Control method and system of vehicle-mounted driving motor and vehicle

Abstract

The embodiment of the invention provides a control method and system of a vehicle-mounted driving motor and a vehicle, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring a current parameter value of an influence parameter according to a current working condition of a vehicle-mounted driving motor; querying a mapping relationship between the parameter value of the influence parameter and the compensation value according to the current parameter value of the influence parameter, and determining the current compensation value of the influence parameter; based on the current compensation value of the influence parameter, adjusting the driving parameter value of the vehicle-mounted driving motor; and controlling a vehicle-mounted driving motor to drive a vehicle-mounted component according to the adjusted driving parameter value. According to the method of the embodiment of the invention, the control of the vehicle-mounted driving motor can be compensated, and the control stability and precision of the vehicle-mounted electrical components can be improved by controlling the vehicle-mounted driving motor.

Description

Technical Field

[0001] Embodiments of the present invention relate to the field of vehicle control technology, and in particular, to a control method and system for a vehicle-mounted drive motor and a vehicle. Background Art

[0002] Currently, the control method for vehicle components plays a vital role in modern automotive technology, ensuring the smooth, safe and efficient opening and closing of vehicle components. However, the current control method for vehicle components performs well under standard conditions, but under some non-standard environmental conditions, the control of vehicle components may affect the stability and accuracy of vehicle components, which may cause the vehicle components to fail to work properly in some cases. Summary of the invention

[0003] Based on the above technical problems, an embodiment of the present invention provides a control method, system and vehicle for a vehicle-mounted drive motor to compensate for the control of the vehicle-mounted drive motor, thereby improving the control stability and accuracy of the vehicle-mounted electrical components by controlling the vehicle-mounted drive motor.

[0004] A first aspect of an embodiment of the present invention provides a method for controlling a vehicle-mounted drive motor, the method comprising:

[0005] According to the current working condition of the vehicle-mounted drive motor, a current parameter value of an influencing parameter is obtained, where the influencing parameter is a parameter that affects the operating state of the vehicle-mounted components driven by the vehicle-mounted drive motor;

[0006] According to the current parameter value of the influencing parameter, query the mapping relationship between the parameter value of the influencing parameter and the compensation value to determine the current compensation value of the influencing parameter;

[0007] Adjusting a driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter;

[0008] The vehicle-mounted driving motor is controlled to drive the vehicle-mounted components according to the adjusted driving parameter value.

[0009] Optionally, the obtaining of the current parameter value of the influencing parameter according to the current working condition of the vehicle-mounted drive motor includes at least one of the following:

[0010] Obtaining the temperature value of the current environment of the vehicle-mounted drive motor;

[0011] Obtaining current load values ​​of vehicle-mounted components driven by the vehicle-mounted drive motor;

[0012] Obtaining a current voltage value provided by an on-board power supply to the on-board drive motor;

[0013] Obtain the slope value of the ground on which the vehicle to which the vehicle-mounted drive motor belongs is currently located.

[0014] Optionally, the method further comprises:

[0015] Obtaining a reference time required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run a target travel under a reference working condition;

[0016] While keeping the parameter values ​​of other influencing parameters in the reference working condition unchanged, adjust the parameter value of the target influencing parameter;

[0017] measuring different lengths of time required for the on-board drive motor to drive the on-board components to run the target travel when the parameter value of the target influencing parameter takes different values;

[0018] Determining an impact factor of the target impact parameter based on the reference duration and the different durations;

[0019] Based on the influencing factor and the calibration amount of the target influencing parameter, a mapping relationship between the parameter value of the target influencing parameter and the compensation value is determined.

[0020] Optionally, the method further comprises:

[0021] Acquiring current aging information of the vehicle-mounted drive motor;

[0022] Determining a motor aging compensation factor according to the current aging information;

[0023] The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes:

[0024] Based on the current compensation value of the influencing parameter and the motor aging compensation factor, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

[0025] Optionally, the method further comprises:

[0026] Obtaining a first motor driving duty cycle required for the vehicle-mounted driving motor to drive the vehicle-mounted components to run a target stroke under a target operating effect under a reference operating condition;

[0027] The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes:

[0028] Based on the current compensation value of the influencing parameter and the first motor driving duty cycle, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

[0029] Optionally, the method further comprises:

[0030] Obtaining a second motor driving duty ratio required for the vehicle-mounted driving motor to drive the vehicle-mounted component to operate to different positions under a target operating effect under a reference operating condition;

[0031] Obtaining the current operating status of the vehicle-mounted components;

[0032] The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes:

[0033] Based on the current compensation value of the influencing parameter and the second motor drive duty cycle corresponding to the current operating state of the on-board component, the drive parameter value of the on-board drive motor is adjusted to obtain the adjusted drive parameter value.

[0034] Optionally, the adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes:

[0035] Based on the current compensation value of the influencing parameter, adjusting the start-up driving voltage value of the vehicle-mounted driving motor;

[0036] The controlling the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter value comprises:

[0037] The vehicle-mounted drive motor is controlled to drive the vehicle-mounted components according to the adjusted start-up drive voltage value.

[0038] A second aspect of an embodiment of the present invention provides a control method system for a vehicle-mounted drive motor, the system comprising:

[0039] A pressure sensor is used to collect the current load value of the vehicle components driven by the vehicle drive motor;

[0040] A temperature sensor, used to collect the temperature value of the current environment of the vehicle-mounted drive motor;

[0041] A voltage acquisition device, used to acquire a current voltage value provided by the vehicle-mounted power supply to the vehicle-mounted drive motor;

[0042] A posture sensor, used to collect the slope value of the ground on which the vehicle to which the vehicle-mounted drive motor belongs is currently located;

[0043] A control unit is used to execute the control method of the vehicle-mounted drive motor according to the first aspect of the embodiment of the present invention.

[0044] Optionally, the system further comprises:

[0045] The sampling resistor is used to collect the current aging information of the vehicle-mounted drive motor.

[0046] A third aspect of an embodiment of the present invention provides a vehicle, comprising at least: an on-board power supply, an on-board drive motor, on-board components and a control unit; when the control unit is executed, a control method for controlling the on-board drive motor according to the first aspect of the embodiment of the present invention is implemented.

[0047] In the control method of the vehicle-mounted drive motor in an embodiment of the present invention, a mapping relationship between the parameter value of the influencing parameter and the compensation value of the influencing parameter is set in advance. Under the current working conditions of the actual scenario, the current compensation value of the influencing parameter is determined by the current parameter value of the influencing parameter and the mapping relationship, and then the driving parameter value of the vehicle-mounted drive motor is adjusted based on the current compensation value, so as to control the vehicle-mounted drive motor to drive the vehicle-mounted components according to the adjusted driving parameter value, thereby improving the stability and accuracy of the control of the vehicle-mounted electrical components, so as to avoid the stability, accuracy and response speed of the vehicle-mounted components being affected under non-standard environmental conditions, resulting in the vehicle-mounted components failing to work normally. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings required for use in the description of the embodiments of the present invention will be briefly introduced below. Obviously, the accompanying drawings in the following description are only some embodiments of the present invention. For ordinary technicians in this field, other accompanying drawings can be obtained based on these accompanying drawings without paying creative labor.

[0049] Figure 1 is a flow chart of a method for controlling a vehicle-mounted drive motor according to an embodiment of the present invention;

[0050] Figure 2 is a diagram showing the relationship between the tailgate opening operation time and the voltage, provided in one embodiment of the present invention;

[0051] Figure 3 is a relationship diagram of a tailgate voltage influencing factor proposed by an embodiment of the present invention;

[0052] Figure 4 A diagram showing a relationship between a tailgate voltage compensation factor when K1=1 according to an embodiment of the present invention;

[0053] Figure 5 is a relationship diagram of tailgate opening operation time versus temperature proposed by an embodiment of the present invention;

[0054] Figure 6 is a relationship diagram of a tailgate temperature influencing factor proposed by an embodiment of the present invention;

[0055] Figure 7 A relationship diagram of the tailgate temperature compensation factor when K2=1 provided in one embodiment of the present invention;

[0056] Figure 8 is a relationship diagram of a tailgate opening operation time and load proposed by an embodiment of the present invention;

[0057] Fig. 9 is a relationship diagram of a tailgate load influencing factor proposed by an embodiment of the present invention;

[0058] Fig.10 A diagram showing a relationship between tailgate load compensation factors when K3=1 according to an embodiment of the present invention;

[0059] Fig.11 is a relationship diagram of a tailgate opening operation time and an uphill and downhill X-axis angle, proposed by an embodiment of the present invention;

[0060] Fig.12 is a relationship diagram of factors affecting uphill and downhill tailgate operation proposed by an embodiment of the present invention;

[0061] Fig.13 A relationship diagram of the tailgate uphill and downhill compensation factors when K4=1 provided in an embodiment of the present invention;

[0062] Fig.14 is a relationship diagram of a tailgate opening operation time and a left and right slope y-axis angle, proposed by an embodiment of the present invention;

[0063] Fig.15 is a relationship diagram of the influence factors of the left and right slopes of a tailgate proposed by an embodiment of the present invention;

[0064] Fig.16 A diagram showing the relationship between the left and right slope compensation factors of the tailgate when K5=1 according to an embodiment of the present invention;

[0065] Fig.17 is a structural block diagram of a control system for a vehicle-mounted drive motor provided by an embodiment of the present invention;

[0066] Fig.18 It is a structural block diagram of a vehicle control system shown in one embodiment of the present invention. DETAILED DESCRIPTION

[0067] The following will be combined with the drawings in the embodiments of the present invention to clearly and completely describe the technical solutions in the embodiments of the present invention. Obviously, the described embodiments are 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 are within the scope of protection of the present invention.

[0068] Reference Figure 1 , Figure 1 FIG. 1 is a flow chart of a method for controlling a vehicle-mounted drive motor according to an embodiment of the present invention. Figure 1As shown, the control method of the vehicle-mounted drive motor provided by the first aspect of the embodiment of the present invention may include the following steps:

[0069] Step S11: according to the current working condition of the vehicle-mounted driving motor, obtaining the current parameter value of the influencing parameter, wherein the influencing parameter is a parameter that affects the operating state of the vehicle-mounted components driven by the vehicle-mounted driving motor.

[0070] In this embodiment, the current parameter value of the influencing parameter can be obtained according to the current working condition of the vehicle-mounted drive motor when it is actually working. Among them, the influencing parameter of this embodiment refers to the parameter that affects the operating state of the vehicle-mounted components driven by the vehicle-mounted drive motor.

[0071] Step S12: According to the current parameter value of the influencing parameter, query the mapping relationship between the parameter value of the influencing parameter and the compensation value to determine the current compensation value of the influencing parameter.

[0072] In this embodiment, a mapping relationship between the parameter value of the influencing parameter and the compensation value of the influencing parameter is set in advance. After the current parameter value of the influencing parameter is obtained, the mapping relationship between the parameter value of the influencing parameter and the compensation value can be queried according to the current parameter value of the influencing parameter to determine the current compensation value of the influencing parameter. The compensation value of this embodiment represents a factor that compensates for the deviation of the operation of the vehicle-mounted component caused by the difference in the influencing parameter. The purpose of the compensation value is to reduce the deviation of the operation of the vehicle-mounted component caused by the deviation of the influencing parameter.

[0073] Step S13: adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter.

[0074] In this embodiment, after obtaining the current compensation value of the influencing parameter, the influencing parameter affecting the operating state of the vehicle-mounted component can be compensated accordingly based on the current compensation value of the influencing parameter, and the driving parameter value of the vehicle-mounted driving motor can be adjusted to obtain the adjusted driving parameter value. Among them, the driving parameter value of this embodiment is the parameter value of the driving parameter used by the vehicle-mounted driving motor to drive the vehicle-mounted component.

[0075] Step S14: controlling the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter values.

[0076] In this embodiment, the vehicle-mounted driving motor can be controlled to drive the vehicle-mounted components according to the adjusted driving parameter values, thereby achieving control over the vehicle-mounted components.

[0077] In this embodiment, under the current working conditions of the actual scenario, the current compensation value of the influencing parameter is determined by the mapping relationship between the current parameter value of the influencing parameter and the pre-set parameter value of the influencing parameter and the compensation value of the influencing parameter, and then the driving parameter value of the vehicle-mounted driving motor is adjusted based on the current compensation value, so as to control the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter value, thereby improving the stability and accuracy of the control of the vehicle-mounted electrical components, so as to avoid the stability, accuracy and response speed of the vehicle-mounted components being affected under non-standard environmental conditions, resulting in the vehicle-mounted components failing to work normally, thereby providing users with a more stable and reliable vehicle-mounted component usage experience.

[0078] In combination with the above embodiments, in an optional implementation manner, the control method of the vehicle-mounted drive motor provided in this embodiment can be applied to a control unit of a vehicle, and the control unit can be a microcontroller unit (MCU).

[0079] In combination with the above embodiments, in an optional embodiment, the vehicle-mounted components may be a tailgate, a window, a roof window, a wiper, etc.

[0080] In combination with the above embodiments, in one implementation, the present invention further provides a method for controlling a vehicle-mounted drive motor. In this method, the influencing parameters include at least one of the following: the ambient temperature of the vehicle-mounted drive motor, the load of the vehicle-mounted components driven by the vehicle-mounted drive motor, the voltage provided by the vehicle-mounted power supply to the vehicle-mounted drive motor; and the slope of the ground where the vehicle to which the vehicle-mounted drive motor belongs is located. The "obtaining the current parameter value of the influencing parameter according to the current working condition of the vehicle-mounted drive motor" in the above step S11 may specifically include at least one of the following steps:

[0081] Step S21: obtaining the temperature value of the current environment of the vehicle-mounted drive motor.

[0082] In this embodiment, since the control accuracy of the vehicle-mounted drive motor for the vehicle-mounted components will be affected under abnormal temperature (such as extreme temperature), it is necessary to use the ambient temperature of the vehicle-mounted drive motor as an influencing parameter for corresponding compensation. Specifically, the temperature value of the current environment of the vehicle-mounted drive motor can be obtained through a temperature sensor according to the current working condition of the vehicle-mounted drive motor.

[0083] Step S22: obtaining the current load value of the vehicle-mounted components driven by the vehicle-mounted drive motor.

[0084] In this embodiment, when the vehicle-mounted components are loaded (such as rain or snow on the vehicle-mounted components in rainy and snowy days), the control accuracy of the vehicle-mounted drive motor for the vehicle-mounted components will be affected. Therefore, the load of the vehicle-mounted components driven by the vehicle-mounted drive motor needs to be used as an influencing parameter for corresponding compensation. Specifically, the current load value of the vehicle-mounted components driven by the vehicle-mounted drive motor can be obtained through a pressure sensor according to the current working condition of the vehicle-mounted drive motor.

[0085] Step S23: obtaining a current voltage value provided by the vehicle-mounted power supply to the vehicle-mounted drive motor.

[0086] In this embodiment, when the voltage provided by the vehicle-mounted drive motor is unstable, the control accuracy of the vehicle-mounted drive motor for the vehicle-mounted components will be affected. Therefore, it is necessary to use the voltage provided by the vehicle-mounted power supply to the vehicle-mounted drive motor as an influencing parameter for corresponding compensation. Specifically, the current voltage value provided by the vehicle-mounted power supply to the vehicle-mounted drive motor can be obtained through the voltage acquisition device according to the current working condition of the vehicle-mounted drive motor.

[0087] Step S24: Obtain the slope value of the ground on which the vehicle to which the vehicle-mounted drive motor belongs is currently located.

[0088] In this embodiment, since the control accuracy of the vehicle-mounted drive motor for the vehicle-mounted components will be affected when the ground where the vehicle-mounted drive motor is located has a slope, it is necessary to use the slope of the ground where the vehicle-mounted drive motor is located as an influencing parameter for corresponding compensation. Specifically, the slope value of the ground where the vehicle-mounted drive motor is currently located can be obtained through a posture sensor according to the current working condition of the vehicle-mounted drive motor.

[0089] In combination with the above embodiments, in one implementation, the present invention further provides a method for controlling a vehicle-mounted drive motor. In the method, in addition to the above steps, steps S31 to S35 may also be included:

[0090] Step S31: Obtaining a reference time required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run a target stroke under a reference working condition.

[0091] In this embodiment, the reference duration required for the vehicle's on-board drive motor to drive the on-board components to run a target stroke under the vehicle's reference working conditions can be obtained. The target stroke in this embodiment is the stroke that the on-board components run for a target stage of normal operation; for example, when the on-board components are tailgates, windows, roof windows or wipers, the target stroke is the stroke that the tailgate, windows, roof windows or wipers are opened or closed when they are working normally. The reference duration is the duration that the on-board components run for a target stage of normal operation; for example, when the on-board components are tailgates, windows, roof windows or wipers, the reference duration is the duration that the tailgate, windows, roof windows or wipers are opened or closed when they are working normally.

[0092] The reference operating conditions of this embodiment include: the current ambient temperature of the vehicle drive motor is normal temperature (such as 25°C), the vehicle components driven by the vehicle drive motor are unloaded; the voltage provided by the vehicle power supply to the vehicle drive motor is a reference voltage (such as 13.5V); and the current ground where the vehicle to which the vehicle drive motor belongs is level ground.

[0093] Step S32: adjusting the parameter value of the target influencing parameter while keeping the parameter values ​​of other influencing parameters in the reference condition unchanged.

[0094] In this embodiment, the target influencing parameter can be any influencing parameter, and the parameter value of the target influencing parameter can be adjusted while keeping the parameter values ​​of other influencing parameters except the target influencing parameter in the reference condition unchanged. In other words, other influencing parameters are taken as fixed values ​​(standard values), and the target influencing parameter is adjusted as a variable.

[0095] Step S33: measuring different durations required for the vehicle-mounted driving motor to drive the vehicle-mounted components to run the target stroke when the parameter value of the target influencing parameter takes different values.

[0096] In this embodiment, the parameter value of the target influencing parameter can be set to different values, and the different time lengths required for the on-board drive motor to drive the on-board components to run the target stroke can be measured respectively when the parameter value of the target influencing parameter takes different values.

[0097] Step S34: Determine the impact factor of the target impact parameter based on the reference duration and the different durations.

[0098] In this embodiment, after measuring the different durations required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run the target travel when the parameter value of the target influencing parameter takes different values, the influencing factor of the target influencing parameter can be determined based on the reference duration and the different durations. Among them, the influencing factor of this embodiment characterizes the impact of the target influencing parameter on the operation of the entire vehicle-mounted component, resulting in the deviation of the operation of the vehicle-mounted component from the ideal working condition.

[0099] Step S35: Determine a mapping relationship between the parameter value of the target influencing parameter and the compensation value based on the influencing factor and the calibration amount of the target influencing parameter.

[0100] In this embodiment, after the influence factor of the target influence parameter is obtained, the mapping relationship between the parameter value of the target influence parameter and the compensation value of the target influence parameter can be determined and saved based on the influence factor of the target influence parameter and the preset calibration amount. In an optional example, different target influence parameters can correspond to the same or different preset calibration amounts, which is not limited.

[0101] In combination with the above embodiments, in an optional example, the vehicle-mounted component is a tailgate, the target influencing parameter is the voltage provided by the vehicle-mounted power supply to the vehicle-mounted drive motor, which is a variable; the other influencing parameters are: the ambient temperature of the vehicle-mounted drive motor, the load of the tailgate driven by the vehicle-mounted drive motor, and the slope of the ground where the vehicle to which the vehicle-mounted drive motor belongs is located, which are fixed values ​​(i.e., standard values, the ambient temperature of the vehicle-mounted drive motor is room temperature, the tailgate driven by the vehicle-mounted drive motor has no load, and the ground where the vehicle to which the vehicle-mounted drive motor belongs is horizontal ground). The voltage provided by the vehicle-mounted power supply to the vehicle-mounted drive motor is 10.5V, 12V, 13.5V, and 15V, respectively, and the different time lengths T required for the vehicle-mounted drive motor to drive the tailgate to run the target stroke are measured when the voltage provided by the vehicle-mounted power supply to the vehicle-mounted drive motor is 10.5V, 12V, 13.5V, and 15V, respectively. V The measured data is as follows Figure 2 As shown, Figure 2 is a diagram showing the relationship between the tailgate opening operation time and the voltage according to an embodiment of the present invention. Figure 2 The curve fitting formula 1 is: T V =-0.6667*V+15.5. Wherein, curve formula 1 is the transfer function, T V is the duration of the entire process of opening or closing the tailgate at this voltage, and V is the voltage provided by the on-board power supply to the on-board drive motor.

[0102] And, the factors affecting the voltage provided by the vehicle power supply to the vehicle drive motor for: Among them, t 电压 is T in curve formula 1V , t 常压13.5V The base duration.

[0103] According to the curve formula 1 and the influencing factors of the voltage provided by the vehicle power supply to the vehicle drive motor Can get Figure 3 , Figure 3 This is a relationship diagram of a tailgate voltage influence factor proposed in an embodiment of the present invention. The voltage compensation factor is used to reduce the deviation caused by the voltage difference. When the driving voltage is low, the duty cycle output needs to be increased when controlling the vehicle-mounted driving motor. Therefore, the voltage compensation factor is proportional to the voltage influence factor, and the voltage compensation factor is obtained: K1 is the calibration value (0-1), and K1 is not equal to 0, such as Figure 4 As shown, Figure 4 A diagram showing the relationship between the tailgate voltage compensation factor when K1=1 is provided for an embodiment of the present invention. Among them, the voltage impact factor is the impact of the voltage on the entire system, which causes the system operation to deviate from the ideal operating condition. For example, the tailgate is open longer at 10.5V compared to 13.5V. Voltage compensation factor (the compensation value of the voltage provided by the vehicle power supply to the vehicle drive motor): a factor that compensates for the system operation deviation caused by the voltage difference, with the purpose of reducing the system deviation caused by the voltage deviation, such as ρ v＝10.5V >ρ v＝13.5V .

[0104] In combination with the above embodiments, in an optional example, the on-board component is the tailgate, the target influencing parameter is the on-board power supply, and the ambient temperature of the on-board drive motor is a variable; the other influencing parameters are: the voltage provided by the on-board drive motor, the load of the tailgate driven by the on-board drive motor, and the slope of the ground where the vehicle to which the on-board drive motor belongs is located, which are fixed values ​​(i.e., standard values, the voltage provided by the on-board drive motor is 13.5V, the tailgate driven by the on-board drive motor has no load, and the ground where the vehicle to which the on-board drive motor belongs is horizontal). The ambient temperatures of the on-board drive motor are set to -30°C, 0°C, 25°C, and 60°C, respectively. The different time lengths Tt required for the on-board drive motor to drive the tailgate to run the target stroke are measured when the ambient temperatures of the on-board drive motor are -30°C, 0°C, 25°C, and 60°C, respectively. The measured data are as follows: Figure 5 As shown, Figure 5 is a diagram showing the relationship between the tailgate opening time and the temperature, according to an embodiment of the present invention. Figure 5 The curve fitting formula 2 is: T t =-0.000189*t 2 +0.01106*t+6.32. Among them, curve formula 2 is the transfer function, T tis the duration of the entire process of opening or closing the tailgate at this temperature, and t is the ambient temperature of the vehicle drive motor.

[0105] And the influencing factors of the ambient temperature of the vehicle drive motor for: Among them, t T is T in curve formula 2 t , t 常温25℃ The base duration.

[0106] According to the curve formula 2 and the influencing factors of the ambient temperature of the vehicle drive motor Can get Figure 6 , Figure 6 This is a relationship diagram of a tailgate temperature influence factor proposed in an embodiment of the present invention. The function of the temperature compensation factor is to reduce the deviation caused by the temperature difference. When the temperature deviates from the ideal working condition, the opening time becomes longer. The compensation factor should mitigate the impact. Therefore, the temperature compensation factor is inversely proportional to the temperature influence factor. The temperature compensation factor is obtained: K2 is the calibration value (0-1), and K2 is not equal to 0, such as Figure 7 As shown, Figure 7 A relationship diagram of the tailgate temperature compensation factor when K2=1 is provided for an embodiment of the present invention. Among them, the temperature impact factor is the impact of temperature on the entire system, which causes the deviation of the system operation compared with the ideal operating condition: for example, the tailgate is opened longer at -30℃ compared with 25℃. Temperature compensation factor (compensation value of the ambient temperature of the vehicle drive motor): a factor that compensates for the deviation of the system operation caused by different temperatures, with the purpose of reducing the system deviation caused by temperature deviation.

[0107] In combination with the above embodiments, in an optional example, the on-board component is a tailgate, the target influencing parameter is the load of the tailgate driven by the on-board drive motor when the on-board power supply is a variable; the other influencing parameters are: the voltage provided by the on-board drive motor, the ambient temperature of the on-board drive motor, and the slope of the ground where the vehicle to which the on-board drive motor belongs is located, which are fixed values ​​(i.e., standard values, the voltage provided by the on-board drive motor is 13.5V, the ambient temperature of the on-board drive motor is 25°C, and the ground where the vehicle to which the on-board drive motor belongs is a horizontal ground). The loads of the tailgate driven by the on-board drive motor are set to 1kg, 3kg, and 5kg, respectively, and the different lengths of time T required for the on-board drive motor to drive the tailgate to run the target stroke are measured when the loads of the tailgate driven by the on-board drive motor are 1kg, 3kg, and 5kg, respectively. m The measured data is as follows Figure 8 As shown, Figure 8 is a diagram showing the relationship between the tailgate opening operation time and the load, according to an embodiment of the present invention. Figure 8 The curve fitting formula 3 is: Tm =0.2*m+6.5. Wherein, curve formula 3 is the transfer function, T m is the duration of the entire process of opening or closing the tailgate under the load, and m is the load weight of the tailgate driven by the vehicle-mounted drive motor.

[0108] And, the influencing factors of the load on the tailgate driven by the vehicle drive motor for: Among them, t m is T in curve formula 2 m , t 无负载 The base duration.

[0109] According to the curve formula 3 and the influencing factors of the ambient temperature of the vehicle drive motor Can get Fig. 9 , Fig. 9 This is a relationship diagram of a tailgate load influence factor proposed in an embodiment of the present invention. The role of the load compensation factor is to reduce the deviation caused by different loads. When the load increases, the duty cycle output of the control motor increases in turn. Therefore, the load compensation factor is proportional to the load influence factor, and the load compensation factor is obtained: K3 is the calibration value (0-1), and K3 is not equal to 0, such as Fig.10 As shown, Fig.10 A diagram showing the relationship between the tailgate load compensation factor when K3=1 is provided for one embodiment of the present invention. Among them, load influence factor: the impact of temperature on the entire system, which causes the system operation to deviate from the ideal operating condition. For example, when there is 3kg of snow on the tailgate, the tailgate will be open longer than when there is no snow on the tailgate. Load compensation factor (the on-board power supply is the compensation value for the load of the tailgate driven by the on-board drive motor): a factor that compensates for the deviation of the system operation caused by different loads, with the purpose of reducing the system deviation caused by load deviation.

[0110] In combination with the above embodiments, in an optional example, the vehicle-mounted component is a tailgate, the target influencing parameter is the vehicle-mounted power supply, the slope of the ground where the vehicle to which the vehicle-mounted drive motor belongs is located, which is a variable; the other influencing parameters are: the voltage provided by the vehicle-mounted drive motor, the ambient temperature of the vehicle-mounted drive motor, and the load of the tailgate driven by the vehicle-mounted drive motor, which are fixed values ​​(i.e., standard values, the voltage provided by the vehicle-mounted drive motor is 13.5V, the ambient temperature of the vehicle-mounted drive motor is normal temperature 25°C, and the tailgate driven by the vehicle-mounted drive motor is unloaded).

[0111] Among them, the slope of the ground on which the vehicle to which the on-board drive motor belongs is located can be divided into up and down slopes and left and right inclined slopes.

[0112] When the slope of the ground where the vehicle to which the on-board drive motor belongs is uphill or downhill, the uphill slope of the ground where the vehicle to which the on-board drive motor belongs is set to -12°, -6°, 0°, 6°, and 12° respectively, and the different lengths of time required for the on-board drive motor to drive the tailgate to run the target stroke are measured respectively when the uphill slope of the ground where the vehicle to which the on-board drive motor belongs is -12°, -6°, 0°, 6°, and 12° respectively. The measured data is as follows Fig.11 As shown, Fig.11 is a relationship diagram of the tailgate opening operation time and the uphill and downhill X-axis angle proposed by an embodiment of the present invention. Fig.11 The curve fitting formula 4 is: Among them, curve formula 4 is the transfer function, The duration of the tailgate opening or closing process on the uphill or downhill slope. It is the uphill and downhill angle of the ground where the vehicle-mounted drive motor is located.

[0113] And the influencing factors of the ups and downslope of the ground where the vehicle drive motor is located for: in, is the curve formula 4 The base duration.

[0114] According to the curve formula 4 and the influencing factors of the ups and downslope of the ground where the vehicle drive motor is located Can get Fig.12 , Fig.12 This is a relationship diagram of the uphill and downhill influence factors of the tailgate proposed in an embodiment of the present invention. Because the car is in uphill and downhill conditions, the tailgate is subjected to increased force, and in turn, the output duty cycle needs to be increased to reduce the error, and the uphill and downhill compensation factor is obtained: K4 is the calibration value (0-1), and K4 is not equal to 0, such as Fig.13 As shown, Fig.13 A relationship diagram of the uphill and downhill compensation factors of the tailgate when K4=1 is provided for an embodiment of the present invention. Among them, uphill and downhill impact factor: the impact of uphill and downhill on the entire system, resulting in deviation of the system operation from the ideal operating condition. For example, the tailgate is open longer when the uphill slope is 10° compared to the horizontal condition. Uphill and downhill compensation factor (the slope of the ground where the vehicle to which the on-board drive motor belongs is the compensation value for uphill and downhill): a factor that compensates for the deviation of the system operation caused by the difference in uphill and downhill slopes, with the purpose of reducing the system deviation caused by uphill and downhill deviations.

[0115] When the slope of the ground where the vehicle to which the on-board drive motor belongs is a left-right inclined slope, the left-right inclined slopes of the ground where the vehicle to which the on-board drive motor belongs are set to -6°, 0°, and 6° respectively, and the different lengths of time required for the on-board drive motor to drive the tailgate to run the target stroke are measured respectively when the left-right inclined slopes of the ground where the vehicle to which the on-board drive motor belongs are -6°, 0°, and 6° respectively. The measured data is as follows Fig.14 As shown, Fig.14 is a diagram showing the relationship between the tailgate opening operation time and the left and right slope y-axis angles, according to an embodiment of the present invention. Fig.14 The curve fitting formula 5 is: Among them, curve formula 5 is the transfer function, The duration of the entire process of opening or closing the tailgate on the left or right slope. It is the left and right slope angle of the ground where the vehicle driving motor is located.

[0116] And the influencing factors of the left and right slopes of the ground where the vehicle drive motor is located for: in, is the curve formula 4 The base duration.

[0117] According to the curve formula 5 and the influencing factors of the left and right slopes of the ground where the vehicle drive motor is located Can get Fig.15 , Fig.15 This is a relationship diagram of the left and right slope influence factors of the tailgate proposed in an embodiment of the present invention. Because the car is in a left and right slope condition, the tailgate is subjected to increased force, and in turn, the output duty cycle needs to be increased to reduce the error, and the left and right slope compensation factors are obtained: K5 is the calibration value (0-1), and K5 is not equal to 0, such as Fig.16 As shown, Fig.16 A diagram showing the relationship between the left and right slope compensation factors of the tailgate when K5=1 is provided for an embodiment of the present invention. Among them, the left and right slope impact factors: the impact of the left and right slopes on the entire system, resulting in deviations in the system operation compared to the ideal operating condition, such as a 5° left slope compared to a horizontal condition, which takes longer for the tailgate to be opened. The left and right slope compensation factors (the slope of the ground where the vehicle to which the on-board drive motor belongs is the compensation value for the left and right slopes): factors that compensate for the deviation in system operation caused by the difference in the left and right slopes, with the purpose of reducing the system deviation caused by the deviation in the left and right slopes.

[0118] In combination with the above embodiments, the present invention further provides a method for controlling a vehicle-mounted drive motor. In the method, in addition to the above steps, steps S41 and S42 may be further included, and the above step S13 may specifically include step S43:

[0119] Step S41: obtaining current aging information of the vehicle-mounted drive motor.

[0120] In this embodiment, the current aging information of the vehicle-mounted drive motor can be obtained, and the aging information represents the aging condition of the vehicle-mounted drive motor. For example, the current aging information can be obtained based on the sampling resistor.

[0121] Step S42: determining a motor aging compensation factor according to the current aging information.

[0122] In this embodiment, based on the acquired current aging information, a motor aging compensation factor may be determined according to a motor aging coefficient algorithm, and the motor aging compensation factor is used to compensate the driving parameter value for the current aging information.

[0123] Step S43: Based on the current compensation value of the influencing parameter and the motor aging compensation factor, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

[0124] In this embodiment, the driving parameter value of the vehicle-mounted driving motor can be adjusted based on the current compensation value of the influencing parameter and the motor aging compensation factor to obtain the adjusted driving parameter value, so as to control the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter value.

[0125] In combination with the above embodiments, the present invention further provides a method for controlling a vehicle-mounted drive motor. In the method, in addition to the above steps, step S51 may be further included, and the above step S13 may specifically include step S52:

[0126] Step S51: obtaining a first motor drive duty cycle required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run a target stroke under a target operating effect under a reference condition.

[0127] In this embodiment, the first motor drive duty cycle required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run the target stroke under the target operating effect under the reference working conditions (such as normal temperature 25°C, normal voltage 13.5V, no load, and the vehicle is on the level ground) can be calibrated in advance, and the first motor drive duty cycle can be obtained. In this embodiment, the first electrode drive duty cycle is a constant. Among them, the target operating effect is the expected operating effect, such as the operating effect that the operating response speed meets the expected conditions.

[0128] Step S52: Based on the current compensation value of the influencing parameter and the first motor driving duty cycle, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

[0129] In this embodiment, the driving parameter value of the vehicle-mounted driving motor can be adjusted based on the current compensation value of the influencing parameter and the first motor driving duty cycle to obtain an adjusted driving parameter value to control the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter value.

[0130] In combination with the above embodiments, the present invention further provides a method for controlling a vehicle-mounted drive motor. In the method, in addition to the above steps, steps S61 and S62 may be further included, and the above step S13 may specifically include step S63:

[0131] Step S61: obtaining a second motor driving duty ratio required for the vehicle-mounted driving motor to drive the vehicle-mounted components to operate to different positions under a target operating effect under a reference operating condition.

[0132] In this embodiment, the second motor drive duty cycle required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run to different positions under the target operating effect under the reference working conditions (such as normal temperature 25°C, normal voltage 13.5V, no load, and the car is on the horizontal ground) can be calibrated in advance, and different second motor drive duty cycles corresponding to different positions can be obtained. In this embodiment, the second electrode drive duty cycle is not a constant value during the operation of the vehicle-mounted components, and it has a certain change according to the operation of the vehicle-mounted components to different positions (such as different opening or closing angles). Among them, the target operating effect is the expected operating effect, such as the operating effect of the operating response speed meeting the expected conditions.

[0133] Step S62: Acquire the current operating status of the vehicle-mounted components.

[0134] In this embodiment, the current operating state of the vehicle-mounted component can be obtained, and the current operating state includes at least one of the following: current operating position, current operating speed. For example, when the current operating state includes the current operating position, the current opening or closing angle of the vehicle-mounted component can be obtained as the current operating position.

[0135] Step S63: Based on the current compensation value of the influencing parameter and the second motor drive duty cycle corresponding to the current operating state of the vehicle-mounted component, the drive parameter value of the vehicle-mounted drive motor is adjusted to obtain the adjusted drive parameter value.

[0136] In this embodiment, based on the current operating state of the vehicle-mounted components, the second motor drive duty cycle corresponding to the current operating state of the vehicle-mounted components can be determined, and then based on the current compensation value of the influencing parameter and the second motor drive duty cycle corresponding to the current operating state of the vehicle-mounted components, the drive parameter value of the vehicle-mounted drive motor is adjusted to obtain the adjusted drive parameter value, so as to control the vehicle-mounted drive motor to drive the vehicle-mounted components according to the adjusted drive parameter value.

[0137] In combination with the above embodiments, in an optional embodiment, the driving parameters of the vehicle-mounted driving motor include at least any one of the following: driving voltage, driving current, and correspondingly, the driving parameter value includes at least any one of the following: driving voltage value, driving current value.

[0138] In combination with the above embodiments, the present invention further provides a method for controlling a vehicle-mounted drive motor. In the method, the above step S13 may specifically include step S71, and the above step S14 may specifically include step S72:

[0139] Step S71: adjusting the start-up driving voltage value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter.

[0140] In this embodiment, the driving parameter value may be a start-up driving voltage value. The start-up driving voltage value of the vehicle-mounted driving motor may be adjusted based on the current compensation value of the influencing parameter to obtain an adjusted start-up driving voltage value.

[0141] Step S72: Control the vehicle-mounted drive motor to drive the vehicle-mounted components according to the adjusted start-up drive voltage value.

[0142] In this embodiment, the vehicle-mounted driving motor can be controlled to drive the vehicle-mounted components according to the adjusted start-up driving voltage value, thereby achieving control over the vehicle-mounted components.

[0143] In addition, in another embodiment, the driving parameter value can also be a shutdown driving voltage value. The shutdown driving voltage value of the vehicle-mounted driving motor can be adjusted based on the current compensation value of the influencing parameter to obtain the adjusted shutdown driving voltage value, thereby controlling the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted shutdown driving voltage value, thereby realizing shutdown control of the vehicle-mounted components.

[0144] In combination with the above embodiments, in an optional example, a method for automatic compensation and adjustment of tailgate motor control is proposed. In this method, the vehicle-mounted component is a tailgate. According to the actual working condition of the tailgate, the control unit can collect the temperature Tx according to the temperature sensor, collect the tailgate load Mx according to the pressure sensor, and collect the inclination angle of the ground where the vehicle is located according to the nine-axis attitude sensor as φx and φy (Φx is the inclination angle of the X-axis (uphill and downhill direction) of the car, and Φy is the inclination angle of the y-axis (left and right slope direction) of the car). Then, according to the mapping relationship between the parameter value of each influencing parameter and the compensation value (such as the formula of each compensation factor in the above embodiment), the following voltage compensation factor β is obtained respectively: v , temperature compensation factor β T , load compensation factor β m , uphill and downhill compensation factor And left and right slope compensation factors

[0145] Next, obtain the duty cycle D of the prop motor driving the tailgate opening operation that is calibrated to provide a comfortable effect under the benchmark working conditions (normal temperature 25°C, normal voltage 13.5V, no load on the tailgate, and the vehicle on the level ground). 开 The motor drive duty cycle D of the propeller is comfortable and closes 关 Among them, D 开 The tailgate opening process is not necessarily a fixed value, but may vary according to the angle of the tailgate opening. 关 It is not necessarily a constant value during the tailgate closing process, and may vary according to the closing angle of the tailgate.

[0146] Finally, the compensated opening driving voltage V of the tailgate is calculated when it is actually working. c , and the tailgate closing drive voltage V after compensation when the tailgate is actually working d :

[0147]

[0148] in, is the motor aging compensation factor, which can be obtained according to the strut motor aging coefficient algorithm; KL30 is the vehicle battery voltage.

[0149] Through the automatic compensation and adjustment method for tailgate motor control of the present embodiment, the corresponding movement time is measured under various working conditions, and then the influence factor of the variable parameter under the working condition on the movement effect is derived according to the movement time. Then, when the movement is in the actual scene working condition, the various factors of the actual working condition are fed back and added to the control input. It can adapt to extreme and harsh working conditions, make the tailgate movement more stable and reliable, and improve the stability, accuracy and scene adaptability of the system, so as to provide users with a more stable and reliable electric tailgate usage experience.

[0150] It should be noted that, for the sake of simplicity, the method embodiments are described as a series of action combinations, but those skilled in the art should be aware that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0151] Based on the same inventive concept, an embodiment of the present invention provides a control system 1700 for a vehicle-mounted drive motor. Fig.17 , Fig.17 FIG. 1 is a structural block diagram of a control system for a vehicle-mounted drive motor provided by an embodiment of the present invention. Fig.17As shown, the control system 1700 of the vehicle-mounted drive motor at least includes:

[0152] The pressure sensor 1701 is used to collect the current load value of the vehicle components driven by the vehicle drive motor;

[0153] The temperature sensor 1702 is used to collect the temperature value of the current environment of the vehicle-mounted drive motor;

[0154] A voltage collection device 1703, used to collect the current voltage value provided by the vehicle power supply to the vehicle drive motor;

[0155] The attitude sensor 1704 is used to collect the slope value of the ground where the vehicle to which the vehicle-mounted drive motor belongs is currently located;

[0156] The control unit 1705 is used to execute the control method of the vehicle-mounted drive motor as described in the first aspect of the embodiment of the present invention.

[0157] Optionally, the vehicle-mounted drive motor control system 1700 further includes:

[0158] The sampling resistor is used to collect the current aging information of the vehicle-mounted drive motor.

[0159] like Fig.18 As shown, Fig.18 FIG. 1 is a structural block diagram of a vehicle control system according to an embodiment of the present invention. Fig.18 As shown, the vehicle control system at least includes: KL30 (car battery), motor drive circuit, strut motor, sampling resistor (for aging information collection), temperature sensor (for temperature collection), pressure sensor (for load collection), nine-axis attitude sensor (for uphill and downhill slope angle collection), DCDO module, LDO module and MCU. Among them, MCU at least includes: GPIO module, ADC module, SPI module and EEPROM module.

[0160] Based on the same inventive concept, another embodiment of the present invention provides a vehicle, comprising at least: an on-board power supply, an on-board drive motor, on-board components and a control unit; when the control unit is executed, the steps of the control method of the on-board drive motor of the first aspect of the embodiment of the present invention are implemented.

[0161] As for the system embodiment, since it is basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the partial description of the method embodiment.

[0162] The various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments. The same or similar parts between the various embodiments can be referenced to each other.

[0163] Those skilled in the art will appreciate that embodiments of the present invention may be provided as methods, systems, or computer program products. Therefore, embodiments of the present invention may take the form of complete hardware embodiments, complete software embodiments, or embodiments combining software and hardware. Moreover, embodiments of the present invention may take the form of computer program products implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0164] The embodiments of the present invention are described with reference to the flowcharts and / or block diagrams of the methods, terminal devices (systems), and computer program products according to the embodiments of the present invention. It should be understood that each process and / or block in the flowchart and / or block diagram, as well as the combination of the processes and / or blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing terminal device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing terminal device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0165] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing terminal device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce a manufactured product including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0166] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal device so that a series of operating steps are executed on the computer or other programmable terminal device to produce a computer-implemented process, thereby providing instructions for executing on the computer or other programmable terminal device to implement the process. Figure 1 A process or multiple processes and / or boxes Figure 1 A step that specifies a function in one or more boxes.

[0167] Although the preferred embodiments of the present invention have been described, those skilled in the art may make additional changes and modifications to these embodiments once they have learned the basic creative concept. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments and all changes and modifications that fall within the scope of the embodiments of the present invention.

[0168] Finally, it should be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or terminal device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or terminal device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the existence of other identical elements in the process, method, article or terminal device including the elements.

[0169] The above is a detailed introduction to a control method, system and vehicle for a vehicle-mounted drive motor provided by the present invention. Specific examples are used in this article to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only used to help understand the method of the present invention and its core idea; at the same time, for a general technician in this field, according to the idea of ​​the present invention, there will be changes in the specific implementation method and application scope. In summary, the content of this specification should not be understood as a limitation on the present invention.

Claims

1. A method for controlling a vehicle-mounted drive motor, characterized in that: The method comprises: According to the current working condition of the vehicle-mounted drive motor, a current parameter value of an influencing parameter is obtained, where the influencing parameter is a parameter that affects the operating state of the vehicle-mounted components driven by the vehicle-mounted drive motor; According to the current parameter value of the influencing parameter, query the mapping relationship between the parameter value of the influencing parameter and the compensation value to determine the current compensation value of the influencing parameter; Adjusting a driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter; The vehicle-mounted driving motor is controlled to drive the vehicle-mounted components according to the adjusted driving parameter value.

2. The control method of the vehicle-mounted drive motor according to claim 1, characterized in that: The obtaining of the current parameter value of the influencing parameter according to the current working condition of the vehicle-mounted drive motor includes at least one of the following: Obtaining the temperature value of the current environment of the vehicle-mounted drive motor; Obtaining current load values ​​of vehicle-mounted components driven by the vehicle-mounted drive motor; Obtaining a current voltage value provided by an on-board power supply to the on-board drive motor; Obtain the slope value of the ground on which the vehicle to which the vehicle-mounted drive motor belongs is currently located.

3. The control method of the vehicle-mounted drive motor according to claim 1, characterized in that: The method further comprises: Obtaining a reference time required for the vehicle-mounted drive motor to drive the vehicle-mounted components to run a target travel under a reference working condition; While keeping the parameter values ​​of other influencing parameters in the reference working condition unchanged, adjust the parameter value of the target influencing parameter; measuring different lengths of time required for the on-board drive motor to drive the on-board components to run the target travel when the parameter value of the target influencing parameter takes different values; Determining an impact factor of the target impact parameter based on the reference duration and the different durations; Based on the influencing factor and the calibration amount of the target influencing parameter, a mapping relationship between the parameter value of the target influencing parameter and the compensation value is determined.

4. The control method of the vehicle-mounted drive motor according to any one of claims 1 to 3, characterized in that: The method further comprises: Acquiring current aging information of the vehicle-mounted drive motor; Determining a motor aging compensation factor according to the current aging information; The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes: Based on the current compensation value of the influencing parameter and the motor aging compensation factor, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

5. The control method of the vehicle-mounted drive motor according to any one of claims 1 to 3, characterized in that: The method further comprises: Obtaining a first motor driving duty cycle required for the vehicle-mounted driving motor to drive the vehicle-mounted components to run a target stroke under a target operating effect under a reference operating condition; The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes: Based on the current compensation value of the influencing parameter and the first motor driving duty cycle, the driving parameter value of the vehicle-mounted driving motor is adjusted to obtain the adjusted driving parameter value.

6. The control method for a vehicle-mounted drive motor according to any one of claims 1 to 3, characterized in that: The method further comprises: Obtaining a second motor driving duty ratio required for the vehicle-mounted driving motor to drive the vehicle-mounted component to operate to different positions under a target operating effect under a reference operating condition; Obtaining the current operating status of the vehicle-mounted components; The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes: Based on the current compensation value of the influencing parameter and the second motor drive duty cycle corresponding to the current operating state of the on-board component, the drive parameter value of the on-board drive motor is adjusted to obtain the adjusted drive parameter value.

7. The control method of a vehicle-mounted drive motor according to any one of claims 1 to 3, characterized in that: The adjusting the driving parameter value of the vehicle-mounted driving motor based on the current compensation value of the influencing parameter includes: Based on the current compensation value of the influencing parameter, adjusting the start-up driving voltage value of the vehicle-mounted driving motor; The controlling the vehicle-mounted driving motor to drive the vehicle-mounted components according to the adjusted driving parameter value comprises: The vehicle-mounted drive motor is controlled to drive the vehicle-mounted components according to the adjusted start-up drive voltage value.

8. A control system for a vehicle-mounted drive motor, characterized in that: The system at least comprises: A pressure sensor is used to collect the current load value of the vehicle components driven by the vehicle drive motor; A temperature sensor, used to collect the temperature value of the current environment of the vehicle-mounted drive motor; A voltage acquisition device, used to acquire a current voltage value provided by the vehicle-mounted power supply to the vehicle-mounted drive motor; A posture sensor, used to collect the slope value of the ground on which the vehicle to which the vehicle-mounted drive motor belongs is currently located; A control unit, used to execute the control method of the vehicle-mounted drive motor as described in any one of claims 1 to 7.

9. The control system of the vehicle-mounted drive motor according to claim 8, characterized in that: The system further comprises: The sampling resistor is used to collect the current aging information of the vehicle-mounted drive motor.

10. A vehicle, characterized in that: The method comprises at least: an on-board power supply, an on-board drive motor, on-board components and a control unit; when the control unit is executed, the control method for controlling the on-board drive motor according to any one of claims 1 to 7 is implemented.

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