Motor active anti-skid function control method and device, medium and electronic equipment

Abstract

The invention discloses a motor active anti-skid function control method and device, a medium and electronic equipment. The method comprises the steps that the motor torque of a motor of a vehicle at the current moment is obtained; if the motor torque is larger than or equal to a preset torque threshold value, the active anti-skid function of the motor is controlled to be started, under the condition that the motor torque is larger than or equal to the torque threshold value, a driving anti-skid system of the vehicle is not started, and under the condition that the active anti-skid function of the motor is started, the driving anti-skid system of the vehicle is not started. The motor is in an active anti-skid preparation state; and acquiring the current acceleration of the motor, and if the current acceleration is greater than or equal to a first preset acceleration, controlling the motor to perform active skid resistance. According to the invention, the probability of overcurrent of the phase current of the motor controller can be reduced.

Description

Background Art

[0002] When an electric vehicle passes through low-adhesion roads such as ice, snow, wet, muddy or sandy roads, the wheels are prone to slipping, and the motor output torque changes dramatically, causing the motor controller phase current to overcurrent, which is not conducive to the normal operation of the motor. Summary of the invention

[0003] The embodiments of the present application provide a method, device, medium, and electronic device for controlling the active anti-skid function of a motor, which are used to solve the technical problem of overcurrent of the phase current of the motor controller when an electric vehicle slips.

[0004] Other features and advantages of the present application will become apparent from the following detailed description, or may be learned in part by the practice of the present application.

[0005] According to a first aspect of the present application, a method for controlling an active anti-skid function of a motor is provided, comprising:

[0006] Obtain the motor torque of the vehicle's motor at the current moment;

[0007] If the motor torque is greater than or equal to a preset torque threshold, the active anti-skid function of the motor is controlled to be turned on, wherein, when the motor torque is greater than or equal to the torque threshold, the driving anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in a ready state for active anti-skid;

[0008] The current acceleration of the motor is obtained, and if the current acceleration is greater than or equal to a first preset acceleration, the motor is controlled to perform active anti-skid.

[0009] In some embodiments of the present application, based on the above scheme, the torque threshold is determined by the following steps:

[0010] Acquiring a corrected torque, a torque limit coefficient and a maximum torque of the motor, wherein the torque limit coefficient is used to ensure that the motor starts an active anti-skid function before the drive anti-skid system is started;

[0011] Weighting the maximum torque based on the torque limit coefficient to obtain a first target torque;

[0012] The torque threshold is determined as a sum of the first target torque and the correction torque.

[0013] In some embodiments of the present application, based on the above scheme, the torque limit coefficient is determined by the following steps:

[0014] Obtaining an initial value of a coefficient, wherein the initial value of the coefficient is less than 1, and an absolute value of a difference between the initial value of the coefficient and 1 is less than a preset difference;

[0015] Weighting the maximum torque based on the initial value of the coefficient to obtain a second target torque;

[0016] taking the sum of the second target torque and the correction torque as the initial threshold value;

[0017] Controlling the motor to start an active anti-skid function when the torque is greater than or equal to the initial threshold value;

[0018] Performing an actual vehicle test on the vehicle, if the motor turns on the active anti-skid function before the drive anti-skid system is started, the initial value of the coefficient is used as the torque threshold; if the motor turns on the active anti-skid function after the drive anti-skid system is started, the initial value of the coefficient is reduced, and the step of weighting the maximum torque based on the initial value of the coefficient to obtain the second target torque is executed.

[0019] In some embodiments of the present application, based on the above solution, if the current acceleration is greater than or equal to the first preset acceleration, controlling the motor to perform active anti-skid includes:

[0020] If the first time duration during which the current acceleration is greater than or equal to the first preset acceleration is greater than a preset first time duration threshold, the motor is controlled to perform active anti-skid.

[0021] In some embodiments of the present application, based on the above solution, controlling the motor to perform active anti-skid includes:

[0022] Obtaining a torque limit coefficient and a maximum torque of the motor;

[0023] weighting the maximum torque based on the torque limit coefficient to obtain a first target torque;

[0024] The motor is controlled to operate according to the first target torque to achieve active anti-slip.

[0025] In some embodiments of the present application, based on the above scheme, the current acceleration is determined by the following steps:

[0026] Obtain the historical speed and acceleration of the motor at the previous moment, as well as the current speed at the current moment;

[0027] Determine a time difference between the current moment and the previous moment and a speed difference between the current speed and the historical speed;

[0028] taking the ratio of the rotation speed difference to the time difference as the original acceleration;

[0029] The original acceleration is corrected according to the historical acceleration to obtain the current acceleration.

[0030] In some embodiments of the present application, based on the above solution, the correcting the original acceleration according to the historical acceleration to obtain the current acceleration includes:

[0031] Obtaining an acceleration correction coefficient of the motor, wherein the acceleration correction coefficient is used to correct the original acceleration;

[0032] determining an acceleration difference between the first acceleration and the historical acceleration;

[0033] taking the product of the acceleration difference and the acceleration correction coefficient as the corrected acceleration;

[0034] The sum of the corrected acceleration and the first acceleration is used as the acceleration of the motor at the current moment.

[0035] According to a second aspect of the present application, a motor active anti-skid function control device is provided, the device comprising:

[0036] A first acquisition unit, which acquires the motor torque of the motor of the vehicle at a current moment;

[0037] a first control unit, controlling the active anti-skid function of the motor to be turned on if the motor torque is greater than or equal to a preset torque threshold, wherein, when the motor torque is greater than or equal to the torque threshold, the driving anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in a ready state for active anti-skid;

[0038] The second control unit obtains the current acceleration of the motor, and controls the motor to perform active anti-skid if the current acceleration is greater than or equal to a first preset acceleration.

[0039] In some embodiments of the present application, based on the above solution, a first determination unit is further included, and the first determination unit is used to determine the torque threshold, and the first determination unit is configured as follows:

[0040] a second acquisition unit, for acquiring a corrected torque, a torque limit coefficient and a maximum torque of the motor, wherein the torque limit coefficient is used to ensure that the motor starts an active anti-skid function before the drive anti-skid system is started;

[0041] a first obtaining unit, which weights the maximum torque based on the torque limit coefficient to obtain a first target torque;

[0042] First, as a unit, a sum of the first target torque and the correction torque is used as the torque threshold.

[0043] In some embodiments of the present application, based on the above solution, a second determination unit is further included, and the second determination unit is used to determine the torque limit coefficient, and the second determination unit is configured as follows:

[0044] A third acquisition unit is configured to acquire an initial value of a coefficient, wherein the initial value of the coefficient is less than 1, and an absolute value of a difference between the initial value of the coefficient and 1 is less than a preset difference;

[0045] a second obtaining unit, weighting the maximum torque based on the initial value of the coefficient to obtain a second target torque;

[0046] second as a unit, taking the sum of the second target torque and the correction torque as the initial threshold value;

[0047] A third control unit controls the motor to start an active anti-skid function when the torque is greater than or equal to the initial threshold value;

[0048] The first test unit performs a real vehicle test on the vehicle. If the motor turns on the active anti-skid function before the drive anti-skid system is started, the initial value of the coefficient is used as the torque threshold. If the motor turns on the active anti-skid function after the drive anti-skid system is started, the initial value of the coefficient is reduced, and the step of weighting the maximum torque based on the initial value of the coefficient to obtain the second target torque is executed.

[0049] In some embodiments of the present application, based on the above solution, the second control unit is configured as follows:

[0050] The third control unit controls the motor to perform active anti-skid if the first duration during which the current acceleration is greater than or equal to the first preset acceleration is greater than a preset first duration threshold.

[0051] In some embodiments of the present application, based on the above solution, the second control unit is further configured as:

[0052] A fourth acquisition unit, for acquiring a torque limit coefficient and a maximum torque of the motor;

[0053] a third obtaining unit, which weights the maximum torque based on the torque limit coefficient to obtain a first target torque;

[0054] A fourth control unit controls the motor to operate according to the first target torque to achieve active anti-skid.

[0055] In some embodiments of the present application, based on the above solution, a third determination unit is further included, and the third determination unit is used to determine the acceleration of the motor. The third determination unit is configured as follows:

[0056] A fifth acquisition unit, which acquires the historical rotation speed and historical acceleration of the motor at a previous moment, and the current rotation speed at a current moment;

[0057] a fourth determining unit, determining a time difference between the current moment and the previous moment and a speed difference between the current speed and the historical speed;

[0058] thirdly, as a unit, taking the ratio of the rotation speed difference to the time difference as the original acceleration;

[0059] A fourth obtaining unit corrects the original acceleration according to the historical acceleration to obtain the current acceleration.

[0060] In some embodiments of the present application, based on the above solution, the fourth obtaining unit is configured as follows:

[0061] A sixth acquisition unit, which acquires an acceleration correction coefficient of the motor, wherein the acceleration correction coefficient is used to correct the original acceleration;

[0062] a fifth determining unit, configured to determine an acceleration difference between the first acceleration and the historical acceleration;

[0063] fourthly, as a unit, taking the product of the acceleration difference and the acceleration correction coefficient as the correction acceleration;

[0064] Fifth, as a unit, a sum of the corrected acceleration and the first acceleration is used as the acceleration of the motor at the current moment.

[0065] According to the third aspect of the present application, a computer-readable storage medium is provided, on which a computer program is stored, characterized in that the computer program includes executable instructions, and when the executable instructions are executed by a processor, the method described in any embodiment of the first aspect of the present application is implemented.

[0066] According to the fourth aspect of the present application, an electronic device is provided, comprising: one or more processors; and a memory for storing executable instructions of the processors, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method described in any embodiment of the first aspect of the present application.

[0067] The beneficial effects of this application are as follows:

[0068] On the one hand, the motor torque and acceleration are the motor's own parameters, which can intuitively reflect the motor state. Compared with determining the motor state through other parameters, the response speed is faster. On the other hand, when the motor torque is greater than or equal to the torque threshold, it indicates that the torque of the motor is large, and the active anti-skid function needs to enter the ready state. It does not directly enter the running state, but makes a secondary judgment through the current acceleration. When the current acceleration is greater than or equal to the first preset acceleration, it is necessary to change the active anti-skid function from the ready state to the running state. Not only is active anti-skid performed before the drive anti-skid system is started, thereby reducing the probability of overcurrent in the motor controller, but also the probability of false triggering of the active anti-skid function is reduced through the secondary judgment of the acceleration.

[0069] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0070] The drawings herein are incorporated into the specification and constitute a part of the specification, showing embodiments consistent with the present application, and together with the specification, are used to explain the principles of the present application. Obviously, the drawings described below are only some embodiments of the present application, and for ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work. In the drawings:

[0071] Figure 1 A flow chart of a method for controlling an active anti-skid function of a motor in an embodiment of the present application is shown;

[0072] Figure 2 A block diagram of a motor active anti-skid function control device in an embodiment of the present application is shown;

[0073] Figure 3 A schematic diagram showing a computer-readable storage medium in an embodiment of the present application is shown;

[0074] Figure 4 A schematic diagram showing the system structure of an electronic device in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0075] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0076] In addition, described feature, structure or characteristic can be combined in one or more embodiments in any suitable manner. In the following description, many specific details are provided to provide a full understanding of the embodiments of the present application. However, those skilled in the art will appreciate that the technical scheme of the present application can be put into practice without one or more of the specific details, or other methods, components, devices, steps, etc. can be adopted. In other cases, known methods, devices, realizations or operations are not shown or described in detail to avoid blurring the various aspects of the application.

[0077] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities may be implemented in software form, or in one or more hardware modules or integrated circuits, or in different networks and / or processor devices and / or microcontroller devices.

[0078] The flowcharts shown in the accompanying drawings are only exemplary and do not necessarily include all the contents and operations / steps, nor must they be executed in the order described. For example, some operations / steps can be decomposed, and some operations / steps can be combined or partially combined, so the actual execution order may change according to actual conditions.

[0079] In the description of this application, it should be understood that the terms "first" and "second" are used for descriptive purposes only and should not be understood as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of the feature. In the description of this application, unless otherwise specified, "plurality" means two or more.

[0080] Figure 1 A flow chart showing a method for controlling the active anti-skid function of a motor in an embodiment of the present application is shown. Figure 1 , provides a motor active anti-skid function control method, including at least S1 to S3, which are described in detail as follows:

[0081] In step S1 , the motor torque of the motor of the vehicle at the current moment is obtained.

[0082] In step S2, if the motor torque is greater than or equal to a preset torque threshold, the active anti-skid function of the motor is controlled to be turned on, wherein, when the motor torque is greater than or equal to the torque threshold, the drive anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in an active anti-skid preparation state.

[0083] In this way, before the drive anti-skid system is started, if the motor torque is greater than or equal to the preset torque threshold, that is, when the motor torque exceeds the standard, the motor enters the active anti-skid preparation state, which facilitates the motor to quickly perform active anti-skid. The torque threshold is used to ensure that the active anti-skid function is triggered before the drive anti-skid system, thereby achieving the effect of protecting the motor from overcurrent more quickly.

[0084] It should be noted that the drive anti-skid system is also called the traction control system (TCS). When the vehicle is in a slipping condition, the drive anti-skid system is activated to achieve a passive anti-skid function.

[0085] In step S3, the current acceleration of the motor is obtained, and if the current acceleration is greater than or equal to a first preset acceleration, the motor is controlled to perform active anti-skid. The current acceleration may be the acceleration of the motor at the current moment.

[0086] In this way, the motor state is secondarily judged through the current acceleration. If the current acceleration is greater than or equal to the first preset acceleration, it indicates that the motor speed is rising rapidly and the motor needs to perform active anti-skid operation. Whether the active anti-skid function is to be operated is determined by monitoring the real-time torque of the electric drive and the motor acceleration. The judgment logic is concise and effective, and can greatly improve the response time of the anti-skid function.

[0087] In some embodiments, the torque threshold is determined by the following steps: obtaining the corrected torque, torque limit coefficient and maximum torque of the motor, the torque limit coefficient is used to ensure that the motor turns on the active anti-skid function before the drive anti-skid system is started; weighting the maximum torque based on the torque limit coefficient to obtain a first target torque; and taking the sum of the first target torque and the corrected torque as the torque threshold. The corrected torque can also be understood as the anti-skid torque hysteresis upper limit, which characterizes the hysteresis error of the motor torque. Adding the corrected torque to the calculation of the torque threshold can improve the accuracy of the torque threshold determination. The maximum torque can be understood as the maximum motor torque capacity value of the motor. The torque limit coefficient is less than 0.8 and can be 0.65. The torque threshold can be less than the maximum torque.

[0088] It should be noted that the torque limit coefficient can be understood as the anti-skid opening torque limit coefficient or the anti-skid opening torque limit coefficient. The torque limit coefficient is jointly formulated by the whole vehicle and components according to the requirements of the whole vehicle and electric drive. It is based on the motor's own capabilities and protects the motor from overcurrent as the ultimate goal. The whole vehicle needs to judge whether the drivability is acceptable.

[0089] In some embodiments, the torque threshold is determined by the following formula: y =Nmax ×k n +N x , N y is the torque threshold, N max is the maximum torque, k n is the torque limit coefficient, N x To correct the torque.

[0090] In some embodiments, the torque limit coefficient is determined by the following steps: obtaining an initial value of the coefficient, wherein the initial value of the coefficient is less than 1, and the absolute value of the difference between the initial value of the coefficient and 1 is less than a preset difference, that is, the initial value of the coefficient is a value close to 1, such as 0.95; weighting the maximum torque based on the initial value of the coefficient to obtain a second target torque; taking the sum of the second target torque and the corrected torque as the initial threshold value; controlling the motor to turn on the active anti-skid function when the torque is greater than or equal to the initial threshold value; performing a real vehicle test on the vehicle, and if the motor turns on the active anti-skid function before the drive anti-skid system is started, taking the initial value of the coefficient as the torque threshold; if the motor turns on the active anti-skid function after the drive anti-skid system is started, reducing the initial value of the coefficient, and performing the step of weighting the maximum torque based on the initial value of the coefficient to obtain the second target torque.

[0091] In some embodiments, the actual vehicle test of the vehicle includes: performing an actual vehicle test of the vehicle on a low-adhesion road surface to test whether an active anti-skid function of the vehicle is activated under a slippery condition.

[0092] In this way, on the basis of the initial value of the coefficient, the initial value of the coefficient is continuously reduced. If the initial value of the threshold determined according to the initial value of the coefficient meets the condition that the motor starts the active anti-skid function before the drive anti-skid system is started, the initial value of the coefficient is used as the torque threshold, so that the motor starts the active anti-skid function before the drive anti-skid system is started by determining the torque limit coefficient.

[0093] In some implementations, reducing the initial value of the coefficient includes: obtaining a unit value, reducing the unit data based on the original initial value of the coefficient, and obtaining a new initial value of the coefficient.

[0094] Exemplarily, the original initial value of the coefficient is 0.9, the unit value is 0.01, and the new initial value of the coefficient is 0.9-0.01=0.89.

[0095] In some embodiments, the correction torque is determined by the following steps: obtaining the torque accuracy and correction torque coefficient of the motor, wherein the correction torque coefficient is greater than or equal to 1; and taking the product of the absolute value of the torque accuracy and the correction torque coefficient as the correction torque.

[0096] Exemplarily, the torque accuracy of the motor is ±7 N·m, the correction torque coefficient is 1, and the correction torque is |±7|×1=7 N·m.

[0097] In some embodiments, if the current acceleration is greater than or equal to a first preset acceleration, the motor is controlled to perform active anti-skid, including: if the first duration of the current acceleration being greater than or equal to the first preset acceleration is greater than a preset first duration threshold, the motor is controlled to perform active anti-skid. The first preset acceleration may be 8000r / s 2 , which can also be understood as the acceleration upper limit for anti-skid activation, the first time threshold may be 100ms.

[0098] In some embodiments, after obtaining the current acceleration of the motor, the method further includes: if the current acceleration is less than or equal to the second preset acceleration, controlling the active anti-skid function of the motor to be turned off, and when the active anti-skid function of the motor is turned off, the motor exits the active anti-skid preparation state.

[0099] In some embodiments, if the current acceleration is less than or equal to the second preset acceleration, controlling the active anti-skid function of the motor to be turned off includes: if the second time duration during which the current acceleration is less than or equal to the second preset acceleration is greater than a preset second time duration threshold, controlling the active anti-skid function of the motor to be turned off. The second preset acceleration may be 5000r / s 2 , which can also be understood as the lower limit of acceleration for anti-skid closing, and the second time threshold can be 100ms.

[0100] In some embodiments, the first duration and the second duration are determined by the following steps: starting from the time when the current acceleration is greater than or equal to the first preset acceleration to obtain the first duration, during this process, if the current acceleration is less than the first preset acceleration, the first duration is reset, and the step of starting from the time when the current acceleration is greater than or equal to the first preset acceleration is performed, and in the case where the current acceleration is greater than or equal to the first preset acceleration, the second duration is reset; starting from the time when the current acceleration is less than or equal to the second preset acceleration to obtain the second duration, during this process, if the current acceleration is greater than the second preset acceleration, the first duration is reset, and the step of starting from the time when the current acceleration is greater than or equal to the first preset acceleration is performed, and in the case where the current acceleration is less than or equal to the second preset acceleration, the first duration is reset.

[0101] In some embodiments, the first duration or the second duration is timed by counting, the first duration is the anti-skid on count value, and the second duration is the anti-skid off count value: the timing starts from the time when the current acceleration is greater than or equal to the first preset acceleration, which can be understood as the anti-skid on count value starts to accumulate when the current acceleration is greater than or equal to the first preset acceleration; the timing starts from the time when the current acceleration is less than or equal to the second preset acceleration, which can be understood as the anti-skid off count value starts to accumulate when the current acceleration is less than or equal to the second preset acceleration.

[0102] In this way, whether to limit the torque is determined by the anti-slip opening count, and the torque output can be limited only when the count threshold is reached, thereby preventing erroneous limitations.

[0103] In some embodiments, controlling the motor to perform active anti-skid includes: obtaining a torque limit coefficient and a maximum torque of the motor; weighting the maximum torque based on the torque limit coefficient to obtain a first target torque; and controlling the motor to operate according to the first target torque to achieve active anti-skid.

[0104] In some embodiments, the first target torque is determined by the following formula: N1=N max ×k n , N1 is the first target torque, N max is the maximum torque, k n is the torque limit coefficient.

[0105] In some embodiments, the current acceleration of the motor is determined by the following steps: obtaining the historical speed, historical acceleration, and current speed of the motor at the previous moment; determining the time difference between the current moment and the previous moment and the speed difference between the current speed and the historical speed; using the ratio of the speed difference and the time difference as the original acceleration; and correcting the original acceleration according to the historical acceleration to obtain the current acceleration. The time difference can be understood as a sampling period, such as 1s, and the sampling period can be a period for collecting the motor speed.

[0106] In this way, the original acceleration is corrected to obtain the current acceleration, which prevents a sudden change in acceleration and improves the accuracy of acceleration determination.

[0107] In some embodiments, after determining the time difference between the current moment and the previous moment and the speed difference between the current speed and the historical speed, the method further includes: taking the ratio of the speed difference to the time difference as the current acceleration.

[0108] In some embodiments, the correcting the original acceleration according to the historical acceleration to obtain the current acceleration includes: obtaining an acceleration correction coefficient of the motor, the acceleration correction coefficient is used to correct the original acceleration; determining the acceleration difference between the original acceleration and the historical acceleration; taking the product of the acceleration difference and the acceleration correction coefficient as the corrected acceleration; taking the sum of the corrected acceleration and the historical acceleration as the current acceleration. The acceleration correction coefficient is less than 0.1, and may be 0.02, and may also be understood as an acceleration filter coefficient. Correcting the original acceleration may be understood as filtering the original acceleration.

[0109] In some embodiments, the raw acceleration is determined by the following formula: t =(v t2 -v t1 )÷Δt,a t is the original acceleration, v t2 is the current speed, v t1 is the historical speed, and Δt is the time difference.

[0110] In some embodiments, the current acceleration is determined by the following formula: t2 =(a t -a t1 )×k j +a t1 , a t2 is the current acceleration, a t is the original acceleration, a t1 is the historical acceleration, k j is the acceleration correction factor.

[0111] In the present application, on the one hand, the motor torque and acceleration are the motor's own parameters, which can intuitively reflect the motor state. Compared with determining the motor state through other parameters, the response speed is faster. On the other hand, when the motor torque is greater than or equal to the torque threshold, it indicates that the torque of the motor is large, and the active anti-skid function needs to enter the ready state. It does not directly enter the running state, but makes a secondary judgment through the current acceleration. When the current acceleration is greater than or equal to the first preset acceleration, it indicates that the motor speed rises rapidly, and the active anti-skid function needs to be changed from the ready state to the running state. Not only is active anti-skid performed before the drive anti-skid system is started, thereby reducing the probability of overcurrent in the motor controller, but also the probability of false triggering of the active anti-skid function is reduced through the secondary judgment of the acceleration.

[0112] According to a second aspect of the present application, a motor active anti-skid function control device 100 is provided, the device comprising:

[0113] A first acquisition unit 100 is used to acquire the motor torque of the motor of the vehicle at a current moment;

[0114] The first control unit 101 controls the active anti-skid function of the motor to be turned on if the motor torque is greater than or equal to a preset torque threshold, wherein, when the motor torque is greater than or equal to the torque threshold, the driving anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in a ready state for active anti-skid;

[0115] The second control unit 102 obtains the current acceleration of the motor, and controls the motor to perform active anti-skid if the current acceleration is greater than or equal to a first preset acceleration.

[0116] In some embodiments, it also includes a first determination unit, which is used to determine the torque threshold, and the first determination unit is configured as: a second acquisition unit, which acquires the corrected torque, torque limit coefficient and maximum torque of the motor, and the torque limit coefficient is used to ensure that the motor turns on the active anti-skid function before the drive anti-skid system is started; a first obtaining unit, which weights the maximum torque based on the torque limit coefficient to obtain a first target torque; and a first taking unit, which takes the sum of the first target torque and the corrected torque as the torque threshold.

[0117] In some embodiments, a second determination unit is also included, and the second determination unit is used to determine the torque limit coefficient. The second determination unit is configured as: a third acquisition unit, which acquires an initial value of the coefficient, wherein the initial value of the coefficient is less than 1, and the absolute value of the difference between the initial value of the coefficient and 1 is less than a preset difference; a second obtaining unit, which weights the maximum torque based on the initial value of the coefficient to obtain a second target torque; a second acting unit, which takes the sum of the second target torque and the corrected torque as the initial value of the threshold; a third control unit, which controls the motor to turn on the active anti-skid function when the torque is greater than or equal to the initial value of the threshold; a first testing unit, which performs a real vehicle test on the vehicle, and if the motor turns on the active anti-skid function before the drive anti-skid system is started, the initial value of the coefficient is used as the torque threshold; if the motor turns on the active anti-skid function after the drive anti-skid system is started, the initial value of the coefficient is reduced, and the step of weighting the maximum torque based on the initial value of the coefficient to obtain the second target torque is performed.

[0118] In some embodiments, the second control unit is configured as: a third control unit that controls the motor to perform active anti-skid if the first duration that the current acceleration is greater than or equal to the first preset acceleration is greater than a preset first duration threshold.

[0119] In some embodiments, the second control unit is further configured as: a fourth acquisition unit, which acquires the torque limit coefficient and the maximum torque of the motor; a third acquisition unit, which weights the maximum torque based on the torque limit coefficient to obtain a first target torque; and a fourth control unit, which controls the motor to operate according to the first target torque to achieve active anti-skid.

[0120] In some embodiments, a third determination unit is further included, and the third determination unit is used to determine the acceleration of the motor. The third determination unit is configured as: a fifth acquisition unit, which acquires the historical speed, historical acceleration, and current speed of the motor at the previous moment; a fourth determination unit, which determines the time difference between the current moment and the previous moment and the speed difference between the current speed and the historical speed; a third as unit, which takes the ratio of the speed difference and the time difference as the original acceleration; and a fourth obtain unit, which corrects the original acceleration according to the historical acceleration to obtain the current acceleration.

[0121] In some embodiments, the fourth obtaining unit is configured as: a sixth obtaining unit, obtaining an acceleration correction coefficient of the motor, wherein the acceleration correction coefficient is used to correct the original acceleration; a fifth determining unit, determining the acceleration difference between the first acceleration and the historical acceleration; a fourth as unit, taking the product of the acceleration difference and the acceleration correction coefficient as a corrected acceleration; and a fifth as unit, taking the sum of the corrected acceleration and the first acceleration as the acceleration of the motor at the current moment.

[0122] Based on the same inventive concept, as a third aspect, the present application also provides a computer-readable storage medium on which is stored a program product capable of implementing the above-mentioned motor active anti-skid function control method of the present specification. In some possible implementations, various aspects of the present application can also be implemented in the form of a program product, which includes a program code. When the program product is run on a terminal device, the program code is used to enable the terminal device to execute the steps according to various exemplary implementations of the present application described in the above-mentioned "Exemplary Method" section of the present specification.

[0123] refer to Figure 3 As shown, a program product 200 for implementing the above method according to an embodiment of the present application is described, which can adopt a portable compact disk read-only memory (CD-ROM) and include program code, and can be run on a terminal device, such as a personal computer. However, the program product of the present application is not limited thereto. In this document, a readable storage medium can be any tangible medium containing or storing a program, which can be used by or in combination with an instruction execution system, an apparatus or a device.

[0124] The program product may use any combination of one or more readable media. The readable medium may be a readable signal medium or a readable storage medium. The 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 (non-exhaustive list) of readable storage media include: an electrical connection with one or more wires, a portable 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.

[0125] Computer readable signal media may include data signals propagated in baseband or as part of a carrier wave, in which readable program code is carried. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Readable signal media may also be any readable medium other than a 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.

[0126] The program code embodied on the readable medium may be transmitted using any appropriate medium, including but not limited to wireless, wired, optical cable, RF, etc., or any suitable combination of the foregoing.

[0127] Program code for performing the operations of the present application may be written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Java, C++, etc., and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user computing device, partially on the user device, as a separate software package, partially on the user computing device and partially on a remote computing device, or entirely on a remote computing device or server. In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., using an Internet service provider to connect through the Internet).

[0128] As another aspect, the present application also provides an electronic device capable of implementing the above method.

[0129] Those skilled in the art will appreciate that various aspects of the present application may be implemented as a system, method or program product. Therefore, various aspects of the present application may be specifically implemented in the following forms, namely: a complete hardware implementation, a complete software implementation (including firmware, microcode, etc.), or a combination of hardware and software, which may be collectively referred to as "circuit", "module" or "system" herein.

[0130] Refer to the following Figure 4 The electronic device 300 according to this embodiment of the present application is described. Figure 4 The electronic device 300 shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0131] like Figure 4 As shown, the electronic device 300 is in the form of a general computing device. The components of the electronic device 300 may include but are not limited to: at least one processing unit 310, at least one storage unit 320, and a bus 330 connecting different system components (including the storage unit 320 and the processing unit 310).

[0132] The storage unit stores program codes, which can be executed by the processing unit 310, so that the processing unit 310 executes the steps described in the above “Example Method” section of this specification according to various exemplary implementations of the present application.

[0133] The storage unit 320 may include a readable medium in the form of a volatile storage unit, such as a random access memory unit (RAM) 321 and / or a cache memory unit 322 , and may further include a read-only memory unit (ROM) 323 .

[0134] The storage unit 320 may also include a program / utility 324 having a set (at least one) of program modules 325, such program modules 325 including but not limited to: an operating system, one or more application programs, other program modules, and program data, each of which or some combination may include an implementation of a network environment.

[0135] Bus 330 may represent one or more of several types of bus structures, including a memory unit bus or memory unit controller, a peripheral bus, an accelerated graphics port, a processing unit, or a local bus using any of a variety of bus architectures.

[0136] The electronic device 300 may also communicate with one or more external devices 400 (e.g., keyboards, pointing devices, Bluetooth devices, etc.), one or more devices that enable a user to interact with the electronic device 300, and / or any device that enables the electronic device 300 to communicate with one or more other computing devices (e.g., routers, modems, etc.). Such communication may be performed through an input / output (I / O) interface 350. Furthermore, the electronic device 300 may also communicate with one or more networks (e.g., a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) through a network adapter 360. Figure 4 As shown, the network adapter 360 communicates with other modules of the electronic device 300 via the bus 330. It should be understood that, although not shown in the figure, other hardware and / or software modules can be used in conjunction with the electronic device 300, including but not limited to: microcode, device drivers, redundant processing units, external disk drive arrays, RAID systems, tape drives, and data backup storage systems.

[0137] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on a computer-readable medium or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of the present application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hard wiring, or a combination of any of these. In addition, each functional unit may be integrated into a processing unit, each unit may exist physically separately, or two or more units may be integrated into one unit.

[0138] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only schematic. For example, the division of the units can be a logical function division. There may be other division methods in actual implementation. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0139] The units described as separate components may or may not be physically separated, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed in multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0140] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application can be essentially or partly or all or partly embodied in the form of a software product that contributes to the prior art. The computer software product is stored in a storage medium, including several instructions for a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, disk or optical disk, etc., which can store program code.

[0141] The above description is only an embodiment of the present application and is not intended to limit the present application. For those skilled in the art, the present application may have various modifications and variations. Any modification, equivalent substitution, improvement, etc. made within the spirit and principle of the present application shall be included in the scope of the claims of the present application.

Claims

1. A method for controlling an active anti-skid function of a motor, characterized in that: include: Obtain the motor torque of the vehicle's motor at the current moment; If the motor torque is greater than or equal to a preset torque threshold, the active anti-skid function of the motor is controlled to be turned on, wherein, when the motor torque is greater than or equal to the torque threshold, the driving anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in a ready state for active anti-skid; The current acceleration of the motor is obtained, and if the current acceleration is greater than or equal to a first preset acceleration, the motor is controlled to perform active anti-skid.

2. A motor active anti-skid function control method according to claim 1, characterized in that: The torque threshold is determined by the following steps: Acquiring a corrected torque, a torque limit coefficient and a maximum torque of the motor, wherein the torque limit coefficient is used to ensure that the motor starts an active anti-skid function before the drive anti-skid system is started; Weighting the maximum torque based on the torque limit coefficient to obtain a first target torque; The torque threshold is determined as a sum of the first target torque and the correction torque.

3. A motor active anti-skid function control method according to claim 2, characterized in that: The torque limit coefficient is determined by the following steps: Obtaining an initial value of a coefficient, wherein the initial value of the coefficient is less than 1, and an absolute value of a difference between the initial value of the coefficient and 1 is less than a preset difference; Weighting the maximum torque based on the initial value of the coefficient to obtain a second target torque; taking the sum of the second target torque and the correction torque as the initial threshold value; Controlling the motor to start an active anti-skid function when the torque is greater than or equal to the initial threshold value; Performing an actual vehicle test on the vehicle, if the motor turns on the active anti-skid function before the drive anti-skid system is started, the initial value of the coefficient is used as the torque threshold; if the motor turns on the active anti-skid function after the drive anti-skid system is started, the initial value of the coefficient is reduced, and the step of weighting the maximum torque based on the initial value of the coefficient to obtain the second target torque is executed.

4. The method for controlling the active anti-skid function of a motor according to claim 1, characterized in that: If the current acceleration is greater than or equal to a first preset acceleration, controlling the motor to perform active anti-skid operation includes: If the first time duration during which the current acceleration is greater than or equal to the first preset acceleration is greater than a preset first time duration threshold, the motor is controlled to perform active anti-skid.

5. The method for controlling the active anti-skid function of a motor according to claim 1, characterized in that: The controlling the motor to perform active anti-skid comprises: Obtaining a torque limit coefficient and a maximum torque of the motor; weighting the maximum torque based on the torque limit coefficient to obtain a first target torque; The motor is controlled to operate according to the first target torque to achieve active anti-slip.

6. The method for controlling the active anti-skid function of a motor according to claim 1, characterized in that: The current acceleration is determined by the following steps: Obtain the historical speed and acceleration of the motor at the previous moment, as well as the current speed at the current moment; Determine a time difference between the current moment and the previous moment and a speed difference between the current speed and the historical speed; taking the ratio of the rotation speed difference to the time difference as the original acceleration; The original acceleration is corrected according to the historical acceleration to obtain the current acceleration.

7. A motor active anti-skid function control method according to claim 6, characterized in that: The correcting the original acceleration according to the historical acceleration to obtain the current acceleration includes: Acquire an acceleration correction coefficient of the motor, where the acceleration correction coefficient is used to correct the original acceleration; determining an acceleration difference between the first acceleration and the historical acceleration; taking the product of the acceleration difference and the acceleration correction coefficient as the corrected acceleration; The sum of the corrected acceleration and the first acceleration is used as the acceleration of the motor at the current moment.

8. A motor active anti-skid function control device, characterized in that: The device comprises: A first acquisition unit, which acquires the motor torque of the motor of the vehicle at a current moment; a first control unit, controlling the active anti-skid function of the motor to be turned on if the motor torque is greater than or equal to a preset torque threshold, wherein, when the motor torque is greater than or equal to the torque threshold, the driving anti-skid system of the vehicle is not started, and when the active anti-skid function of the motor is turned on, the motor is in a ready state for active anti-skid; The second control unit obtains the current acceleration of the motor, and controls the motor to perform active anti-skid if the current acceleration is greater than or equal to a first preset acceleration.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that: The computer program includes executable instructions, and when the executable instructions are executed by a processor, the method described in any one of claims 1 to 7 is implemented.

10. An electronic device, characterized in that: include: one or more processors; A memory for storing executable instructions of the processor, wherein when the executable instructions are executed by the one or more processors, the one or more processors implement the method according to any one of claims 1 to 7.

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