Control method and device of driving motor and vehicle

Abstract

The invention discloses a driving motor control method and device and a vehicle, and the method comprises the steps: calculating a driving motor conversion torque based on a planetary gear set conversion coefficient of the vehicle, a driving motor demand torque and a driver demand torque of the vehicle; the converted torque of the driving motor is used for reflecting the influence on the driving motor when the required torque of the engine in the DHT system is converted to a gear ring end; based on the difference between the drive motor demand torque and the drive motor conversion torque, determining a corresponding drive motor correction torque; and determining the output torque of the driving motor according to the driving motor correction torque and the driving motor demand torque. Therefore, by correcting the required torque of the driving motor in the DHT system, the output torque of the driving motor during working can be more reasonable, so that the vehicle can recover more energy, and the energy loss of the vehicle is reduced to a certain extent.

Description

Technical Field

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

[0002] In order to save energy and protect the environment, hybrid vehicles with low pollution and low fuel consumption have become the choice of more and more users. Hybrid vehicles refer to vehicles that use both fuel and electric drive. In hybrid vehicles (hereinafter referred to as vehicles), a dedicated hybrid transmission (DHT) system is usually used as the power transmission system. The DHT system is a system that highly integrates components such as motors, engines and transmissions.

[0003] Usually, the drive motor in the DHT system will output according to the drive motor's required torque. However, in many cases, directly controlling the drive motor output based on the drive motor's required torque cannot ensure that the vehicle consumes as little energy as possible.

[0004] Based on this, it is urgent to provide a control method that can determine a better control method for controlling the output torque of the drive motor, so as to ensure that the drive motor can reduce the energy consumption of the vehicle as much as possible when working with the output torque. Summary of the invention

[0005] In order to solve the above technical problems, the present application provides a control method, device and vehicle for a drive motor, which corrects the drive motor demand torque by converting the engine demand torque to the ring gear end to obtain a more reasonable drive motor output torque. The drive motor working with this drive motor output torque can effectively reduce the energy consumption of the vehicle.

[0006] In order to achieve the above objectives, the technical solutions provided by this application are as follows:

[0007] In a first aspect, the present application provides a control method for a drive motor, which is applied to a vehicle, wherein a DHT system of the vehicle includes the drive motor, and the method includes:

[0008] Calculate the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque, wherein the drive motor converted torque is used to reflect the effect of the engine required torque in the DHT system converted to the ring gear end on the drive motor;

[0009] Determining a corresponding correction torque of the drive motor based on the difference between the required torque of the drive motor and the converted torque of the drive motor;

[0010] The output torque of the drive motor is determined according to the drive motor correction torque and the drive motor required torque.

[0011] Optionally, the calculating the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque includes:

[0012] Calculating an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0013] Converting the engine required torque to the ring gear end of the planetary gear set of the vehicle based on the planetary gear set conversion coefficient to obtain the engine converted torque;

[0014] The drive motor converted torque is calculated based on the driver demand torque and the engine converted torque.

[0015] Optionally, determining the corresponding correction torque of the drive motor based on the difference between the required torque of the drive motor and the converted torque of the drive motor includes:

[0016] Calculating the difference between the required torque of the drive motor and the converted torque of the drive motor, and recording it as a first torque difference;

[0017] Based on a first corresponding relationship, the drive motor correction torque corresponding to the first torque difference is determined, and the first corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0018] Optionally, the method further comprises:

[0019] Calculating an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0020] Determining a drive motor compensation torque based on a difference between the engine demand torque and the engine actual torque and a conversion coefficient of the planetary gear set;

[0021] The step of determining the output torque of the drive motor according to the drive motor correction torque and the drive motor required torque comprises:

[0022] Correcting the required torque of the drive motor based on the corrected torque of the drive motor to obtain an intermediate torque of the drive motor;

[0023] The intermediate torque is compensated based on the drive motor compensation torque to obtain the output torque.

[0024] Optionally, determining the drive motor compensation torque based on the difference between the engine demand torque and the engine actual torque and the planetary gear set conversion coefficient includes:

[0025] Calculating a difference between the engine required torque and the engine actual torque, and recording it as a second torque difference;

[0026] converting the second torque difference value by using the planetary gear set conversion coefficient to obtain a third torque difference value;

[0027] Based on a second corresponding relationship, the drive motor compensation torque corresponding to the third torque difference is determined, and the second corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0028] Optionally, the method further comprises:

[0029] The drive motor is controlled to operate at the output torque.

[0030] In a second aspect, the present application further provides a control device for a drive motor, which is applied to a vehicle, wherein a DHT system of the vehicle includes the drive motor, and the device includes:

[0031] A first calculation unit is used to calculate the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque, wherein the drive motor converted torque is used to reflect the influence of the engine required torque in the DHT system converted to the ring gear end on the drive motor;

[0032] A first determining unit, configured to determine a corresponding correction torque of the driving motor based on a difference between the required torque of the driving motor and the converted torque of the driving motor;

[0033] The second determining unit is used to determine the output torque of the driving motor according to the correction torque of the driving motor and the required torque of the driving motor.

[0034] Optionally, the first computing unit includes:

[0035] A first calculation subunit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0036] A second calculation subunit is used to convert the engine demand torque to the ring gear end of the planetary gear set of the vehicle based on the planetary gear set conversion coefficient to obtain the engine converted torque;

[0037] The third calculation subunit is used to calculate the drive motor converted torque based on the driver demand torque and the engine converted torque.

[0038] Optionally, the first determining unit includes:

[0039] a fourth calculation subunit, configured to calculate a difference between the required torque of the drive motor and the converted torque of the drive motor, which is recorded as a first torque difference;

[0040] The first determination subunit is used to determine the drive motor correction torque corresponding to the first torque difference based on a first corresponding relationship, wherein the first corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0041] Optionally, the device further comprises:

[0042] a second calculation unit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0043] A third determination unit, configured to determine a drive motor compensation torque based on a difference between the engine demand torque and the engine actual torque and a conversion coefficient of the planetary gear set;

[0044] The second determining unit includes:

[0045] a correction subunit, configured to correct the required torque of the drive motor based on the correction torque of the drive motor to obtain an intermediate torque of the drive motor;

[0046] The compensation subunit is used to compensate the intermediate torque based on the compensation torque of the driving motor to obtain the output torque.

[0047] Optionally, the third determining unit includes:

[0048] a fifth calculation subunit, configured to calculate a difference between the engine required torque and the engine actual torque, recorded as a second torque difference;

[0049] a sixth calculation subunit, configured to convert the second torque difference value by using the planetary gear set conversion coefficient to obtain a third torque difference value;

[0050] The second determination subunit is used to determine the drive motor compensation torque corresponding to the third torque difference based on a second corresponding relationship, and the second corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0051] Optionally, the device further comprises:

[0052] A control unit is used to control the drive motor to operate with the output torque.

[0053] It should be noted that the specific implementation method of the device and the technical effects achieved can refer to the relevant description of the method provided in the first aspect or any implementation method of the first aspect.

[0054] In a third aspect, the present application further provides a vehicle, the vehicle comprising a DHT system and a control device, the DHT system comprising a drive motor;

[0055] The control device is used to execute the method provided by any one of the implementation modes of the first aspect above to control the output of the drive motor.

[0056] In a fourth aspect, the present application further provides a controller, the controller comprising: a processor and a memory;

[0057] The memory is used to store instructions or programs;

[0058] The processor is used to execute the instructions or programs in the memory so that the controller executes the method provided by the first aspect or any one of the implementations of the first aspect.

[0059] In a fifth aspect, the present application also provides a readable medium, in which instructions or programs are stored. When the instructions or programs are executed on a processor, the processor executes the method provided in the first aspect or any one of the implementations of the first aspect.

[0060] Compared with the prior art, the embodiments of the present application have at least the following advantages:

[0061] In the technical solution provided by the present application, a control method for a drive motor is provided, which is applied to a vehicle, and the DHT system of the vehicle includes a drive motor. The method may include, for example: first, based on the conversion coefficient of the planetary gear set of the vehicle, the required torque of the drive motor and the required torque of the driver of the vehicle, the drive motor converted torque is calculated, and the drive motor converted torque is used to reflect the influence of the engine required torque in the DHT system converted to the ring gear end on the drive motor; then, based on the difference between the required torque of the drive motor and the converted torque of the drive motor, the corresponding correction torque of the drive motor is determined; finally, according to the correction torque of the drive motor and the required torque of the drive motor, the output torque of the drive motor is determined. It can be seen that since the correction torque of the drive motor is determined based on the difference between the required torque of the drive motor and the torque of the drive motor converted by the required torque of the engine, the required torque of the drive motor is corrected in this way, which can make the output torque of the drive motor more reasonable when it is working, and reduce the assistance of the drive motor to the vehicle during driving, so that the vehicle can recover more energy and reduce the energy loss of the vehicle to a certain extent. BRIEF DESCRIPTION OF THE DRAWINGS

[0062] 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 some embodiments recorded in the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative work.

[0063] Figure 1 A schematic diagram of the system architecture of a DHT system;

[0064] Figure 2 A schematic diagram of a flow chart of a control method for a drive motor provided in an embodiment of the present application;

[0065] Figure 3 An example flow chart of a control method for a drive motor provided in an embodiment of the present application;

[0066] Figure 4 A schematic diagram of the structure of a control device 400 for driving a motor provided in an embodiment of the present application;

[0067] Figure 5 A schematic diagram of the structure of a vehicle 500 provided in an embodiment of the present application;

[0068] Figure 6 A schematic diagram of the structure of a controller 600 provided in an embodiment of the present application. DETAILED DESCRIPTION

[0069] The DHT system is the mainstream power transmission system for hybrid vehicles. The system architecture can be found in Figure 1 .like Figure 1 As shown, the DHT system 100 may include: an engine 101, an Integrated Starter Generator (ISG, hereinafter referred to as ISG motor) 102, a planetary gear 103, a main drive motor (hereinafter referred to as TM motor) 104 and a gearbox 105, wherein the planetary gear 103 may include a planetary carrier 113, a sun gear 123 and a ring gear 133. The engine 101 is connected to the planetary carrier 113, the ISG motor 102 is connected to the sun gear 123, the ring gear 133 is connected to the output shaft of the TM motor 104, and the ring gear 133 is also connected to the input shaft of the gearbox 105. The output of the gearbox 105 is used as the output of the DHT system 100 to transmit power to the wheel end 300. Generally, the power of the TM motor 103 is provided by a battery 400. The vehicle in which the DHT system 100 is located may also include a controller 200, which may control parts of the DHT system 100, for example, by sending instructions to the TM motor 104 to control the output of the TM motor 104.

[0070] When the vehicle is in hybrid mode, the engine and TM motor provide power for the vehicle's travel. At this time, the driver's required torque of the vehicle is provided by the engine and TM motor. The ISG motor in the DHT system ensures that the engine works in the optimal working area by speed regulation. Therefore, the drive motor in the embodiment of the present application can be understood as the TM motor in the above-mentioned DHT system. The drive motor and TM motor in the following text can be understood as the same content, and the places where they appear can be understood interchangeably. In the embodiment of the present application, the driver refers to the user who drives the vehicle in the embodiment of the present application, and the driver's required torque can be understood as the driver's expression of the vehicle's driving requirements on the vehicle. The driver's required torque and the drive motor's required torque can both be calculated based on the parameters of the vehicle during driving, and the engine's required torque can be calculated by the calculated driver's required torque and drive motor's required torque. Among them, the driver's required torque can be calculated based on the driver's accelerator pedal depth, the current gear position and the energy mode, and the drive motor's required torque can be calculated based on the current state of charge (State of Charge, SOC) and the TM motor speed.

[0071] At present, the drive motor outputs the calculated required torque of the drive motor. For various complex working conditions that may occur during the driving of hybrid vehicles, the energy distribution is not reasonable enough, and further optimization is needed to make the drive motor output as little energy as possible under various working conditions, so as to increase the power generation of the drive motor and recover more energy, thereby effectively reducing the energy loss of the vehicle.

[0072] Based on this, an embodiment of the present application provides a control method for a drive motor, which corrects the actual torque output by the drive motor through a reasonable torque to obtain a more reasonable output torque of the drive motor for the current driving condition of the vehicle, thereby reducing the energy loss of the vehicle. As an example, the control method for the drive motor provided by the embodiment of the present application may include: the DHT system of the vehicle includes a drive motor. The method may include, for example: for a vehicle including a DHT system and the DHT system including a drive motor, first, based on the conversion coefficient of the planetary gear set of the vehicle, the required torque of the drive motor and the driver required torque of the vehicle, the drive motor converted torque is calculated, and the drive motor converted torque is used to reflect the influence of the engine required torque in the DHT system converted to the ring gear end on the drive motor; then, based on the difference between the required torque of the drive motor and the converted torque of the drive motor, the corresponding drive motor correction torque is determined; finally, according to the drive motor correction torque and the required torque of the drive motor, the output torque of the drive motor is determined.

[0073] It can be seen that since the drive motor correction torque is determined based on the difference between the drive motor demand torque and the drive motor torque converted by the engine demand torque, correcting the drive motor demand torque in this way can make the output torque of the drive motor more reasonable when it is working, and reduce the assistance of the drive motor to the vehicle during driving. Therefore, the vehicle can recover more energy and reduce the energy loss of the vehicle to a certain extent.

[0074] It should be noted that, in the embodiments of the present application, for the sake of clarity, the torque of the drive motor is used as the specific control parameter of the drive motor. However, the control of the torque may be replaced by other energy-related control parameters. For example, the speed of the drive motor may be controlled. The relevant calculations and control methods may be adaptively adjusted with reference to the relationship between the torque and speed of the drive motor, which all fall within the protection scope of the embodiments of the present application.

[0075] It should be noted that the subject implementing the control method of the drive motor may be the control device of the drive motor provided in the embodiment of the present application. The control device of the drive motor may be any controller of the vehicle that can interact with the drive motor, such as the vehicle controller of the vehicle, or the control device of the drive motor may be a functional module in any controller of the vehicle that can interact with the drive motor for implementing the corresponding functions of the control method of the drive motor provided in the embodiment of the present application. Figure 1 , the control device of the drive motor may correspond to the controller 200 , for example.

[0076] Figure 2 The present invention provides a flow chart of a method for controlling a driving motor according to an embodiment of the present invention. The method can be applied to a vehicle, the vehicle includes a DHT system, and the control object of the present invention is a driving motor in the DHT system. The method can also be understood as a controller applied to a vehicle, corresponding to Figure 1 The method is applied to the controller 200 in the vehicle where the system architecture shown is located to control the TM motor 104. The method can also be understood as being applied to a control device for a drive motor. The control device for the drive motor can be, for example, Figure 4 A control device 400 for a drive motor is shown.

[0077] like Figure 2 As shown, the method may include, for example, the following S201 to S203:

[0078] S201, calculating the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque.

[0079] Among them, the drive motor converted torque is used to reflect the impact of the engine demand torque in the DHT system converted to the ring gear end on the drive motor.

[0080] The drive motor required torque and the driver required torque can both be calculated quantities obtained by the vehicle based on the current calculation strategy. For example, the driver required torque can be calculated based on the driver's accelerator pedal depth, the current gear position and the energy mode, and the drive motor required torque can be calculated based on the current SOC and the drive motor speed. The specific calculation method is not limited in the embodiments of this application.

[0081] As an example, S201 may include: S2011, based on the drive motor demand torque and the driver demand torque, calculate the engine demand torque; S2012, based on the planetary gear set conversion coefficient, convert the engine demand torque to the ring gear end of the vehicle's planetary gear set to obtain the engine conversion torque; S2013, based on the driver demand torque and the engine conversion torque, calculate the drive motor conversion torque. In this way, the drive motor conversion torque converted by the engine is obtained, which is used as a correction reference for the drive motor demand torque, thereby improving the rationality of the torque actually output by the drive motor to a certain extent.

[0082] In the following, it is assumed that Trq_TM is the required torque of the drive motor, Trq_DesTot is the required torque of the driver, Trq_Eng is the required torque of the engine, r is the conversion coefficient of the planetary gear set, the engine converted torque is expressed as A, and the drive motor converted torque is expressed as B.

[0083] For S2011 , for example, the method may include: subtracting the motor demand torque from the driver demand torque, and recording the obtained difference as the engine demand torque, that is, Trq_Eng=Trq_DesTot-Trq_TM.

[0084] For example, S2012 may include: multiplying the engine demand torque obtained in S2011 by the planetary gear set conversion coefficient to obtain the engine conversion torque, that is, A=Trq_Eng*r=(Trq_DesTot-Trq_TM)*r.

[0085] For example, S2013 may include: subtracting the engine converted torque from the driver's demand torque, and recording the difference as the drive motor converted torque, that is, B=Trq_DesTot-A=Trq_DesTot-Trq_Eng*r=Trq_DesTot-(Trq_DesTot-Trq_TM)*r.

[0086] The drive motor converted torque obtained by S201 based on the engine provides a reliable data basis for subsequently determining a more reasonable output torque actually output by the drive motor.

[0087] S202: Determine a corresponding correction torque of the drive motor based on the difference between the required torque of the drive motor and the converted torque of the drive motor.

[0088] As an example, S202 may include: S202a1, calculating the difference between the required torque of the drive motor and the converted torque of the drive motor, recorded as the first torque difference; S202a2, determining the correction torque of the drive motor corresponding to the first torque difference based on the first corresponding relationship. The first corresponding relationship may be obtained by engineers through pre-test calibration, empirical calibration, or preliminary simulation and experiment of the vehicle model. It should be noted that the first corresponding relationship may be in the form of a two-dimensional chart, then S202a2 may specifically be searching for the correction torque of the drive motor corresponding to the first torque difference in the two-dimensional chart carrying the first corresponding relationship.

[0089] As another example, S202 may include: S202b1, calculating the difference between the required torque of the drive motor and the converted torque of the drive motor, recorded as the first torque difference; S202b2, determining the correction torque of the drive motor corresponding to the first torque difference based on a pre-built model (or algorithm). The pre-built model (or algorithm) may be any model (or algorithm) whose input is the first torque difference and whose output is the correction torque of the drive motor. The model (or algorithm) may be a model (or algorithm) obtained by training the training data obtained by pre-testing and calibrating the vehicle model.

[0090] Assuming that Trq_TMDiff is the first torque difference, the pre-built model is f(), and the drive motor correction torque is C, then S202 can be expressed as: C = f(Trq_TMDiff) = f(Trq_TM-B) = f(Trq_TM-(Trq_DesTot-A)) = f(Trq_TM-(Trq_DesTot-Trq_Eng*r)) = f(Trq_TM-(Trq_DesTot-(Trq_DesTot-Trq_TM)*r)).

[0091] In this way, the difference between the required torque of the drive motor and the converted torque of the drive motor converted by the engine is calculated, and the required torque of the drive motor for correcting the torque of the drive motor is determined based on the difference, which makes it possible to reduce the assist of the drive motor and increase energy recovery.

[0092] S203, determining the output torque of the driving motor according to the corrected torque of the driving motor and the required torque of the driving motor.

[0093] As an example, S203 may include: calculating the sum of the required torque of the driving motor and the corrected torque of the driving motor as the output torque of the driving motor. Assuming that the output torque of the driving motor is represented by O, then, in this example, O=Trq_TM+C.

[0094] In this way, based on the required torque of the driving motor, torque correction is performed by correcting the torque of the driving motor, thereby increasing the charging energy and achieving more energy recovery to a certain extent.

[0095] In addition, when the vehicle's energy mode switches from pure electric mode to hybrid mode, the required torque of the drive motor will jump. Torque correction through the method provided in the embodiment of the present application can reduce the situation where the drive motor is driven too much during torque transition, thereby reducing energy loss.

[0096] In some possible implementations, in addition to correcting the required torque of the drive motor, compensation can also be performed on this basis to achieve dynamic following of energy and further optimize energy distribution.

[0097] As an example of this implementation, before S203, the method may further include: S301, calculating the engine demand torque based on the drive motor demand torque and the driver demand torque; S302, determining the drive motor compensation torque based on the difference between the engine demand torque and the engine actual torque, and the planetary gear set conversion coefficient. Then, S203 may include, for example: correcting the drive motor demand torque based on the drive motor correction torque to obtain the intermediate torque of the drive motor; compensating the intermediate torque based on the drive motor compensation torque to obtain the output torque. Assuming that the output torque of the drive motor is represented by O' and the drive motor compensation torque is represented by E, then, in this example, O'=Trq_TM+C+E.

[0098] As an example, S302 may include: S302a1, calculating the difference between the engine demand torque and the engine actual torque, recorded as the second torque difference; S302a2, converting the second torque difference using the planetary gear set conversion coefficient to obtain the third torque difference; S302a3, determining the drive motor compensation torque corresponding to the third torque difference based on the second corresponding relationship. The second corresponding relationship may be obtained by engineers through pre-test calibration, empirical calibration, or preliminary simulation and experiment of the vehicle model. It should be noted that the second corresponding relationship may also be in the form of a two-dimensional chart, then S302a3 may specifically be searching for the drive motor compensation torque corresponding to the third torque difference in the two-dimensional chart carrying the second corresponding relationship.

[0099] As another example, S302 may include: S302b1, calculating the difference between the engine demand torque and the engine actual torque, recorded as the second torque difference; S302b2, converting the second torque difference using the planetary gear set conversion coefficient to obtain a third torque difference; S302b3, determining the drive motor compensation torque corresponding to the third torque difference based on a pre-built model (or algorithm). The pre-built model (or algorithm) may be any model (or algorithm) whose input is the third torque difference and whose output is the drive motor compensation torque. The model (or algorithm) may be a model (or algorithm) obtained by training the training data obtained by pre-testing and calibrating the vehicle model.

[0100] Assuming that D is the actual torque of the engine, the pre-built model is g(), and the drive motor compensation torque is E, then S302 can be expressed as: E=g((Trq_Eng-D)*r)=g((Trq_DesTot-Trq_TM-D)*r).

[0101] It should be noted that the implementation order of S301~S302 and S201~S202 is not limited in the embodiment of the present application. S301~S302 can be executed first and then S201~S202, or S201~S202 can be executed first and then S301~S302, or S301~S302 and S201~S202 can be executed simultaneously.

[0102] In this way, the deviation between the actual engine torque (which can also be understood as the actual response torque of the engine) and the required engine torque is fully considered to determine the drive motor compensation torque, and the drive motor compensation torque is used to compensate for the actual output of the drive motor, so as to achieve a more reasonable drive motor output and reduce the energy consumption of the vehicle.

[0103] In the embodiment of the present application, after determining the output torque of the drive motor based on S203, the method may further include: controlling the drive motor to operate at the output torque, thereby increasing power generation, recovering more energy, and reducing the energy consumption of the vehicle. As an example, the controller or control device of the vehicle may control the drive motor in the DHT system of the vehicle to output at the output torque determined by S203 by sending instructions or messages to the control module of the drive motor. In this way, it is possible to ensure that the vehicle can travel with lower energy consumption, thereby improving the user experience of using the vehicle.

[0104] It can be seen that through this method, since the drive motor correction torque is determined based on the difference between the drive motor demand torque and the drive motor torque converted by the engine demand torque, the drive motor demand torque is corrected in this way. This can make the output torque of the drive motor more reasonable when it is working, and reduce the assistance of the drive motor to the vehicle during driving. Therefore, the vehicle can recover more energy and reduce the energy loss of the vehicle to a certain extent.

[0105] In order to make the method provided in the embodiment of the present application easier to understand, Figure 3 A control process of a driving motor in an example is introduced, and the control process is applied to a vehicle including a DHT system, and the DHT system includes the driving motor.

[0106] like Figure 3 As shown, the method may include, for example:

[0107] S31, obtaining a planetary gear set conversion coefficient, a drive motor required torque, a driver required torque, an engine required torque, and an engine actual torque.

[0108] The engine demand torque is obtained based on the drive motor demand torque and the driver demand torque; the drive motor demand torque and the driver demand torque can be obtained by the vehicle through calculation. The planetary gear set conversion coefficient is a fixed parameter that can be obtained by the vehicle.

[0109] S32, calculating the product of the planetary gear set conversion coefficient and the engine required torque, and recording it as the engine converted torque.

[0110] S33, calculating the difference between the driver's required torque and the engine converted torque, and recording it as the drive motor converted torque.

[0111] S34, determining a correction torque of the drive motor based on the converted torque of the drive motor.

[0112] S35, calculating the difference between the engine required torque and the engine actual torque.

[0113] S36, calculating the product of the planetary gear set conversion coefficient and the difference obtained in S35.

[0114] S37, determining the drive motor compensation torque based on the product obtained in S36.

[0115] S38 , determining the actual torque of the drive motor based on the required torque of the drive motor, the corrected torque of the drive motor obtained in S34 , and the compensation torque of the drive motor obtained in S37 .

[0116] It should be noted that this embodiment does not limit the execution order of S32~S34 and S35~S37. S32~S34 can be executed first and then S35~S37, or S35~S37 can be executed first and then S32~S34, or S32~S34 and S35~S37 can be executed at the same time.

[0117] It should be noted that, in the embodiment of the present application, the correction and compensation of the drive motor torque may also be referred to as the secondary distribution of the drive motor torque.

[0118] In this way, by performing torque correction and torque compensation on the basis of the required torque of the drive motor, a secondary distribution of the drive motor torque can be achieved, thereby increasing the power generation of the drive motor, allowing the vehicle to recover more energy and reducing the energy loss of the vehicle.

[0119] Accordingly, the embodiment of the present application further provides a control device 400 for driving a motor, such as Figure 4 The device 400 is integrated in a vehicle, the vehicle includes a DHT system, the DHT system includes a drive motor, and the device 400 may correspond to Figure 1 The controller 200 in the embodiment may also correspond to the following Figure 5 The control device 510 in the embodiment may also correspond to Figure 6 The controller 600 is shown. The device 400 may include:

[0120] A first calculation unit 401 is used to calculate the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque, wherein the drive motor converted torque is used to reflect the influence of the engine required torque in the DHT system converted to the ring gear end on the drive motor;

[0121] A first determining unit 402 is used to determine a corresponding correction torque of the driving motor based on the difference between the required torque of the driving motor and the converted torque of the driving motor;

[0122] The second determining unit 403 is configured to determine the output torque of the driving motor according to the corrected torque of the driving motor and the required torque of the driving motor.

[0123] Optionally, the first calculating unit 401 includes:

[0124] A first calculation subunit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0125] A second calculation subunit is used to convert the engine demand torque to the ring gear end of the planetary gear set of the vehicle based on the planetary gear set conversion coefficient to obtain the engine converted torque;

[0126] The third calculation subunit is used to calculate the drive motor converted torque based on the driver demand torque and the engine converted torque.

[0127] Optionally, the first determining unit 402 includes:

[0128] a fourth calculation subunit, configured to calculate a difference between the required torque of the drive motor and the converted torque of the drive motor, which is recorded as a first torque difference;

[0129] The first determination subunit is used to determine the drive motor correction torque corresponding to the first torque difference based on a first corresponding relationship, wherein the first corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0130] Optionally, the device 400 further includes:

[0131] a second calculation unit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque;

[0132] A third determination unit, configured to determine a drive motor compensation torque based on a difference between the engine demand torque and the engine actual torque and a conversion coefficient of the planetary gear set;

[0133] The second determining unit 403 includes:

[0134] a correction subunit, configured to correct the required torque of the drive motor based on the correction torque of the drive motor to obtain an intermediate torque of the drive motor;

[0135] The compensation subunit is used to compensate the intermediate torque based on the compensation torque of the driving motor to obtain the output torque.

[0136] Optionally, the third determining unit includes:

[0137] a fifth calculation subunit, configured to calculate a difference between the engine required torque and the engine actual torque, recorded as a second torque difference;

[0138] a sixth calculation subunit, configured to convert the second torque difference value by using the planetary gear set conversion coefficient to obtain a third torque difference value;

[0139] The second determination subunit is used to determine the drive motor compensation torque corresponding to the third torque difference based on a second corresponding relationship, and the second corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

[0140] Optionally, the device 400 further includes:

[0141] A control unit is used to control the drive motor to operate with the output torque.

[0142] It should be noted that the specific implementation method of the device 400 and the technical effects achieved can be found in Figure 2 or Figure 3 Description of the method shown.

[0143] In addition, the embodiment of the present application also provides a vehicle 500, such as Figure 5 The vehicle 500 may include at least a DHT system 520 and a control device 510, and the DHT system 520 may include at least a drive motor 521. The control device 510 is used to execute any implementation of the method provided in the embodiment of the present application to control the drive motor 521.

[0144] In addition, the embodiment of the present application further provides a controller 600, such as Figure 6 The controller 600 may include a processor 601 and a memory 602. The memory 602 is used to store instructions or computer programs; the processor 601 is used to execute the instructions or computer programs in the memory 602, so that the controller 600 executes any implementation of the method provided in the embodiment of the present application.

[0145] The vehicle and controller provided in the embodiment of the present disclosure belong to the same inventive concept as the method provided in the above embodiment. The technical details not fully described in this embodiment can be referred to the above embodiment, and this embodiment has the same beneficial effects as the above embodiment.

[0146] In addition, an embodiment of the present application further provides a readable medium, in which instructions or programs are stored. When the instructions or programs are executed on a processor, the processor executes any implementation of the method provided in the embodiment of the present application.

[0147] It should be noted that the above-mentioned readable medium (also referred to as computer-readable storage medium) in the embodiment of the present application may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. The computer readable signal medium may also be any computer readable medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the computer readable medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0148] The computer-readable medium may be included in the controller, or may exist independently without being assembled into the controller.

[0149] The computer-readable medium carries one or more programs, and when the one or more programs are executed by the controller, the controller can execute the method.

[0150] Computer program code for performing the operations of the present disclosure may be written in one or more programming languages ​​or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., through the Internet using an Internet service provider).

[0151] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0152] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit / module does not, in some cases, constitute a limitation on the unit itself.

[0153] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0154] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0155] It should also 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.

[0156] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module 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.

[0157] It should be noted that in the embodiments of the present application, user sensitive information is not involved, and user-related information is obtained, used and determined after user authorization.

[0158] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for a driving motor, characterized in that: Applied to a vehicle, the hybrid power transmission DHT system of the vehicle includes the drive motor, and the method includes: Calculate the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque, wherein the drive motor converted torque is used to reflect the effect of the engine required torque in the DHT system converted to the ring gear end on the drive motor; Determining a corresponding correction torque of the drive motor based on the difference between the required torque of the drive motor and the converted torque of the drive motor; The output torque of the drive motor is determined according to the drive motor correction torque and the drive motor required torque.

2. The method according to claim 1, characterized in that The step of calculating the converted torque of the drive motor based on the conversion coefficient of the planetary gear set of the vehicle, the required torque of the drive motor and the required torque of the driver of the vehicle comprises: Calculating an engine demand torque based on the drive motor demand torque and the driver demand torque; Converting the engine required torque to the ring gear end of the planetary gear set of the vehicle based on the planetary gear set conversion coefficient to obtain the engine converted torque; The drive motor converted torque is calculated based on the driver demand torque and the engine converted torque.

3. The method according to claim 1, characterized in that: The determining the corresponding correction torque of the driving motor based on the difference between the required torque of the driving motor and the converted torque of the driving motor comprises: Calculating the difference between the required torque of the drive motor and the converted torque of the drive motor, and recording it as a first torque difference; Based on a first corresponding relationship, the drive motor correction torque corresponding to the first torque difference is determined, and the first corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

4. The method according to claim 1, characterized in that: The method further comprises: Calculating an engine demand torque based on the drive motor demand torque and the driver demand torque; Determining a drive motor compensation torque based on a difference between the engine demand torque and the engine actual torque and a conversion coefficient of the planetary gear set; The step of determining the output torque of the drive motor according to the drive motor correction torque and the drive motor required torque comprises: Correcting the required torque of the drive motor based on the corrected torque of the drive motor to obtain an intermediate torque of the drive motor; The intermediate torque is compensated based on the drive motor compensation torque to obtain the output torque.

5. The method according to claim 4, characterized in that The determining of the drive motor compensation torque based on the difference between the engine demand torque and the engine actual torque and the planetary gear set conversion coefficient includes: Calculating a difference between the engine required torque and the engine actual torque, and recording it as a second torque difference; converting the second torque difference value by using the planetary gear set conversion coefficient to obtain a third torque difference value; Based on a second corresponding relationship, the drive motor compensation torque corresponding to the third torque difference is determined, and the second corresponding relationship is obtained by pre-testing and calibrating the vehicle model to which the vehicle belongs.

6. The method according to any one of claims 1 to 5, characterized in that: The method further comprises: The drive motor is controlled to operate at the output torque.

7. A control device for a driving motor, characterized in that: Applied to a vehicle, the hybrid power transmission DHT system of the vehicle includes the drive motor, and the device includes: A first calculation unit is used to calculate the drive motor converted torque based on the planetary gear set conversion coefficient of the vehicle, the drive motor required torque and the vehicle driver required torque, wherein the drive motor converted torque is used to reflect the influence of the engine required torque in the DHT system converted to the ring gear end on the drive motor; A first determining unit, configured to determine a corresponding correction torque of the driving motor based on a difference between the required torque of the driving motor and the converted torque of the driving motor; The second determining unit is used to determine the output torque of the driving motor according to the correction torque of the driving motor and the required torque of the driving motor.

8. The device according to claim 7, characterized in that The first computing unit comprises: A first calculation subunit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque; A second calculation subunit is used to convert the engine demand torque to the ring gear end of the planetary gear set of the vehicle based on the planetary gear set conversion coefficient to obtain the engine converted torque; The third calculation subunit is used to calculate the drive motor converted torque based on the driver demand torque and the engine converted torque.

9. The device according to claim 7, characterized in that The device also includes: a second calculation unit, configured to calculate an engine demand torque based on the drive motor demand torque and the driver demand torque; A third determination unit, configured to determine a drive motor compensation torque based on a difference between the engine demand torque and the engine actual torque and a conversion coefficient of the planetary gear set; The second determining unit includes: a correction subunit, configured to correct the required torque of the drive motor based on the correction torque of the drive motor to obtain an intermediate torque of the drive motor; The compensation subunit is used to compensate the intermediate torque based on the compensation torque of the driving motor to obtain the output torque.

10. A vehicle, characterized in that: The vehicle includes a hybrid-specific transmission DHT system and a control device, wherein the DHT system includes a drive motor; The control device is used to execute the method described in any one of claims 1 to 6 to control the output of the drive motor.

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