A torque control method and device for upper-mounted equipment in a vehicle

Abstract

The present invention discloses a method and device for controlling torque in a vehicle's upper-mounted equipment. The method comprises obtaining the current accelerator pedal opening, a first preset opening, and a second preset opening in real time; controlling the operating mode of a motor based on the current accelerator pedal opening, the first preset opening, and the second preset opening; the operating modes including at least a first operating mode and a second operating mode; obtaining operating parameters of the motor based on the operating mode; determining the current required torque based on the operating parameters, and controlling the motor to operate at the current required torque. The technical solution of the present invention can improve the smoothness, stability, and safety of the upper-mounted equipment driven by the motor.

Description

Technical Field

[0001] The present invention relates to the field of vehicle control technology, and in particular to a torque control method and device for upper-mounted equipment in a vehicle. Background Art

[0002] Vehicles include, but are not limited to, trucks, tractors, dump trucks, mixer trucks, and other vehicles with mounted equipment. Vehicles with mounted equipment typically need to perform tasks such as unloading and mixing, so the entire vehicle must control the mounted equipment.

[0003] During the development of new energy commercial vehicles, the operating status of the bodywork is primarily dependent on the motor's operating status. Excessive motor torque results in high motor speeds, while insufficient torque can hinder the operation of the bodywork. Consequently, large fluctuations in motor torque and speed can negatively impact the lifespan of the bodywork and the driver's driving experience. Summary of the Invention

[0004] The present invention provides a method and device for controlling the torque of a vehicle upper-mounted device, so as to improve the smoothness, stability and safety of the upper-mounted device driven by a motor.

[0005] In a first aspect, the present invention provides a method for controlling torque of a vehicle upper body device, comprising:

[0006] Real-time acquisition of the current accelerator pedal opening, the first preset opening, and the second preset opening;

[0007] Controlling the operating mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening; the operating mode includes at least a first operating mode and a second operating mode;

[0008] According to the working mode, obtaining the working parameters of the motor;

[0009] According to the operating parameters, a current required torque is determined, and the motor is controlled to operate at the current required torque.

[0010] Optionally, controlling the working mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening includes:

[0011] Determining whether the current accelerator pedal opening is less than the first preset opening;

[0012] If yes, controlling the motor to enter the first working mode; when the motor is working in the first working mode, obtaining the working parameters of the motor, including:

[0013] Acquire a first set torque, a target speed, and a plurality of current speeds of the motor acquired at preset time intervals since the start of entering the first working mode;

[0014] When the motor operates in the first operating mode, determining a current required torque according to the operating parameters includes:

[0015] A first torque is determined according to the first set torque, the target speed, and each of the current speeds, and the first torque is used as the current required torque.

[0016] Optionally, if the current accelerator pedal opening is greater than or equal to the first preset opening, determining whether the current accelerator pedal opening is greater than the second preset opening;

[0017] If so, controlling the motor to enter the second working mode; when the motor operates in the second working mode, the operating parameters at least include the current accelerator pedal opening;

[0018] Determining a current required torque according to the working mode and the working parameters includes:

[0019] A second torque is determined according to the current accelerator pedal opening, and the second torque is used as the current required torque.

[0020] Optionally, if the current accelerator pedal opening is greater than or equal to the first preset opening and less than or equal to the second preset opening, the motor is controlled to operate in the current operating mode.

[0021] Optionally, determining the first torque according to the first set torque, the target speed, and each of the current speeds includes:

[0022] determining a plurality of first speed differences according to the target speed and each of the current speeds;

[0023] Acquire a first mapping relationship between the rotational speed difference and the adjustment torque;

[0024] Based on the first mapping relationship, determining the adjustment torques corresponding to the first speed differences as current adjustment torques;

[0025] The first torque in the first working mode is determined according to the first set torque and each of the current adjustment torques.

[0026] Optionally, determining the first torque according to the first set torque and each of the current adjustment torques includes:

[0027] determining the first torque based on a first calculation formula according to the first set torque and each of the current adjustment torques;

[0028] The first calculation formula is:

[0029] Tq1=Tp1+∑ t=0 Ti1t;

[0030] Wherein, Tq1 is the first torque, Tp1 is the first set torque, and Ti1t is each of the current adjustment torques at intervals of the preset time.

[0031] Optionally, while determining the second torque according to the current accelerator pedal opening, it is determined whether the current speed is greater than a set speed;

[0032] If so, controlling the motor to enter a second sub-operating mode; when the motor operates in the second sub-operating mode, obtaining a target speed of the motor, the second torque and speed change rate when the motor switches from the second operating mode to the second sub-operating mode, and a plurality of current speeds obtained at preset intervals since the start of entering the second sub-operating mode;

[0033] determining a first coefficient according to the rotational speed change rate;

[0034] determining a plurality of first speed differences according to the target speed and each of the current speeds;

[0035] Acquire a first mapping relationship between the rotational speed difference and the adjustment torque;

[0036] Based on the first mapping relationship, determining the adjustment torques corresponding to the first speed differences as current adjustment torques;

[0037] A third torque is determined according to the second torque, the first coefficient, and each of the current adjustment torques, and the third torque is determined as the current required torque.

[0038] Optionally, determining the third torque according to the second torque, the first coefficient, and each of the current adjustment torques includes:

[0039] determining the third torque based on a second calculation formula according to the second torque, the first coefficient, and each of the current adjustment torques;

[0040] Wherein, the second calculation formula is:

[0041] Tq3=K×Tq2+∑ t=0 Ti2t;

[0042] Wherein, Tq3 is the third torque, K is the first coefficient, Tq2 is the second torque, and Ti2t is each current adjustment torque at the preset time interval.

[0043] Optionally, after determining the third torque according to the second torque, the first coefficient and each current adjustment torque, the method further includes:

[0044] determining whether the third torque is greater than the second torque;

[0045] If so, return to the step of controlling the motor to enter the second working mode.

[0046] In a second aspect, the present invention provides a torque control device for a vehicle upper body device, comprising:

[0047] An opening acquisition module, configured to acquire a current accelerator pedal opening, a first preset opening, and a second preset opening;

[0048] an operating mode determining module, configured to control an operating mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening; the operating modes include at least a first operating mode and a second operating mode;

[0049] An operating parameter acquisition module, configured to acquire the operating parameters of the motor according to the operating mode;

[0050] The torque determination and control module is used to determine the current required torque according to the working mode and the working parameters, and control the motor to operate at the current required torque.

[0051] The technical solution provided by the present invention obtains the current accelerator pedal opening, the first preset opening, and the second preset opening in real time, determines the working mode required by the motor corresponding to the current accelerator pedal opening according to the current accelerator pedal opening, the first preset opening, and the second preset opening, obtains the working parameters for determining the current required torque according to the working mode, determines the current required torque according to the working parameters based on the method for determining the current required torque under the working mode, and controls the motor to operate with the current required torque. In this way, the current required torque of the motor is adjusted according to the current accelerator pedal opening to prevent the accelerator pedal opening from being too large, resulting in excessive motor speed, and the accelerator pedal opening from being too small, resulting in excessive motor speed, and thus causing problems such as abnormal operation of the upper-mounted equipment. By adjusting the working mode of the motor and then adjusting the required torque of the motor, the speed of the motor is adjusted to keep the speed of the motor stable, thereby improving the smoothness, stability, and safety of the operation of the upper-mounted equipment driven by the motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0052] Figure 1A flowchart of a first method for controlling torque of a vehicle upper body device provided by an embodiment of the present invention;

[0053] Figure 2 A flowchart of a second method for controlling torque of a vehicle upper body device provided by an embodiment of the present invention;

[0054] Figure 3 A flowchart of a third method for controlling torque of a vehicle upper body device provided by an embodiment of the present invention;

[0055] Figure 4 A schematic structural diagram of a torque control device for a vehicle upper body device provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0056] The present invention will be further described in detail below with reference to the accompanying drawings and examples. It will be understood that the specific embodiments described herein are intended only to illustrate the present invention and are not intended to limit the present invention. It should also be noted that, for ease of description, the accompanying drawings only illustrate portions relevant to the present invention, not all structures.

[0057] Figure 1 This is a flowchart of the first method for controlling the torque of a vehicle upper-mounted device provided by an embodiment of the present invention. It is applicable to the case where the working torque of the motor is adjusted in real time when the vehicle upper-mounted device is working. This method can be executed by the torque control device provided by an embodiment of the present invention. The torque control device can be implemented in the form of hardware and / or software. Figure 1 As shown, the method includes:

[0058] S101. Acquire a current accelerator pedal opening, a first preset opening, and a second preset opening in real time.

[0059] Among them, the accelerator pedal opening reflects the current driver's degree of depression of the accelerator pedal. The first preset opening and the second preset opening can be fixed values ​​or non-fixed values, and can be determined according to actual needs. The value range of the first preset angle can be 0%~2%, and the value range of the second preset angle can be 2%~4%. In an exemplary embodiment, the first preset angle can be 1% and the second preset angle can be 3%.

[0060] Specifically, the current accelerator pedal opening can be obtained through the accelerator pedal sensor. The first preset opening and the second preset opening are related to the structural parameters of the motor and the accelerator pedal in the vehicle. The first preset opening and the second preset opening can be calibrated according to the structural parameters.

[0061] S102: Control the working mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening.

[0062] The operating modes include at least a first operating mode and a second operating mode. In the first operating mode and the second operating mode, the required torque of the motor is determined in different ways.

[0063] Specifically, the current accelerator pedal opening can be compared with a first preset opening and a second preset opening. If the current accelerator pedal opening is less than the first preset opening, the motor is determined to enter the first operating mode; if the current accelerator pedal opening is greater than the second preset opening, the motor is determined to enter the second operating mode; and if the current accelerator pedal opening is between the first preset opening and the second preset opening, the motor is determined to continue operating in the current operating mode. The motor operating mode can also be determined to be other modes based on the current accelerator pedal opening, the first preset opening, and the second preset opening, which are not specifically limited here.

[0064] It's important to note that the motor's speed is positively correlated with the accelerator pedal's opening: the wider the accelerator pedal's opening, the faster the motor's speed. To prevent excessive or insufficient accelerator pedal opening, which could lead to excessive or insufficient speed, the motor's operating mode can be adjusted based on the accelerator pedal's opening, ensuring smooth operation of the bodywork under the motor's control.

[0065] S103: Obtain operating parameters of the motor according to the operating mode.

[0066] The operating parameters of the motor include the current speed and the target speed, etc., which can be set according to actual needs and are not specifically limited here.

[0067] Specifically, since the operating parameters required to determine the current required torque are different in different operating modes, in order to avoid obtaining unnecessary operating parameters, the required operating parameters can be determined according to the operating mode and obtained from the motor controller to improve the utilization of the operating parameters.

[0068] S104: Determine the current required torque according to the operating parameters, and control the motor to operate at the current required torque.

[0069] Specifically, the current required torque can be determined based on the currently obtained working parameters and the calculation formula or control logic in the current working mode, so that when the motor operates at the current required torque, the motor can drive the upper equipment to move smoothly, thereby improving the operating safety of the upper equipment.

[0070] The technical solution of the embodiment of the present invention is to obtain the current accelerator pedal opening, the first preset opening, and the second preset opening in real time, and determine the working mode required by the motor corresponding to the current accelerator pedal opening according to the current accelerator pedal opening, the first preset opening, and the second preset opening, and obtain the working parameters for determining the current required torque according to the working mode, and determine the current required torque according to the working parameters based on the method of determining the current required torque under the working mode, and control the motor to operate with the current required torque. In this way, the current required torque of the motor is adjusted according to the current accelerator pedal opening to prevent the accelerator pedal opening from being too large, resulting in excessive motor speed, and the accelerator pedal opening from being too small, resulting in excessive motor speed, and thus causing problems such as abnormal operation of the upper-mounted equipment. By adjusting the working mode of the motor and then adjusting the required torque of the motor, the speed of the motor is adjusted to keep the speed of the motor stable, thereby improving the smoothness, stability and safety of the operation of the upper-mounted equipment driven by the motor. Example

[0071] Based on the above embodiment, the embodiment of the present invention describes the case where the working mode of the motor is determined according to the current accelerator pedal opening, the first preset opening, and the second preset opening. Figure 2 This is a flow chart of a second method for controlling torque of a vehicle upper body device provided by an embodiment of the present invention, as shown in FIG. Figure 2 As shown, the torque control method includes:

[0072] S201 : Acquire the current accelerator pedal opening, a first preset opening, and a second preset opening in real time.

[0073] S202: Determine whether the current accelerator pedal opening is less than a first preset opening; if so, execute S203; if not, execute S206.

[0074] S203: Control the motor to enter the first working mode.

[0075] Specifically, if the current accelerator pedal opening is less than the first preset opening, it means that the current accelerator pedal opening is small, or the driver has not stepped on the accelerator pedal. At this time, the motor can be controlled to enter the first working mode. In this mode, there is no need to determine the current required torque based on the current accelerator pedal opening. The torque of the motor can be closed-loop adjusted according to the current speed and the target speed to prevent the speed from being too large or too small.

[0076] S204: Acquire a first set torque, a target speed, and a plurality of current speeds of the motor acquired at preset time intervals since the start of entering the first working mode.

[0077] The target speed is the speed that the motor needs to reach, and the current speed is the speed of the motor at the current moment.

[0078] Specifically, the first set torque is related to parameters such as the weight of the upper-mounted device. Based on a table of correspondence between the current weight of the upper-mounted device and the set torque, the set torque corresponding to the current weight of the upper-mounted device can be determined as the first set torque. The target speed can be provided by the driver through an input device such as the vehicle's cruise control button. From the moment the motor enters the first operating mode, the current speed of the motor is acquired through a device such as a Hall sensor. Thereafter, the current speed is acquired once at a preset interval until the motor exits the first operating mode, at which point acquisition of the current speed ceases. The preset time can be set according to actual needs. For example, the preset time is 10ms.

[0079] S205 : Determine a first torque according to the first set torque, the target speed, and each current speed, and use the first torque as the current required torque.

[0080] Specifically, the first torque is related to the first set torque, the target speed and each current speed. The first set torque, the target speed and each current speed can be substituted into the calculation formula of the first torque to obtain the first torque.

[0081] Optionally, the first torque is determined based on the first set torque, the target speed and each current speed, including determining multiple first speed differences based on the target speed and each current speed; obtaining a first mapping relationship between the speed difference and the adjustment torque; based on the first mapping relationship, determining each adjustment torque corresponding to each first speed difference as each current adjustment torque; and determining the first torque in the first working mode based on the first set torque and each current adjustment torque.

[0082] Specifically, the difference between the target speed and the current speed is used as the first speed difference. The first speed difference reflects the difference between the current speed and the target speed at the current moment. A larger first speed difference indicates a larger difference between the current speed and the target speed, and a smaller first speed difference indicates a smaller difference between the current speed and the target speed. The first mapping relationship can be a graph of speed difference and adjusted torque, or a table of speed difference and adjusted torque correspondences, etc., which can be obtained through experimentation or experience. When the first mapping relationship is a graph of speed difference and adjusted torque, after obtaining the first speed difference, the graph of speed difference and adjusted torque can be directly compared to determine the adjusted torque on the graph corresponding to the first speed difference as the current adjusted torque. Alternatively, when the first mapping relationship is a table of speed difference and adjusted torque correspondences, after obtaining the first speed difference, the table can be directly looked up to obtain the adjusted torque corresponding to the first speed difference, and the adjusted torque can be determined as the current adjusted torque. The sum of the first set torque and each current adjusted torque is then determined as the first torque. In this way, after the motor enters the first working mode, the corresponding current adjustment torque can be set for multiple first speed differences at preset time intervals, so as to achieve steady-state regulation of the first torque by combining the current adjustment torque and the first set torque.

[0083] It should be noted that the first speed difference is directly proportional to the current adjustment torque. The smaller the first speed difference, the smaller the current adjustment torque. The smaller the first speed difference, the closer the current speed is to the target speed. At this time, the value of the current adjustment torque determined is smaller. After adjusting the first torque according to the current adjustment torque and the first set torque, the speed of the motor can be steadily increased or smoothly increased to the target speed, thereby improving the smoothness of the speed adjustment. Correspondingly, the larger the first speed difference, the greater the difference between the current speed and the target speed. At this time, the value of the current adjustment torque determined is larger. After adjusting the first torque according to the current adjustment torque and the first set torque, the speed of the motor can be increased to the target speed at a faster speed, thereby improving the efficiency of the speed adjustment.

[0084] Optionally, determining the first torque according to the first set torque and each current adjusted torque includes determining the first torque based on a first calculation formula according to the first set torque and each current adjusted torque.

[0085] Among them, the first calculation formula is: Tq1=Tp1+∑ t=0 Ti1t, Tq1 are the first torque, Tp1 is the first set torque, and Ti1t is each current adjustment torque at a preset time interval.

[0086] Specifically, the first set torque and each current adjustment torque can be substituted into the first calculation formula to calculate the first torque. Wherein, Tq1 in the first calculation formula reflects the proportional parameter for adjusting the first torque (current demand torque), ∑ t=0 Ti1t reflects the integral parameter for adjusting the current demand torque. Through the proportional-integral control method, the demand torque of the motor can be adjusted in real time in a closed loop, so that the motor can respond quickly and improve the control stability of the demand torque.

[0087] S206: Determine whether the current accelerator pedal opening is greater than a second preset opening; if so, execute S207.

[0088] S207: Control the motor to enter the second working mode.

[0089] Specifically, if the current accelerator pedal opening is greater than the first preset opening, it means that the current accelerator pedal opening is large. At this time, the motor can be controlled to enter the second working mode. In this mode, the current required torque can be determined according to the current accelerator pedal opening so that the torque can respond to the accelerator pedal opening.

[0090] Optionally, if the current accelerator pedal opening is greater than or equal to a first preset opening and less than or equal to a second preset opening, it is determined that the motor is operating in the current operating mode.

[0091] Specifically, if the motor is currently in the first working mode or the second working mode, but the current throttle pedal opening at the current moment is between the first preset opening and the second preset opening, in order to avoid frequent changes in the working mode of the motor, the motor can continue to remain in the current working mode (first working mode or second working mode) until it is detected that the current throttle pedal opening is less than the first preset opening, or greater than the second preset opening, and then the working mode of the motor is adjusted.

[0092] S208. According to the second working mode, obtain the current accelerator pedal opening.

[0093] Specifically, since the current accelerator pedal opening is large, it means that the currently required speed is large. The current accelerator pedal opening can be obtained to adjust the required torque according to the current accelerator pedal opening to meet the current demand of the driver.

[0094] S209 : Determine a second torque according to the current accelerator pedal opening, use the second torque as the current required torque, and control the motor to operate at the current required torque.

[0095] Specifically, a second mapping relationship between accelerator pedal opening and preset torque can be obtained. The second mapping relationship includes a graph of accelerator pedal opening and preset torque, or a table of accelerator pedal opening and preset torque. This mapping relationship can be obtained through experimentation or experience. When the second mapping relationship is a graph of accelerator pedal opening and preset torque, after obtaining the current accelerator pedal opening, the graph of accelerator pedal opening and preset torque can be directly compared to determine the preset torque on the graph corresponding to the current accelerator pedal opening as the second torque. Alternatively, when the second mapping relationship is a table of accelerator pedal opening and preset torque, after obtaining the current accelerator pedal opening, the table can be directly looked up to obtain the preset torque corresponding to the current accelerator pedal opening, and this preset torque can be determined as the second torque. The second torque is then used as the current required torque. In this way, after the motor enters the second operating mode, the current required torque of the motor can be directly determined based on the current accelerator pedal opening. This allows the motor speed to be quickly increased after the motor is adjusted based on the current required torque, improving the timeliness of torque adjustment.

[0096] The technical solution of an embodiment of the present invention sets a corresponding current adjustment torque for multiple first speed differences spaced at preset time intervals after the motor enters the first operating mode. This combines the current adjustment torque with the first set torque to achieve steady-state regulation of the current required torque. If the current accelerator pedal opening is greater than a second preset opening, the motor is controlled to enter the second operating mode. In this second operating mode, a second torque is determined based on the current accelerator pedal opening and used as the current required torque. This improves the motor's responsiveness to the current accelerator pedal opening and enhances the operational reliability of the upper body equipment. Example

[0097] Figure 3 A flowchart of a third method for controlling torque of a vehicle upper body device provided by an embodiment of the present invention is shown in FIG. Figure 3 As shown, the control method includes:

[0098] S301 : Acquire the current accelerator pedal opening, the first preset opening, and the second preset opening in real time.

[0099] S302: Determine whether the current accelerator pedal opening is less than a first preset opening; if so, execute S303; if not, execute S306.

[0100] S303: Control the motor to enter the first working mode.

[0101] S304: Acquire a first set torque, a target speed, and a plurality of current speeds of the motor acquired at preset time intervals since the start of entering the first working mode.

[0102] S305 : Determine a first torque according to the first set torque, the target speed, and each current speed, and use the first torque as the current required torque.

[0103] S306: Determine whether the current accelerator pedal opening is greater than a second preset opening; if so, execute S307.

[0104] S307: Control the motor to enter the second working mode.

[0105] S308. According to the second working mode, obtain the current accelerator pedal opening.

[0106] S309: Determine the second torque based on the current accelerator pedal opening and determine whether the current speed is greater than the set speed; if so, execute S310.

[0107] The set speed can be set according to the actual needs of the upper-mounted device. For example, the set speed is the upper speed limit of the upper-mounted device.

[0108] Specifically, if the current speed is greater than the set speed, it means that the current speed has exceeded the upper limit speed that the upper equipment can withstand. In order to prevent the upper equipment from running at this speed for too long, thereby causing abnormal operation of the upper equipment, the motor can be controlled to enter the second sub-working mode.

[0109] S310: Control the motor to enter the second sub-working mode.

[0110] Specifically, in the second sub-working mode, the current required torque of the motor can be determined based on parameters such as the current speed and the set speed, so that the motor speed can be reduced under the action of the current required torque, preventing the motor speed from being greater than the set speed, causing problems such as abnormal operation of the upper equipment, thereby improving the working safety and reliability of the upper equipment.

[0111] S311, obtaining the target speed of the motor, the second torque when the motor switches from the second working mode to the second sub-working mode, the speed change rate, and multiple current speeds obtained at preset time intervals since the start moment of entering the second sub-working mode.

[0112] The speed change rate represents the amount by which the motor's speed changes per unit time. A larger speed change rate indicates a greater change in speed per unit time.

[0113] Specifically, the target speed can be provided by the driver through an input device such as the cruise button of the vehicle. The current accelerator pedal opening when the motor switches from the second working mode to the second sub-working mode is known, and the second torque can be determined based on the current accelerator pedal opening. The speed change rate of the motor when it switches from the second working mode to the second sub-working mode can be obtained by the controller inside the motor. From the starting moment when the motor enters the second sub-working mode, the current speed of the motor is obtained through devices such as Hall sensors, and then the current speed is obtained once at a preset time interval until the motor exits the second sub-working mode, and then the current speed is stopped. Among them, the preset time can be set according to actual needs. For example, the preset time is 10ms.

[0114] S312: Determine a first coefficient according to the rotational speed change rate.

[0115] The value range of the first coefficient is 0 to 1, and can also be other values, which are not specifically limited here.

[0116] Specifically, the setting coefficient corresponding to the current speed change rate can be used as the first coefficient based on the third mapping relationship between the speed change rate and the setting coefficient. The third mapping relationship can be a curve diagram of the speed change rate and the setting coefficient, or a corresponding table of the speed change rate and the setting coefficient, etc., which can be obtained through experiments or experience. When the third mapping relationship is a curve diagram of the speed change rate and the setting coefficient, after obtaining the speed change rate when the motor switches from the second working mode to the second sub-working mode, the curve diagram of the speed change rate and the setting coefficient can be directly compared to determine the setting coefficient on the curve diagram corresponding to the speed change rate as the first coefficient. Alternatively, when the third mapping relationship is a corresponding table of the speed change rate and the setting coefficient, after obtaining the speed change rate when the motor switches from the second working mode to the second sub-working mode, the table can be directly looked up to obtain the setting coefficient corresponding to the speed change rate, and the setting coefficient can be determined as the first coefficient.

[0117] It should be noted that the first coefficient is inversely proportional to the speed change rate; that is, the greater the speed change rate, the smaller the first coefficient. A larger speed change rate indicates a faster speed increase and a higher current torque. To prevent the speed from increasing too quickly, a smaller first coefficient can be determined to reduce the current required torque determined based on the first coefficient.

[0118] S313: Determine a plurality of first speed differences according to the target speed and each current speed.

[0119] Specifically, the difference between the target speed and the current speed is taken as the first speed difference. The first speed difference reflects the difference between the current speed and the target speed at the current moment. The larger the first speed difference, the greater the difference between the current speed and the target speed. The smaller the first speed difference, the smaller the difference between the current speed and the target speed.

[0120] S314: Obtain a first mapping relationship between the rotational speed difference and the adjustment torque.

[0121] Specifically, the first mapping relationship may be a graph of the speed difference and the adjustment torque, or a correspondence table of the speed difference and the adjustment torque, etc., which may be obtained through experiments or experience.

[0122] S315 : Based on the first mapping relationship, determine the adjustment torques corresponding to the first speed differences as current adjustment torques.

[0123] Specifically, when the first mapping relationship is a graph of speed difference and adjusted torque, after obtaining the first speed difference, the graph of speed difference and adjusted torque can be directly compared to determine the adjusted torque on the graph corresponding to the first speed difference as the current adjusted torque. Alternatively, when the first mapping relationship is a table of speed difference and adjusted torque, after obtaining the first speed difference, the table can be directly looked up to obtain the adjusted torque corresponding to the first speed difference, and the adjusted torque can be determined as the current adjusted torque.

[0124] S316 : Determine a third torque according to the second torque, the first coefficient, and each currently adjusted torque, and determine the third torque as the currently required torque.

[0125] Specifically, the third torque is related to the second torque, the first coefficient and each currently adjusted torque. The second torque, the first coefficient and each currently adjusted torque can be substituted into a calculation formula of the third torque to obtain the third torque.

[0126] Optionally, determining the third torque according to the second torque, the first coefficient and each current adjusted torque includes determining the third torque based on a second calculation formula according to the second torque, the first coefficient and each current adjusted torque;

[0127] Among them, the second calculation formula is: Tq3= K×Tq2+∑ t=0 Ti2t, Tq3 are the third torque, Tq2 is the second torque, K is the first coefficient, and Ti2t is each current adjustment torque at a preset time interval.

[0128] Specifically, the second torque, the first coefficient, and each current adjustment torque can be substituted into the second calculation formula to calculate the third torque, and the third torque is used as the current required torque. Among them, Tq2 in the second calculation formula reflects the actual torque of the current motor, the first coefficient K represents the proportional parameter for adjusting the current actual torque, ∑ t=0 Ti2t reflects the integral parameter for adjusting the current demand torque. Through the proportional-integral control method, the demand torque of the motor can be adjusted in a closed loop so that the motor can respond quickly and the control stability of the demand torque can be improved.

[0129] S317 , determining whether the third torque is greater than the second torque; if so, returning to S307 .

[0130] Specifically, the motor enters the second sub-operating mode when the current speed is greater than a set speed and the second torque determined based on the current accelerator pedal opening is also relatively large. To prevent the speed from continuing to increase under the influence of the second torque, the motor is controlled to enter the second sub-operating mode. If the third torque determined in the second sub-operating mode is greater than the second torque determined based on the current accelerator pedal opening, indicating that the current accelerator pedal opening has decreased, causing the second torque determined based on the current accelerator pedal opening to decrease, the motor can be controlled to return to the step of controlling the motor to enter the second operating mode to adjust the current required torque of the motor based on the current accelerator pedal opening.

[0131] The technical solution of the embodiment of the present invention is to determine the second torque based on the current accelerator pedal opening. If the current speed is greater than the set speed, it means that the current speed is too high, that is, the current required torque is too high. By controlling the motor to enter the second sub-operating mode, the third torque determined based on the target speed of the motor, the second torque when the motor switches from the second operating mode to the second sub-operating mode, the speed change rate, and multiple current speeds obtained at preset intervals since the start time of entering the second sub-operating mode is reduced compared to the second torque, thereby reducing the speed of the motor, preventing the current speed from being greater than the set speed for a long time, causing problems such as abnormal operation of the upper-mounted equipment, and improving the working safety and stability of the motor and the upper-mounted equipment. During the process of the motor operating in the second sub-operating mode, if the second torque determined in real time based on the current accelerator pedal opening is less than the third torque, it means that the accelerator pedal opening is reduced. At this time, the motor can be controlled to enter the second operating mode to timely adjust the current required torque according to the current accelerator pedal opening. Example

[0132] Based on the same inventive concept, the present invention provides a torque control device for upper-mounted equipment in a vehicle. Figure 4 A schematic structural diagram of a torque control device for a vehicle upper equipment provided by an embodiment of the present invention is shown in FIG. Figure 4 As shown, the torque control device includes:

[0133] An opening acquisition module 10 is used to acquire a current accelerator pedal opening, a first preset opening, and a second preset opening;

[0134] The working mode determination module 20 is used to control the working mode of the motor according to the current accelerator pedal opening, the first preset opening and the second preset opening; the working mode includes at least the first working mode and the second working mode;

[0135] The working parameter acquisition module 30 is used to obtain the working parameters of the motor according to the working mode;

[0136] The torque determination and control module 40 is used to determine the current required torque according to the working mode and working parameters, and control the motor to operate at the current required torque.

[0137] The torque control device for a vehicle upper-mounted equipment provided in an embodiment of the present invention can execute the torque control method for a vehicle upper-mounted equipment provided in any embodiment of the present invention, and has functional modules and beneficial effects corresponding to the execution method. The similarities can be referred to the above description.

[0138] Note that the above are only preferred embodiments of the present invention and the technical principles employed. Those skilled in the art will appreciate that the present invention is not limited to the specific embodiments described herein, and that various obvious changes, readjustments, combinations, and substitutions are possible for those skilled in the art without departing from the scope of the present invention. Therefore, although the present invention has been described in detail through the above embodiments, the present invention is not limited to the above embodiments and may include many other equivalent embodiments without departing from the scope of the present invention. The scope of the present invention is determined by the scope of the appended claims.

Claims

1. A method for controlling torque of a vehicle upper body device, characterized in that: include: Real-time acquisition of the current accelerator pedal opening, the first preset opening, and the second preset opening; Controlling the operating mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening; the operating mode includes at least a first operating mode and a second operating mode; According to the working mode, obtaining the working parameters of the motor; determining a current required torque according to the operating parameters, and controlling the motor to operate at the current required torque; The operating mode of the motor is controlled according to the current accelerator pedal opening, the first preset opening, and the second preset opening, including: Determining whether the current accelerator pedal opening is less than the first preset opening; If yes, controlling the motor to enter the first working mode; when the motor is working in the first working mode, obtaining the working parameters of the motor, including: Acquire a first set torque, a target speed, and a plurality of current speeds of the motor acquired at preset time intervals since the start of entering the first working mode; determining a first torque according to the first set torque, the target speed, and each of the current speeds, and using the first torque as the current required torque; Determining the first torque according to the first set torque, the target speed, and each of the current speeds includes: determining a plurality of first speed differences according to the target speed and each of the current speeds; Acquire a first mapping relationship between the rotational speed difference and the adjustment torque; Based on the first mapping relationship, determining the adjustment torques corresponding to the first speed differences as current adjustment torques; determining the first torque based on a first calculation formula according to the first set torque and each of the current adjustment torques; The first calculation formula is: Tq1=Tp1+∑ t=0 Till; Wherein, Tq1 is the first torque, Tp1 is the first set torque, and Ti1t is each current adjustment torque at the preset time interval; If the current accelerator pedal opening is greater than or equal to the first preset opening, determining whether the current accelerator pedal opening is greater than the second preset opening; If so, the motor is controlled to enter the second working mode; when the motor works in the second working mode, the working parameters include at least the current accelerator pedal opening, and the second torque is determined according to the current accelerator pedal opening, and the second torque is used as the current required torque.

2. The torque control method according to claim 1, characterized in that: If the current accelerator pedal opening is greater than or equal to the first preset opening and less than or equal to the second preset opening, the motor is controlled to operate in the current operating mode.

3. The torque control method according to claim 1, characterized in that: While determining the second torque according to the current accelerator pedal opening, determining whether the current speed is greater than a set speed; If so, controlling the motor to enter a second sub-operating mode; when the motor operates in the second sub-operating mode, obtaining a target speed of the motor, the second torque and speed change rate when the motor switches from the second operating mode to the second sub-operating mode, and a plurality of current speeds obtained at intervals of the preset time since the start of entering the second sub-operating mode; determining a first coefficient according to the rotational speed change rate; determining a plurality of first speed differences according to the target speed and each of the current speeds; Acquire a first mapping relationship between the rotational speed difference and the adjustment torque; Based on the first mapping relationship, determining the adjustment torques corresponding to the first speed differences as current adjustment torques; A third torque is determined according to the second torque, the first coefficient, and each of the current adjustment torques, and the third torque is determined as the current required torque.

4. The torque control method according to claim 3, characterized in that: Determining a third torque according to the second torque, the first coefficient, and each of the current adjustment torques includes: determining the third torque based on a second calculation formula according to the second torque, the first coefficient, and each of the current adjustment torques; Wherein, the second calculation formula is: <h2 style=";text-align:left;direction:ltr">Tq3=K×Tq2+∑<h2 style=";text-align:left;direction:ltr"> t=0 <h2 style=";text-align:left;direction:ltr"> Ti2t; Wherein, Tq3 is the third torque, K is the first coefficient, Tq2 is the second torque, and Ti2t is each current adjustment torque at the preset time interval.

5. The torque control method according to claim 4, characterized in that: After determining the third torque according to the second torque, the first coefficient and each of the current adjustment torques, the method further includes: determining whether the third torque is greater than the second torque; If so, return to the step of controlling the motor to enter the second working mode.

6. A torque control device for upper-mounted equipment in a vehicle, characterized in that: Used to execute the torque control method for vehicle upper-mounted equipment according to any one of claims 1 to 5, the torque control device for vehicle upper-mounted equipment comprises: An opening acquisition module, configured to acquire a current accelerator pedal opening, a first preset opening, and a second preset opening; an operating mode determining module, configured to control an operating mode of the motor according to the current accelerator pedal opening, the first preset opening, and the second preset opening; the operating modes include at least a first operating mode and a second operating mode; An operating parameter acquisition module, configured to acquire the operating parameters of the motor according to the operating mode; The torque determination and control module is used to determine the current required torque according to the working mode and the working parameters, and control the motor to operate at the current required torque.

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