Control method and device of road sensing motor, vehicle and storage medium

Abstract

The invention discloses a control method and device of a road sensing motor, a vehicle and a storage medium. The method comprises the following steps: acquiring a current frame instruction torque, a motor actual rotating speed and a maximum limit rotating speed; wherein the current frame instruction torque is given by an external control system; when the actual rotating speed of the motor exceeds the maximum limiting rotating speed, triggering an instruction torque adjusting function, and performing maximum rotating speed limiting on the instruction torque of the current frame according to a difference value between the actual rotating speed of the motor and the maximum limiting rotating speed to obtain an operable torque output by the maximum rotating speed limiting function; and a d-axis current and a q-axis current are obtained according to the operable torque output by the maximum rotating speed limiting function and a three-dimensional current calibration ammeter, and current closed-loop control is carried out. According to the invention, the motor is ensured not to exceed the maximum rotating speed limit in a no-load or light-load state, and the safety and reliability in a vehicle driving process are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a control method, device, vehicle and storage medium for a road sensor motor. Background Art

[0002] With the rapid development of new energy vehicles and intelligent driving technologies, the market share of Electronic Power Steering (EPS) systems in the global vehicle market continues to increase.

[0003] At present, the control method of EPS motor mainly adopts direct torque control. This scheme usually adjusts the current by inputting torque command and actual speed to control the operation of EPS motor. In this control mode, when the no-load command torque is too large, the EPS system cannot effectively limit the maximum speed of the motor, which easily causes the motor to exceed its maximum design speed, thus affecting the safety and reliability of the vehicle during driving. Summary of the invention

[0004] The present invention provides a control method, device, vehicle and storage medium for a road sensing motor, so as to improve the problem that when the no-load command torque is too large, the EPS system cannot effectively limit the maximum speed of the motor, causing the motor to easily exceed its maximum design speed.

[0005] According to one aspect of the present invention, a method for controlling a road sensing motor is provided, comprising:

[0006] Obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system;

[0007] When the actual speed of the motor exceeds the maximum speed limit, the command torque adjustment function is triggered, and the current frame command torque is subject to a maximum speed limit according to the difference between the actual speed of the motor and the maximum speed limit, so as to obtain an operable torque output by the maximum speed limit function;

[0008] The current table is calibrated according to the operable torque and three-dimensional current output by the maximum speed limit function to obtain the d-axis current and the q-axis current, and current closed-loop control is performed.

[0009] Optionally, before performing maximum speed limit on the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit to obtain the operable torque output by the maximum speed limit function, the method further includes:

[0010] According to the actual speed of the motor and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve;

[0011] The torque limited by the motor characteristic TN curve is used as the current frame command torque to execute subsequent steps.

[0012] Optionally, the maximum speed limit is applied to the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit to obtain the operable torque output by the maximum speed limit function, including:

[0013] According to the difference between the actual speed of the motor and the maximum speed limit, the current frame command torque is PI-regulated to obtain the PI-regulated output torque;

[0014] Torque limitation is performed on the PI-regulated output torque and the current frame command torque to obtain an operable torque output by the maximum speed limitation function.

[0015] Optionally, before performing PI regulation on the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit to obtain the PI regulated output torque, the method further includes:

[0016] Obtaining a command torque difference according to the current frame command torque and the previous frame command torque;

[0017] The command torque difference is fed back to the PI regulation.

[0018] Optionally, the torque limiting the PI adjustment output torque and the current frame command torque to obtain the operable torque output by the maximum speed limit function includes:

[0019] Determining whether the absolute value of the PI-regulated output torque is greater than zero;

[0020] If yes, then according to the previous frame command torque and the current frame command torque, the command torque difference is obtained;

[0021] Assigning the operable torque output by the maximum speed limit function to the difference between the previous frame command torque and the PI adjustment output torque;

[0022] The previous frame command torque is assigned as the current frame command torque.

[0023] Optionally, the torque limiting the PI adjustment output torque and the current frame command torque to obtain the operable torque output by the maximum speed limit function includes:

[0024] Determining whether the absolute value of the PI-regulated output torque is greater than zero;

[0025] If not, the command torque difference is assigned a value of zero;

[0026] Assigning the operable torque output by the maximum speed limit function to the current frame command torque;

[0027] The previous frame command torque is assigned as the current frame command torque.

[0028] Optionally, before performing PI regulation on the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit to obtain the PI regulated output torque, the method further includes:

[0029] Determine whether the road sensing motor is rotating forward; if so, perform a step of performing PI adjustment on the current frame command torque; otherwise, perform a step of performing PI adjustment on the current frame command torque after taking a negative value for the maximum speed limit.

[0030] According to another aspect of the present invention, a control device for a road sensing motor is provided, comprising:

[0031] An instruction acquisition module is used to acquire the current frame instruction torque, the actual motor speed and the maximum limit speed; wherein the current frame instruction torque is given by an external control system;

[0032] A maximum speed limit module is used to trigger the current frame command torque adjustment function when the actual speed of the motor exceeds the maximum speed limit, and to perform a maximum speed limit on the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit, so as to obtain an operable torque output by the maximum speed limit function;

[0033] A three-dimensional current calibration module, used to calibrate the ammeter according to the operable torque, bus voltage and three-dimensional current output by the maximum speed limit function to obtain a d-axis current and a q-axis current;

[0034] A current loop control module is used to perform current closed-loop control according to the d-axis current and the q-axis current.

[0035] According to another aspect of the present invention, a vehicle is provided, the vehicle comprising a road sensing motor, a road sensing motor controller and an external control system; the road sensing motor controller comprises:

[0036] At least one processor; and a memory in communication with the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the road sensing motor described in any embodiment of the present invention.

[0037] According to another aspect of the present invention, a computer-readable storage medium is provided, wherein the computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the road sensing motor described in any embodiment of the present invention when executed.

[0038] The technical solution of the embodiment of the present invention triggers the command torque adjustment function through the difference between the actual motor speed and the maximum speed limit, adjusts the current frame command torque to match the current frame command torque with the actual motor speed, so that the actual motor speed does not exceed the maximum speed limit, and performs current closed-loop control. This solution enables the EPS system to monitor the operating status of the road sense motor in real time and adjust the command torque in time, thereby ensuring that the motor does not exceed the maximum speed limit under no-load or light-load conditions, thereby improving the safety and reliability of the vehicle during driving.

[0039] It should be understood that the contents described in this section are not intended to identify the key or important features of the embodiments of the present invention, nor are they intended to limit the scope of the present invention. Other features of the present invention will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the following briefly introduces the drawings required for use in the description of the embodiments. Obviously, the drawings described below are only some embodiments of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without creative work.

[0041] Figure 1 A flow chart of a method for controlling a road sensing motor provided by an embodiment of the present invention;

[0042] Figure 2 A flow chart of another method for controlling a road sensing motor provided by an embodiment of the present invention;

[0043] Figure 3 A flow chart of another method for controlling a road sensing motor provided by an embodiment of the present invention;

[0044] Figure 4 A flow chart of another method for controlling a road sensing motor provided by an embodiment of the present invention;

[0045] Figure 5 A flow chart of another method for controlling a road sensing motor provided by an embodiment of the present invention;

[0046] Figure 6 A flow chart of another method for controlling a road sensing motor provided by an embodiment of the present invention;

[0047] Figure 7A flowchart of a maximum torque limit of a road sensing motor provided by an embodiment of the present invention;

[0048] Figure 8 A schematic diagram of a control device for a road sensing motor provided by an embodiment of the present invention;

[0049] Fig. 9 A schematic diagram of the structure of a road sensing motor controller provided by an embodiment of the present invention. DETAILED DESCRIPTION

[0050] In order to enable those skilled in the art to better understand the scheme of the present invention, the technical scheme in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present invention.

[0051] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the data used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0052] In the embodiment of the present invention, the road sense motor refers to a road sense motor used in a vehicle or other vehicle to provide road feedback and enhance the driving experience. The road sense motor can adjust the steering assist according to the road conditions, vehicle speed and driver input, thereby providing a more natural and precise control feeling, and plays an important role in the EPS system.

[0053] Figure 1 This is a flow chart of a method for controlling a road sense motor provided by an embodiment of the present invention. This embodiment can be applied to adjusting the torque of the road sense motor when the actual speed of the road sense motor exceeds the maximum speed limit. The method can be executed by a control device for the road sense motor. The control device can be implemented in the form of hardware and / or software. The control device can be configured in a vehicle. Figure 1 As shown, the method includes:

[0054] S110, obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system.

[0055] Among them, the current frame command torque (for example, expressed by TNLimitTeref_Nm) refers to the command torque within the latest moment or time window. The command torque is provided by an external system outside the vehicle's motor controller as an input command to the vehicle's EPS system. The actual motor speed (for example, expressed by Speed_rpm) refers to the current operating speed of the vehicle's road sense motor, which is monitored in real time by the feedback system inside the motor (such as an encoder) and can reflect the actual operating status of the motor under the execution of the command torque in real time. The maximum limit speed (for example, expressed by MaxSpeed_rpm) refers to the maximum operating speed allowed by the road sense motor within the safety and design range. This limit is set by the manufacturer to ensure that the motor operates within the safety performance range and prevent damage or failure due to overspeeding.

[0056] Specifically, the speed and torque of the road sense motor have a negative correlation (which can be defined by the TN curve). However, since the current frame command torque is given by the external control system, it is easy for the given value to be too large. That is, the current frame command torque does not match the actual motor speed, resulting in the actual motor speed exceeding the maximum speed designed for the road sense motor.

[0057] S120. When the actual motor speed exceeds the maximum speed limit, the command torque adjustment function is triggered. According to the difference between the actual motor speed and the maximum speed limit, the current frame command torque is limited to the maximum speed to obtain the operable torque output by the maximum speed limit function.

[0058] Among them, the command torque adjustment function refers to the adjustment mechanism used to match the torque and speed to ensure that the speed of the road sense motor runs within the maximum speed limit. When the actual speed of the motor exceeds the maximum speed limit, the command torque adjustment function is activated and the road sense motor reduces the torque. The operational torque (SpeedLimitTeref_Nm) output by the maximum speed limit function refers to the torque value calculated by the maximum speed limit function in the road sense motor control system to ensure the safe operation of the road sense motor. The setting of the road sense motor is conducive to improving the stability and energy efficiency of the EPS system and achieving a balance between vehicle performance and safety.

[0059] S130, calibrating the ammeter according to the operable torque and three-dimensional current output by the maximum speed limit function, obtaining the d-axis current and the q-axis current, and performing current closed-loop control.

[0060] Among them, the three-dimensional current calibration ammeter refers to a measurement table used to monitor and calibrate the d-axis current and q-axis current of the motor in real time. The d-axis current (for example, represented by Idref_A) refers to a component in the road sense motor control system, which represents the current along the DC axis (d-axis) in the magnetic field of the road sense motor, and is mainly used to control the magnetic flux of the road sense motor. The q-axis current (for example, represented by Iqref_A) refers to another component in the road sense motor control system, which represents the current along the horizontal axis (q-axis) in the magnetic field of the road sense motor, and is mainly used to control the torque of the road sense motor. Current closed-loop control refers to a control strategy that adjusts the control signal to keep the current within a set range by monitoring the difference between the current output and the current setting target in real time.

[0061] Specifically, precise control of the d-axis current and q-axis current enables the road-sensing motor to operate efficiently under different load conditions. Through closed-loop control of the current, the system can quickly respond to load changes, thereby optimizing the performance of the road-sensing motor; in addition, controlling the current also helps ensure that the actual speed of the road-sensing motor does not exceed the set maximum speed limit under no-load or light-load conditions, avoiding safety hazards caused by overspeeding and ensuring the safety and reliability of the equipment.

[0062] The technical solution of the embodiment of the present invention triggers the command torque adjustment function through the difference between the actual motor speed and the maximum speed limit, adjusts the current frame command torque to match the current frame command torque with the actual motor speed, so that the actual motor speed does not exceed the maximum speed limit, and performs current closed-loop control. This solution enables the EPS system to monitor the operating status of the road sense motor in real time and adjust the command torque in time, thereby ensuring that the motor does not exceed the maximum speed limit under no-load or light-load conditions, thereby improving the safety and reliability of the vehicle during driving.

[0063] Figure 2A flow chart of another method for controlling a road sense motor provided by an embodiment of the present invention. Based on the above embodiments, optionally, in S120, before the current frame command torque is limited to the maximum speed according to the difference between the actual speed of the motor and the maximum speed limit, and the operational torque output by the maximum speed limit function is obtained, it also includes: limiting the current frame command torque according to the actual speed of the motor and the TN curve to obtain the torque limited by the motor characteristic TN curve; wherein the torque limited by the motor characteristic TN curve (TNLimitTeref_Nm) refers to the output torque determined according to the actual speed of the motor and its TN curve. And, the torque TNLimitTeref_Nm limited by the motor characteristic TN curve is used as the current frame command torque TNLimitTeref_Nm to perform subsequent steps, that is, in subsequent embodiments, when the current frame command torque is mentioned, it can be considered as a torque represented by TNLimitTeref_Nm, or it can be a torque represented by TNLimitTeref_Nm, and it is set as needed in actual applications.

[0064] Specifically, Figure 2 As shown, the method includes:

[0065] S210, obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system.

[0066] S221, when the actual motor speed exceeds the maximum speed limit, the command torque adjustment function is triggered.

[0067] S222. According to the actual motor speed and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve.

[0068] The TN curve is a curve used to describe the relationship between the torque and speed of a servo motor. T stands for torque and N stands for rotational speed. The TN curve usually shows a characteristic of first rising and then falling, indicating that within a certain speed range, the torque increases with the increase of speed. After reaching the maximum value, the torque will gradually decrease as the speed continues to increase.

[0069] Specifically, controlling the torque limited by the motor characteristic TN curve as the current frame command torque can prevent the torque amplitude of the maximum limited speed from being large, and can also quickly limit the maximum torque that the motor can operate through the actual speed.

[0070] S223. According to the difference between the actual motor speed and the maximum speed limit, the current frame command torque is limited to the maximum speed to obtain the operable torque output by the maximum speed limit function.

[0071] S230, calibrate the ammeter according to the operable torque and three-dimensional current output by the maximum speed limit function, obtain the d-axis current and the q-axis current, and perform current closed-loop control.

[0072] The technical solution provided by the embodiment of the present invention can limit the torque output by obtaining the torque limited by the motor characteristic TN curve through the TN curve and the actual curve of the motor. Among them, the TN curve provides an important parameter for the control system, so that the motor operation strategy can be adjusted more accurately in actual applications, thereby improving the efficiency of the overall system.

[0073] Figure 3 Flow chart of another method for controlling a road sensor motor provided by an embodiment of the present invention. Figure 3 As shown, based on the above embodiments, optionally, the method includes: when the actual motor speed (for example, represented by Speed_rpm) exceeds the maximum limit, enter the torque control process. According to the TN curve of the actual motor speed (for example, represented by Speed_rpm), the user input command torque (for example, represented by UserTeref_Nm) is limited to obtain the torque limited by the motor characteristic TN curve (for example, represented by TNLimitTeref_Nm), that is, the current frame command torque. Then, according to the difference between the actual motor speed (for example, represented by Speed_rpm) and the maximum limit speed, the torque limited by the motor characteristic TN curve obtained in the previous step (for example, represented by TNLimitTeref_Nm) is limited to the maximum speed, and the operable torque output by the maximum speed limit function is obtained (for example, represented by SpeedLimitTeref_Nm). Through the operating torque output by the maximum speed limit function (for example, represented by SpeedLimitTeref_Nm), the bus voltage (for example, represented by Udc_V) and the three-dimensional current calibration ammeter, the d-axis current (for example, represented by Idref_A) and the q-axis current (for example, represented by Iqref_A) can be obtained, and then current closed-loop control is performed.

[0074] The technical solution of the embodiment of the present invention obtains the torque limited by the motor characteristic TN curve according to the actual motor speed and the TN curve, and uses it as the current frame command torque to continue to execute subsequent steps. It can limit the speed of the road sensing motor under no-load or light load to the maximum limit speed, thereby ensuring the safety of the motor operation.

[0075] Figure 4 This is a flow chart of another method for controlling a road sensor motor provided by an embodiment of the present invention. Based on the above embodiments, S223 is further refined, such as Figure 4 As shown, the method includes:

[0076] S310, obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system.

[0077] S321. When the actual motor speed exceeds the maximum speed limit, the command torque adjustment function is triggered.

[0078] S322. According to the actual motor speed and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve.

[0079] S323. According to the difference between the actual motor speed and the maximum limit speed, the current frame command torque is PI-regulated to obtain the PI-regulated output torque.

[0080] Among them, PI regulation refers to adjusting the current frame command torque by combining proportional (P) and integral (I) controllers to obtain PI-regulated output torque (for example, represented by SpeedLimitTePi_Nm).

[0081] Specifically, proportional control is adjusted according to the current error (the difference between the actual speed and the maximum speed limit), while integral control takes into account the past error accumulation to eliminate steady-state errors. PI adjusts the output torque to reduce the change in torque.

[0082] S324, torque limit is performed on the PI regulation output torque and the current frame command torque to obtain the operable torque output by the maximum speed limit function.

[0083] The road sense motor is optional. Before S324, torque limiting the PI adjustment output torque and the current frame command torque to obtain the operational torque output by the maximum speed limit function, it also includes: obtaining the command torque difference based on the current frame command torque and the previous frame command torque; and feeding back the command torque difference to the PI adjustment.

[0084] The last frame command torque (for example, represented by TNLimitTerefLast_Nm) refers to the command torque of the last moment or time window. The command torque difference (for example, represented by TNLimitTerefDiff_Nm) refers to the difference between the last frame command torque and the current frame command torque.

[0085] Specifically, feeding back the command torque difference to the PI regulation can enable the PI regulation to more accurately calculate the required adjustment amount, thereby improving the accuracy of the regulation.

[0086] S330, calibrate the ammeter according to the operable torque and three-dimensional current output by the maximum speed limit function, obtain the d-axis current and the q-axis current, and perform current closed-loop control.

[0087] The technical solution of the embodiment of the present invention performs PI regulation on the current frame command torque to obtain the PI regulation output torque, and then obtains the operational torque output by the maximum speed limit function, which can effectively eliminate the steady-state error in the motor speed regulation process and ensure the safety and stability of the motor operation.

[0088] Figure 5 This is a flow chart of another method for controlling a road sensor motor provided by an embodiment of the present invention. Based on the above embodiment, S324 is further refined, such as Figure 5 As shown, the method includes:

[0089] S310, obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system.

[0090] S321. When the actual motor speed exceeds the maximum speed limit, the command torque adjustment function is triggered.

[0091] S322. According to the actual motor speed and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve.

[0092] S323. According to the difference between the actual motor speed and the maximum limit speed, the current frame command torque is PI-regulated to obtain the PI-regulated output torque.

[0093] S3241. Determine whether the absolute value of the PI-regulated output torque is greater than zero.

[0094] The absolute value is used to eliminate the negative sign, ensuring that no matter whether the PI-regulated output torque is positive or reverse, it will be regarded as its absolute size.

[0095] S3242: If yes, obtain the command torque difference based on the previous frame command torque and the current frame command torque.

[0096] Among them, if the absolute value of the PI adjustment output torque is greater than zero, it means that the PI adjustment has not reached a steady state and needs further adjustment. By calculating the command torque difference between the previous frame command torque and the current frame command torque, the change in the command torque can be reflected, which is helpful for subsequent adjustment of the torque output.

[0097] S3243, assigning the operable torque output by the maximum speed limit function to the difference between the command torque of the previous frame and the PI adjustment output torque.

[0098] Among them, by calculating the difference between the command torque of the previous frame and the output torque adjusted by PI, it is helpful to avoid excessive changes in the output torque. The operational torque output by the maximum speed limit function is assigned to the difference between the two, so that the EPS system can adjust the output torque of the motor in real time to adapt to the current working conditions and load changes.

[0099] S3244, assign the previous frame command torque as the current frame command torque.

[0100] Specifically, updating the command torque of the previous frame can ensure the consistency of logical control and prepare for the next cycle.

[0101] S330, calibrate the ammeter according to the operable torque and three-dimensional current output by the maximum speed limit function, obtain the d-axis current and the q-axis current, and perform current closed-loop control.

[0102] The technical solution of the embodiment of the present invention uses the difference to assign the operable torque output by the maximum speed limit function as the difference between the command torque of the previous frame and the PI-adjusted output torque, that is, allowing the control device of the road sense motor to adjust the operable torque according to the command torque of the previous frame, so that the road sense motor can flexibly adapt to different working conditions, and can ensure that the motor responds more accurately during the dynamic adjustment process.

[0103] Figure 6 This is a flow chart of another method for controlling a road sensor motor provided by an embodiment of the present invention. Based on the above embodiment, S324 is further refined, such as Figure 6 As shown, the method includes:

[0104] S310, obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system.

[0105] S321. When the actual motor speed exceeds the maximum speed limit, the command torque adjustment function is triggered.

[0106] S322. According to the actual motor speed and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve.

[0107] S323. According to the difference between the actual motor speed and the maximum limit speed, the current frame command torque is PI-regulated to obtain the PI-regulated output torque.

[0108] S3241. Determine whether the absolute value of the PI-regulated output torque is greater than zero.

[0109] S3242: If not, assign the command torque difference to zero.

[0110] Among them, if the absolute value of the PI-regulated output torque is not greater than zero, it means that the PI regulation has reached a steady state, so the command torque is assigned to zero.

[0111] S3243, assigning the operable torque output by the maximum speed limit function as the current frame command torque.

[0112] Specifically, when there is no adjustment requirement for the EPS system, the motor can still operate safely according to current instructions and maintain stable output.

[0113] S3244, assign the previous frame command torque as the current frame command torque.

[0114] S330, calibrate the ammeter according to the operable torque and three-dimensional current output by the maximum speed limit function, obtain the d-axis current and the q-axis current, and perform current closed-loop control.

[0115] The technical solution of the embodiment of the present invention makes adjustments when the absolute value of the PI-regulated output torque is not greater than zero, assigns the command torque to zero, and assigns the operable torque output by the maximum speed limit function to the current frame command torque, thereby ensuring that the motor output speed is within a safe range and preventing the motor output from exceeding the maximum speed limit.

[0116] Optionally, before S323, performing PI regulation on the current frame command torque according to the difference between the actual motor speed and the maximum limit speed to obtain the PI regulated output torque, the method further includes:

[0117] Determine whether the road sense motor is rotating forward; if so, execute the step of performing PI adjustment on the current frame command torque; otherwise, take the maximum limit speed as a negative value and then execute the step of performing PI adjustment on the current frame command torque.

[0118] Specifically, by judging the rotation direction of the road sensing motor and executing corresponding PI adjustment steps according to the result, it is ensured that the motor can be properly adjusted according to actual needs in both forward and reverse rotation, thereby improving the flexibility and stability of the system.

[0119] Figure 7 This is a flow chart of the maximum torque limit of a road sensing motor provided by an embodiment of the present invention. Figure 7 As shown, based on the above embodiments, optionally, the process of maximum torque limitation includes:

[0120] First, determine whether the actual speed of the motor (for example, represented by Speed_rpm) is greater than 0, that is, execute the step Speed_rpm>0? If it is greater than 0, it is forward rotation, otherwise it is reverse rotation. When the motor rotates forward, PI adjustment is performed based on the difference between the actual speed of the motor (for example, represented by Speed_rpm) and the maximum speed limit (for example, represented by MaxSpeed_rpm), and the difference between the current frame command torque (for example, represented by TNLimitTeref_Nm) and the previous frame command torque (for example, represented by TNLimitTerefLast_Nm) to obtain the PI adjusted output torque (for example, represented by SpeedLimitTePi_Nm); when the motor reverses, the maximum speed limit (for example, The PI adjustment is performed according to the difference between the actual motor speed (for example, represented by Speed_rpm) and the negative maximum speed limit (for example, represented by -MaxSpeed_rpm), and the difference between the current frame command torque (for example, represented by TNLimitTeref_Nm) and the previous frame command torque (for example, represented by TNLimitTerefLast_Nm), to obtain the PI adjustment output torque (for example, represented by SpeedLimitTePi_Nm). Then, it is determined whether the absolute value of the PI adjustment output torque (for example, represented by SpeedLimitTePi_Nm) is greater than 0, that is, the step |SpeedLimitTePi_Nm|>0 is executed. If it is greater than 0, the command torque difference (for example, expressed by TNLimitTerefDiff_Nm) is obtained according to the command torque of the previous frame (for example, expressed by TNLimitTerefLast_Nm) and the command torque of the current frame (for example, expressed by TNLimitTeref_Nm); the operable torque output by the maximum speed limit function (for example, expressed by SpeedLimitTeref_Nm) is assigned to the difference between the command torque of the previous frame (for example, expressed by TNLimitTerefLast_Nm) and the PI adjustment output torque (for example, expressed by SpeedLimitTePi_Nm), and the command torque of the previous frame (for example, expressed by TNLimitTerefLast_Nm) is assigned to the command torque of the current frame (for example, expressed by TNLimitTeref_Nm).If the absolute value of the PI-regulated output torque (for example, represented by SpeedLimitTePi_Nm) is less than or equal to 0, the command torque difference (for example, represented by TNLimitTerefDiff_Nm) is assigned to zero; the operable torque output by the maximum speed limit function (for example, represented by SpeedLimitTeref_Nm) is assigned to the current frame command torque (for example, represented by TNLimitTeref_Nm); the previous frame command torque (for example, represented by TNLimitTerefLast_Nm) is assigned to the current frame command torque (for example, represented by TNLimitTeref_Nm). After the judgment and assignment process is completed, the command torque change is fed back to the PI-regulated torque value (for example, represented by SpeedLimitTeDiff_Nm) and assigned to the command torque difference (for example, represented by TNLimitTerefDiff_Nm), which is fed back to the PI regulation; and the operable torque output by the maximum speed limit function (for example, represented by SpeedLimitTeref_Nm) is obtained.

[0121] Figure 8 Schematic diagram of a control device for a road sensing motor provided by an embodiment of the present invention. Figure 8 As shown, the control device includes:

[0122] The instruction acquisition module 610 is used to obtain the current frame instruction torque, the actual motor speed and the maximum limit speed; wherein the current frame instruction torque is given by the external control system.

[0123] The maximum speed limit module 620 is used to trigger the current frame command torque adjustment function when the actual motor speed exceeds the maximum speed limit. According to the difference between the actual motor speed and the maximum speed limit, the current frame command torque is limited to the maximum speed to obtain the operational torque output by the maximum speed limit function.

[0124] The three-dimensional current calibration module 630 is used to calibrate the ammeter according to the operable torque, bus voltage and three-dimensional current output by the maximum speed limit function to obtain the d-axis current and the q-axis current.

[0125] The current loop control module 640 is used to perform current closed-loop control according to the d-axis current and the q-axis current.

[0126] The control device of the road sense motor provided in the embodiment of the present invention can execute the control method of the road sense motor provided in any embodiment of the present invention, and has the functional modules and beneficial effects corresponding to the execution method.

[0127] An embodiment of the present invention also provides a vehicle, which includes a road sense motor, a road sense motor controller and an external control system; the road sense motor controller includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the road sense motor provided in any of the above embodiments.

[0128] Fig. 9 The components, their connections and relationships, and their functions shown herein are merely examples and are not intended to limit the implementation of the invention described and / or claimed herein.

[0129] like Fig. 9 As shown, the road sense motor controller 10 includes at least one processor 11, and a memory connected to the at least one processor 11, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., wherein the memory stores a computer program that can be executed by at least one processor, and the processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 to the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the road sense motor controller 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. The input / output (I / O) interface 15 is also connected to the bus 14.

[0130] Multiple components in the road sense motor controller 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the road sense motor controller 10 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0131] The processor 11 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 executes the various methods and processes described above, such as the control method of the road sensor motor.

[0132] In some embodiments, the control method of the road sense motor may be implemented as a computer program, which is tangibly contained in a computer-readable storage medium, such as a storage unit 18. In some embodiments, part or all of the computer program may be loaded and / or installed on the road sense motor controller 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of the control method of the road sense motor described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to execute the control method of the road sense motor in any other appropriate manner (e.g., by means of firmware).

[0133] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0134] Computer programs for implementing the methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that when the computer program is executed by the processor, the functions / operations specified in the flow chart and / or block diagram are implemented. The computer program may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0135] In the context of the present invention, a computer-readable storage medium may be a tangible medium that may contain or store a computer program for use by or in combination with an instruction execution system, device or equipment. A computer-readable storage medium may include, but is not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or equipment, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium may be a machine-readable signal medium. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0136] To provide interaction with a user, the systems and techniques described herein may be implemented on an electronic device having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and a pointing device (e.g., a mouse or trackball) through which the user can provide input to the electronic device. Other types of devices may also be used to provide interaction with the user; for example, the feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form (including acoustic input, voice input, or tactile input).

[0137] The systems and techniques described herein may be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system may be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0138] A computing system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The client and server relationship is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services.

[0139] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps described in the present invention can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solution of the present invention can be achieved, and this document does not limit this.

[0140] The above specific implementations do not constitute a limitation on the protection scope of the present invention. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present invention should be included in the protection scope of the present invention.

Claims

1. A method for controlling a road sensing motor, characterized in that: include: Obtaining the current frame command torque, the actual motor speed and the maximum limit speed; wherein the current frame command torque is given by an external control system; When the actual speed of the motor exceeds the maximum speed limit, the command torque adjustment function is triggered, and the current frame command torque is subject to a maximum speed limit according to the difference between the actual speed of the motor and the maximum speed limit, so as to obtain an operable torque output by the maximum speed limit function; The current table is calibrated according to the operable torque and three-dimensional current output by the maximum speed limit function to obtain the d-axis current and the q-axis current, and current closed-loop control is performed.

2. The control method of the road sensing motor according to claim 1, characterized in that: Before the current frame command torque is subjected to maximum speed limit according to the difference between the actual speed of the motor and the maximum speed limit to obtain the operable torque output by the maximum speed limit function, the method further includes: According to the actual speed of the motor and the TN curve, the current frame command torque is limited to obtain the torque limited by the motor characteristic TN curve; The torque limited by the motor characteristic TN curve is used as the current frame command torque to execute subsequent steps.

3. The control method of the road sensor motor according to claim 1 or 2, characterized in that: According to the difference between the actual speed of the motor and the maximum speed limit, the current frame command torque is limited to the maximum speed to obtain the operable torque output by the maximum speed limit function, including: According to the difference between the actual speed of the motor and the maximum speed limit, the current frame command torque is PI-regulated to obtain the PI-regulated output torque; Torque limitation is performed on the PI-regulated output torque and the current frame command torque to obtain an operable torque output by the maximum speed limitation function.

4. The control method of the road sensing motor according to claim 3, characterized in that: Before performing PI regulation on the current frame command torque according to the difference between the actual motor speed and the maximum limit speed to obtain the PI regulated output torque, the method further includes: Obtaining a command torque difference according to the current frame command torque and the previous frame command torque; The command torque difference is fed back to the PI regulation.

5. The control method of the road sensing motor according to claim 3, characterized in that: The step of performing torque limitation on the PI adjustment output torque and the current frame command torque to obtain the operable torque output by the maximum speed limit function includes: Determining whether the absolute value of the PI-regulated output torque is greater than zero; If yes, then according to the previous frame command torque and the current frame command torque, the command torque difference is obtained; Assigning the operable torque output by the maximum speed limit function to the difference between the previous frame command torque and the PI adjustment output torque; The previous frame command torque is assigned as the current frame command torque.

6. The control method of the road sensing motor according to claim 3, characterized in that: The step of performing torque limitation on the PI adjustment output torque and the current frame command torque to obtain the operable torque output by the maximum speed limit function includes: Determining whether the absolute value of the PI-regulated output torque is greater than zero; If not, the command torque difference is assigned a value of zero; Assigning the operable torque output by the maximum speed limit function to the current frame command torque; The previous frame command torque is assigned as the current frame command torque.

7. The control method of the road sensing motor according to claim 3, characterized in that: Before performing PI regulation on the current frame command torque according to the difference between the actual motor speed and the maximum limit speed to obtain the PI regulated output torque, the method further includes: Determine whether the road sensing motor is rotating forward; if so, perform a step of performing PI adjustment on the current frame command torque; otherwise, perform a step of performing PI adjustment on the current frame command torque after taking a negative value for the maximum speed limit.

8. A control device for a road sensing motor, characterized in that: include: An instruction acquisition module is used to acquire the current frame instruction torque, the actual motor speed and the maximum limit speed; wherein the current frame instruction torque is given by an external control system; A maximum speed limit module is used to trigger the current frame command torque adjustment function when the actual speed of the motor exceeds the maximum speed limit, and to perform a maximum speed limit on the current frame command torque according to the difference between the actual speed of the motor and the maximum speed limit, so as to obtain an operable torque output by the maximum speed limit function; A three-dimensional current calibration module, used to calibrate the ammeter according to the operable torque, bus voltage and three-dimensional current output by the maximum speed limit function to obtain a d-axis current and a q-axis current; A current loop control module is used to perform current closed-loop control according to the d-axis current and the q-axis current.

9. A vehicle, characterized in that: The vehicle includes a road sensing motor, a road sensing motor controller and an external control system; The road sensing motor controller comprises: at least one processor; and a memory communicatively connected to the at least one processor; wherein, The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor so that the at least one processor can execute the control method of the road sensor motor according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores computer instructions, and the computer instructions are used to enable a processor to implement the control method of the road sensor motor according to any one of claims 1 to 7 when executed.

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