method according to claim 2, characterized in that Before adjusting the current rotation speed of the driving gear to the target rotation speed, the method further includes: Determine a target time required for the meshing surfaces of the driven gear and the driving gear to fully fit again; The target speed change curve is fitted according to the current speed of the driving gear, the target speed and the target duration; wherein the target speed change curve is used to indicate how to adjust the speed of the driving gear from the current speed to the target speed within the target duration.

4. The method according to any one of claims 1 to 3, characterized in that: Determining the target speed according to the current speed of the driven gear includes: Determining the rotation speed compensation value based on the target parameter; wherein the target parameter includes at least one of the following: accelerator pedal opening, brake pedal travel, and the slope of the road where the vehicle is located; The sum of the current rotation speed of the driven gear and the rotation speed compensation value is determined as the target rotation speed.

5. The method according to claim 4, characterized in that In the case where there are multiple target parameters, determining the rotation speed compensation value based on the target parameters includes: respectively determining a rotation speed compensation value corresponding to each of the target parameters; The sum of the rotational speed compensation values ​​corresponding to all the target parameters is determined as the final rotational speed compensation value.

6. The method according to claim 4 or 5, characterized in that: There is a positive correlation between the accelerator pedal opening and the corresponding speed compensation value; There is a negative correlation between the brake pedal stroke and the corresponding speed compensation value; When the road where the vehicle is located is an uphill road, there is a negative correlation between the road slope and the corresponding rotational speed compensation value; when the road where the vehicle is located is a downhill road, there is a positive correlation between the road slope and the corresponding rotational speed compensation value.

7. The method according to claim 4 or 5, characterized in that: Determining the target speed according to the current speed of the driven gear includes: The current rotation speed of the driven gear is determined as the target rotation speed.

8. An electronic device, characterized in that: include: Memory and processor; The memory is connected to the processor and is used to store programs; The processor is used to implement the motor torque zero-crossing control method as described in any one of claims 1 to 7 by running the program in the memory.

9. A vehicle, characterized in that: include: A motor for driving a wheel to rotate and an electronic device as claimed in claim 8, wherein the electronic device is used to control the motor to adjust the rotation speed of a driving gear through the motor torque zero-crossing control method as claimed in any one of claims 1 to 7.

10. A computer program product, characterized in that The computer program product stores a computer program, and when the computer program is executed by a processor, the motor torque zero-crossing control method according to any one of claims 1 to 7 is implemented.

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