Method and device for determining locked-rotor of driving motor in vehicle and vehicle-mounted terminal

Abstract

The invention discloses a locked-rotor determination method and device for a driving motor in a vehicle and a vehicle-mounted terminal, and relates to the technical field of vehicle detection. The locked-rotor determination method comprises the steps that in the vehicle running process, the rotating speed and driving current of a driving motor in a vehicle are obtained; when the rotating speed is smaller than a preset locked-rotor rotating speed threshold value, a heat accumulation value corresponding to the driving motor is determined based on the driving current of the driving motor and a preset locked-rotor current threshold value; on the basis of the heat accumulation value and a preset locked-rotor heat accumulation value, whether locked-rotor happens to the driving motor in the vehicle running process or not is determined, and the preset locked-rotor heat accumulation value is used for representing the maximum heat value accumulated in the process from normal vehicle running to locked-rotor of the driving motor. According to the embodiment of the invention, the locked-rotor condition of the driving motor under different output torques can be accurately determined, the accuracy and efficiency of locked-rotor identification are improved, and the service life of the driving motor is prolonged.

Description

Technical Field

[0001] The present application relates to the field of vehicle detection technology, and in particular to a method and device for determining a stall of a drive motor in a vehicle, and a vehicle-mounted terminal. Background Art

[0002] At present, with the development of society and the advancement of science and technology, the market share of electric vehicles is getting higher and higher. As the most core power device in electric vehicles, the safety and reliability of the drive motor assembly have received more and more attention. The performance of the drive motor driving the vehicle to climb a slope is an important indicator of the vehicle. Due to the presence of battery packs in electric vehicles, their weight is heavier than that of ordinary fuel vehicles. Therefore, climbing a slope is a test for the powertrain driven by the drive motor. In the process of climbing a slope, the vehicle is very likely to hover on the slope, which will cause the drive motor to stall. This stalling condition is very likely to cause damage to the drive motor.

[0003] However, the traditional method of determining whether the drive motor is stalled is usually based on the time when the drive motor is under different output torques. However, this method of determining stalling can only be performed when the output torque remains unchanged. It is impossible to determine the stalling condition of the drive motor under different output torques, which leads to low accuracy of stall identification. In addition, since the transmission link of different output torques is relatively long, the drive motor may be damaged during the signal transmission process, resulting in low efficiency of stall identification and affecting the service life of the drive motor. Summary of the invention

[0004] The embodiments of the present application provide a method, device and vehicle-mounted terminal for determining a stall of a drive motor in a vehicle. The embodiments provided by the present application solve the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiments provided by the present application can accurately determine the stall condition of the drive motor under different output torques, improve the accuracy and efficiency of stall identification, and thereby extend the service life of the drive motor.

[0005] In a first aspect of an embodiment of the present application, an embodiment of the present application provides a method for determining a stall of a drive motor in a vehicle, the method for determining a stall of a drive motor in a vehicle comprising:

[0006] During the driving of the vehicle, obtaining the rotation speed and driving current of the driving motor in the vehicle;

[0007] When the speed is less than the preset stall speed threshold, determining a heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold, wherein the heat accumulation value is used to characterize the heat value accumulated by the drive motor during the driving process of the vehicle;

[0008] Based on the heat accumulation value and the preset stall heat accumulation value, it is determined whether the drive motor is stalled during the driving of the vehicle, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

[0009] In a feasible implementation manner, when the speed is less than the preset stall speed threshold, determining the heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold includes:

[0010] When the rotation speed is less than the preset stall rotation speed threshold, determining the difference between the drive current of the drive motor and the square of a preset stall current threshold;

[0011] The difference is processed by time integration to determine the heat accumulation value corresponding to the drive motor.

[0012] In a feasible implementation manner, determining whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value includes:

[0013] If the heat accumulation value is greater than or equal to a preset stall heat accumulation value, it is determined that the drive motor is stalled during the driving of the vehicle;

[0014] If the heat accumulation value is less than the preset stall heat accumulation value, it is determined that the drive motor is not stalled during the driving of the vehicle.

[0015] In a feasible implementation manner, after determining whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value, the method for determining stall of the drive motor in the vehicle further includes:

[0016] After determining that the drive motor is stalled during the driving of the vehicle and performing stall adjustment of reducing the current and / or reducing the frequency of the drive motor, determining an adjusted speed and an adjusted drive current of the drive motor;

[0017] Determining a heat accumulation adjustment value corresponding to the drive motor based on the adjusted drive current and the preset stall current threshold;

[0018] If it is determined that the heat accumulation adjustment value is less than or equal to the preset stall heat adjustment value, it is determined to stop the stall adjustment of the drive motor, wherein the preset stall heat adjustment value is less than the preset stall heat accumulation value;

[0019] If it is determined that the adjusted rotation speed is greater than or equal to the preset stall rotation speed threshold, it is determined to stop stall monitoring of the drive motor.

[0020] In a feasible implementation manner, after determining to stop monitoring the stall of the drive motor if the adjusted speed is greater than or equal to the preset stall speed threshold, the method for determining the stall of the drive motor in the vehicle further includes:

[0021] Determining a heat slope corresponding to the drive motor based on the heat accumulation value and the heat accumulation time;

[0022] Based on the heat slope, heat decay processing is performed on the heat accumulation adjustment value until the heat accumulation adjustment value decreases to a set threshold value.

[0023] In a feasible implementation manner, determining the heat accumulation adjustment value corresponding to the drive motor based on the adjusted drive current and the preset stall current threshold includes:

[0024] Determining a difference between the adjusted drive current and the square of a preset locked-rotor current threshold;

[0025] The difference is processed by time integration to determine the heat accumulation adjustment value corresponding to the drive motor.

[0026] In a feasible implementation manner, the preset stall heat adjustment value is the difference between the preset stall heat cumulative value and the heat cumulative value.

[0027] According to a second aspect of the embodiments of the present application, a device for determining a stall of a drive motor in a vehicle is provided. The device for determining a stall of a drive motor in a vehicle comprises:

[0028] An acquisition module, used for acquiring the rotation speed and driving current of the driving motor in the vehicle during the driving of the vehicle;

[0029] a first determination module, configured to determine, when the rotation speed is less than the preset stall rotation speed threshold, a heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and a preset stall current threshold, wherein the heat accumulation value is used to characterize a heat value accumulated by the drive motor during the driving process of the vehicle;

[0030] The second determination module is used to determine whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and a preset stall heat accumulation value, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

[0031] According to a third aspect of an embodiment of the present application, an embodiment of the present application provides a vehicle-mounted terminal, comprising: a processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the vehicle-mounted terminal is running, the processor communicates with the memory via the bus, and the machine-readable instructions are executed by the processor when running, such as the steps of the method for determining the stall of a drive motor in a vehicle as described above.

[0032] In a sixth aspect of an embodiment of the present application, an embodiment of the present application provides a computer-readable storage medium having a computer program stored thereon, and when the computer program is executed by a processor, the steps of the method for determining a stall of a drive motor in a vehicle as described above are executed.

[0033] The embodiments of the present application provide a method, device and vehicle-mounted terminal for determining a stall of a drive motor in a vehicle. Compared with the prior art, the embodiments provided by the present application solve the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiments provided by the present application obtain the speed and drive current of the drive motor in the vehicle during the driving of the vehicle, and when the speed is less than a preset stall speed threshold, determine the heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold, and then determine whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value. The embodiments provided by the present application can accurately determine the stall condition of the drive motor under different output torques, thereby improving the accuracy of stall identification. In addition, compared with the method in the prior art that requires setting thresholds for multiple torque segments to determine motor stall, the efficiency of stall identification is improved, thereby extending the service life of the drive motor. BRIEF DESCRIPTION OF THE DRAWINGS

[0034] Figure 1 One of the flowcharts of a method for determining a stall of a drive motor in a vehicle provided in an embodiment of the present application;

[0035] Figure 2 A circuit diagram of a drive motor stall in a method for determining a drive motor stall in a vehicle provided by an embodiment of the present application;

[0036] Figure 3 A flowchart of a method for determining a stall of a drive motor in a vehicle provided in an embodiment of the present application is shown in FIG. 2 ;

[0037] Figure 4 A structural block diagram of a device for determining a stall of a drive motor in a vehicle provided by an embodiment of the present application;

[0038] Figure 5 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present application.

[0039] Figure 4 and Figure 5 The corresponding relationship between the reference numerals and the names of the drawings is:

[0040] 400 A method and apparatus for determining a stall of a driving motor in a vehicle; 410 An acquisition module; 420 A first determination module; 430 A second determination module; 440 A third determination module; 450 A fourth determination module; 460 A fifth determination module; 470 A sixth determination module; 480 A seventh determination module; 490 A eighth determination module; 4100 A ninth determination module; 500 A vehicle-mounted terminal; 510 A processor; 520 A memory; 530 A bus. DETAILED DESCRIPTION

[0041] In order to better understand the technical solutions provided by the embodiments of this specification, the technical solutions of the embodiments of this specification are described in detail below through the accompanying drawings and specific embodiments. It should be understood that the embodiments of this specification and the specific features in the embodiments are detailed descriptions of the technical solutions of the embodiments of this specification, rather than limitations on the technical solutions of this specification. In the absence of conflict, the embodiments of this specification and the technical features in the embodiments can be combined with each other.

[0042] 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 that there is 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 the process, method, article or equipment including a series of elements includes not only those elements, but also includes other elements not explicitly listed, or also includes elements inherent to such process, method, article or equipment. In the absence of more restrictions, the elements limited by the statement "comprise one..." do not exclude the existence of other identical elements in the process, method, article or equipment including the elements. The term "more than two" includes two or more than two situations.

[0043] First, the applicable application scenarios of the present application are introduced. The embodiments provided in the present application are applicable to the field of vehicle detection technology.

[0044] At present, the traditional method of determining whether the drive motor is stalled is usually based on the time when the drive motor is under different output torques. However, this method of determining the stall can only be performed when the output torque remains unchanged. It is impossible to determine the stall condition of the drive motor under different output torques, which leads to low accuracy of stall identification. In addition, since the transmission link of different output torques is relatively long, the drive motor may be damaged during the signal transmission process, resulting in low efficiency of stall identification and affecting the service life of the drive motor. In addition, the traditional stall identification method cannot stably and smoothly pass through the stall state.

[0045] Based on this, the embodiments of the present application provide a method, device and vehicle-mounted terminal for determining the stall of a drive motor in a vehicle. The embodiments provided by the present application solve the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiments provided by the present application can accurately determine the stall condition of the drive motor under different output torques, improve the accuracy and efficiency of stall identification, and thereby extend the service life of the drive motor.

[0046] Figure 1 This is one of the flow charts of a method for determining a stall of a drive motor in a vehicle provided in an embodiment of the present application, such as Figure 1 As shown, the method for determining the stall of the drive motor in a vehicle provided in an embodiment of the present application includes the following steps:

[0047] S101. During the driving of a vehicle, obtain the rotation speed and driving current of a driving motor in the vehicle.

[0048] In this step, the embodiments provided in the present application can be specifically but not limitedly applied to a drive motor controller to obtain the speed and drive current of the drive motor of the vehicle in real time during normal driving of the vehicle or driving under special working conditions, and transmit the obtained speed and drive current to the drive motor controller.

[0049] Among them, the special working conditions in the embodiments provided in this application include but are not limited to the process of climbing.

[0050] S102. When the rotation speed is less than the preset stall speed threshold, the heat accumulation value corresponding to the drive motor is determined based on the drive current of the drive motor and the preset stall current threshold, wherein the heat accumulation value is used to characterize the heat value accumulated by the drive motor during vehicle driving.

[0051] In this step, the rotational speed of the drive motor in the vehicle under the current driving state is compared with the preset stall speed threshold to determine whether it is necessary to perform stall monitoring on the drive motor, and when the rotational speed is less than the preset stall speed threshold, it is determined to perform stall monitoring on the drive motor. At this time, based on the drive current of the drive motor and the preset stall current threshold, the accumulated heat value of the drive motor during the vehicle driving process is determined, that is, the accumulated heat value corresponding to the drive motor.

[0052] Among them, it is assumed that the preset stall speed threshold in the embodiment provided in the present application is specifically 100rpm. At this time, when the speed is less than 100rpm, it is determined that the drive motor is to be monitored for stall; and the drive current of the drive motor in the embodiment provided in the present application is the effective value of the phase current.

[0053] It can be understood that the embodiment provided in the present application determines not to perform stall monitoring on the drive motor when the speed is greater than or equal to the preset stall speed threshold, and determines not to perform stall monitoring on the drive motor when the speed is greater than or equal to 100rpm.

[0054] Among them, the vehicle in the embodiment provided in this application may be stuck during driving and the principle is as follows: Figure 2 As shown, Figure 2 A circuit diagram of a drive motor stall in a method for determining a drive motor stall in a vehicle provided by an embodiment of the present application. Figure 2 As shown, when the drive motor is in normal operation, the upper three bridges and the lower three bridges of the IGBT will switch at an extremely high switching frequency. At this time, the U / V / W three-phase side of the drive motor forms a sinusoidal three-phase current to ensure that the drive motor outputs normally at a certain speed and torque. Under this condition, the upper three bridges and the lower three bridges of the IGBT will be turned on respectively, and each bridge arm of the IGBT will be turned on and off at an extremely high frequency, and a large drive current will flow through the IGBT during the turn-on process. At this time, the heat is large and the temperature will rise rapidly. During the turn-off process, no current flows through the IGBT and the temperature will drop rapidly. Therefore, when the vehicle is in an off-road scenario and the slope is large, and the vehicle driving force is insufficient, the drive motor outputs a large torque, but the condition where the speed is 0 is called a stall.

[0055] In the above, since the vehicle is in a hovering state, the speed of the motor is 0, the three-phase current of the motor is no longer a sine wave, but a direct current, the IGBT no longer switches the switch state, but a certain bridge is in a normally open state, and at this time, since the torque of the whole vehicle is very large, the driving current is relatively large. In this case, the temperature rise of a certain part of the IGBT will be particularly high. If measures are not taken in time, the IGBT will be damaged, causing the whole vehicle to break down. Therefore, the stall determination method in the embodiment provided in the present application is needed to accurately determine the time when the stall occurs, thereby accurately avoiding or reducing the damage to the IGBT and the breakdown of the whole vehicle.

[0056] S103. Determine whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

[0057] In this step, after determining the heat accumulation value corresponding to the drive motor, the heat accumulation value corresponding to the drive motor is compared with the preset stall heat accumulation value, and when the heat accumulation value is greater than or equal to the preset stall heat accumulation value, it is determined that the drive motor is stalled during the vehicle driving process; when the heat accumulation value is less than the preset stall heat accumulation value, it is determined that the drive motor is not stalled during the vehicle driving process.

[0058] It is understandable that if Q1≥Q m , it is determined that the drive motor is blocked during the vehicle's driving process; if Q1≤Q m , it is determined that the drive motor is not blocked during the vehicle driving process.

[0059] Among them, Q m Used to characterize the preset stall heat accumulation value, and Q m The value is the integral of the square of the peak current over time T when the drive motor is stalled and outputs the stalled peak current, and time T is the time when the IGBT temperature just reaches the over-temperature threshold under the drive current; Q1 is used to represent the corresponding accumulated heat value of the drive motor.

[0060] Exemplarily, step S102 includes: when the rotational speed is less than the preset stall speed threshold, determining the difference between the driving current of the driving motor and the square of the preset stall current threshold; performing time integration processing on the difference to determine the heat accumulation value corresponding to the driving motor.

[0061] In the above, the formula for determining the heat accumulation value corresponding to the drive motor is specifically:

[0062]

[0063] Among them, Q1 is used to represent the accumulated heat value corresponding to the drive motor; I 1 Used to characterize the drive current; Ia is used to characterize the preset stall current threshold, and the preset stall current threshold is the current at which the maximum junction temperature of the IGBT can be stabilized when outputting a certain constant torque.

[0064] The embodiment of the present application provides a method for determining whether a drive motor in a vehicle is stalled. Compared with the prior art, the embodiment provided by the present application solves the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiment provided by the present application obtains the speed and driving current of the drive motor in the vehicle during the driving of the vehicle, and when the speed is less than a preset stall speed threshold, determines the heat accumulation value corresponding to the drive motor based on the driving current of the drive motor and the preset stall current threshold, and then determines whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value. The embodiment provided by the present application can accurately determine the stall condition of the drive motor under different output torques, thereby improving the accuracy and efficiency of stall identification, and thereby extending the service life of the drive motor.

[0065] Figure 3 The second flowchart of a method for determining a stall of a drive motor in a vehicle provided in an embodiment of the present application is as follows: Figure 3 As shown, the method for determining the stall of the drive motor in the vehicle includes the following steps:

[0066] S301. During the driving of a vehicle, obtain the rotation speed and driving current of a driving motor in the vehicle.

[0067] S302. When the rotation speed is less than the preset stall speed threshold, the accumulated heat value corresponding to the drive motor is determined based on the drive current of the drive motor and the preset stall current threshold, wherein the accumulated heat value is used to characterize the accumulated heat value of the drive motor during the driving process of the vehicle.

[0068] S303. Determine whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

[0069] S304, after determining that the drive motor is stalled during the driving of the vehicle and performing stall adjustment of reducing the current and / or reducing the frequency of the drive motor, determining an adjusted speed and an adjusted drive current of the drive motor.

[0070] In this step, after the embodiment provided by the present application determines that the drive motor is jammed during the driving of the vehicle, it is necessary to reduce the current and / or reduce the frequency of the drive motor, and after the processing, based on the adjusted speed and adjusted drive current of the drive motor, continuously calculate the cumulative heat adjustment value, so that in this condition of entering and exiting and torque changing stall, the stall condition cannot be identified normally. At this time, it is necessary to calculate the cumulative heat adjustment value to determine whether the drive motor has exited the stall adjustment, stall monitoring, or re-entered the stall, which can better protect the drive motor and prevent the above-mentioned drive motor from being permanently damaged by overheating and demagnetization.

[0071] It can be understood that the current reduction of the drive motor in the embodiment provided in the present application can be specifically: derating, that is, reducing the external characteristic torque of the controller in the drive motor. The peak current controlled by the drive motor is related to the external characteristic torque. The greater the torque, the greater the current, and the greater the current, the greater the heat generated by the IGBT. Directly reducing the current can directly reduce the heat generated by the IGBT.

[0072] The specific method of reducing the carrier frequency of the IGBT in the drive motor is to reduce the IGBT carrier frequency from 8-10KHz to 2KHz. The reason for this is that the turn-on and turn-off losses of the IGBT are relatively large, but the NVH (Noise, Vibration, Harshness) and torque control accuracy are relatively good. If it is recognized that the drive motor needs to be stalled, the carrier frequency can be directly reduced to 2K. At this time, since the speed is almost 0, the torque control accuracy will not be affected, but some NVH performance will be sacrificed.

[0073] S305 , determining a heat accumulation adjustment value corresponding to the drive motor based on the adjusted drive current and the preset stall current threshold.

[0074] In this step, after the drive motor is locked, it is necessary to continuously calculate the heat accumulation adjustment value, specifically to determine the difference between the adjusted drive current and the square of the preset locked current threshold, and perform time integration on the difference to determine the heat accumulation adjustment value corresponding to the drive motor. Here, the formula for determining the heat accumulation adjustment value is specifically:

[0075]

[0076] Among them, Q2 is used to represent the cumulative adjustment value of heat corresponding to the drive motor; I 2 Used to characterize the adjustment of the drive current; Ia is used to characterize the preset stall current threshold, and the preset stall current threshold is the current at which the maximum junction temperature of the IGBT can be stabilized when outputting a certain constant torque.

[0077] In the above, in I 2 When it is less than Ia, Q2 will continue to decrease, indicating that the vehicle temperature is in a cooling state; 2 When it is greater than I a, Q2 will continue to rise, indicating that the temperature of the entire vehicle is in a dangerous state.

[0078] S306: If it is determined that the cumulative heat adjustment value is less than or equal to the preset stall heat adjustment value, it is determined to stop the stall adjustment of the drive motor, wherein the preset stall heat adjustment value is less than the preset stall heat cumulative value.

[0079] In this step, after determining Q2≤Q n When the stall adjustment of the drive motor is stopped, the second preset stall heat is Q n To express.

[0080] It can be understood that the preset stall heat adjustment value is the difference between the preset stall heat cumulative value and the heat cumulative value. Assuming that Q in the embodiment provided in this application is n Can be specific but not limited to Q n =Q m -Q.

[0081] S307: If it is determined that the adjusted rotation speed is greater than or equal to the preset stall rotation speed threshold, it is determined to stop stall monitoring of the drive motor.

[0082] In this step, when the adjusted rotation speed is greater than or equal to the preset stall rotation speed threshold of 100 rpm, it indicates that the drive motor has exited the stall state, and the stall monitoring of the drive motor is stopped at this time.

[0083] S308: Determine the heat slope corresponding to the drive motor based on the heat accumulation value and the heat accumulation time.

[0084] In this step, it is assumed that the time for heat accumulation is specifically determined to be 5s; the heat slope corresponding to the drive motor is determined to be represented by S, and at this time S=Q / 5s.

[0085] S309: Based on the heat slope, perform heat attenuation processing on the heat accumulation adjustment value until the heat accumulation adjustment value decreases to a set threshold value.

[0086] In this step, after determining to stop the stall monitoring of the above-mentioned drive motor, it is necessary to perform heat decay processing on the heat accumulation adjustment value, specifically, decay according to the heat slope of S=Q / 5s until the heat accumulation adjustment value is reduced to the set threshold.

[0087] In the above, the threshold value set in the embodiment provided in the present application can be customized according to different application scenarios. The threshold value set in the embodiment provided in the present application is specifically set to 0.

[0088] Here, if the drive motor exits the last stall monitoring and immediately enters the stall monitoring, the heat accumulation value will continue to accumulate from the last heat accumulation value. This can ensure the accuracy of the stall state judgment to the greatest extent and prevent other abnormal conditions caused by IGBT overheating.

[0089] The embodiment of the present application provides a method for determining a stall of a drive motor in a vehicle. Compared with the prior art, the embodiment provided by the present application solves the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiment provided by the present application obtains the speed and drive current of the drive motor in the vehicle during the driving of the vehicle, and when the speed is less than a preset stall speed threshold, determines the heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold, and then determines whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value. The embodiment provided by the present application can accurately determine the stall situation of the drive motor under different output torques, improve the accuracy of stall identification, and the present application provides a method that improves the efficiency of stall identification compared with the method of determining motor stall by setting thresholds for multiple torque segments in the prior art, thereby extending the service life of the drive motor, and the embodiment provided by the present application can determine whether the drive motor exits stall adjustment, stall monitoring, or re-enters stall by calculating the heat accumulation adjustment value, so as to better protect the drive motor and prevent the above-mentioned drive motor from being permanently damaged due to overheating and demagnetization.

[0090] See also Figure 4 , Figure 4 This is a structural block diagram of a method device for determining a stall of a drive motor in a vehicle provided by an embodiment of the present application. The method device 400 for determining a stall of a drive motor in a vehicle includes:

[0091] The acquisition module 410 is used to acquire the rotation speed and driving current of the driving motor in the above-mentioned vehicle during the driving of the vehicle.

[0092] The first determination module 420 is used to determine the heat accumulation value corresponding to the above-mentioned drive motor based on the above-mentioned drive current and the preset stall current threshold value when the above-mentioned speed is less than the above-mentioned preset stall speed threshold, wherein the above-mentioned heat accumulation value is used to characterize the heat value accumulated by the above-mentioned drive motor during the driving process of the above-mentioned vehicle.

[0093] The second determination module 430 is used to determine whether the above-mentioned drive motor is stuck during the driving of the above-mentioned vehicle based on the above-mentioned heat accumulation value and the preset stall heat accumulation value, wherein the above-mentioned preset stall heat accumulation value is used to represent the maximum heat value accumulated by the above-mentioned drive motor from normal driving of the vehicle to stalling.

[0094] The third determination module 440 is used to determine the adjusted speed and the adjusted driving current of the drive motor after determining that the drive motor is stalled during the driving of the vehicle and performing stall adjustment on the drive motor by reducing the current and / or frequency.

[0095] The fourth determination module 450 is used to determine the difference between the adjusted driving current and the square of a preset stall current threshold.

[0096] The fifth determination module 460 is used to perform time integration processing on the above difference to determine the heat accumulation adjustment value corresponding to the above drive motor.

[0097] The sixth determination module 470 is used to determine to stop the stall adjustment of the drive motor if it is determined that the heat accumulation adjustment value is less than or equal to the preset stall heat adjustment value, wherein the preset stall heat adjustment value is less than the preset stall heat accumulation value.

[0098] The seventh determination module 480 is used to determine to stop the stall monitoring of the drive motor if it is determined that the adjusted speed is greater than or equal to the preset stall speed threshold.

[0099] The eighth determination module 490 is used to determine the heat slope corresponding to the drive motor based on the heat accumulation value and the heat accumulation time.

[0100] The ninth determination module 4100 is configured to perform heat attenuation processing on the heat accumulation adjustment value until the heat accumulation adjustment value decreases to a set threshold.

[0101] Exemplarily, the preset stall heat adjustment value is the difference between the preset stall heat cumulative value and the heat cumulative value.

[0102] Exemplarily, the first determining module 420 is specifically configured to:

[0103] When the rotation speed is less than the preset stall rotation speed threshold, a difference between the driving current of the driving motor and the square of the preset stall current threshold is determined.

[0104] The difference is processed by time integration to determine the heat accumulation value corresponding to the drive motor.

[0105] Exemplarily, the second determining module 430 is specifically configured to:

[0106] If the heat accumulation value is greater than or equal to a preset stall heat accumulation value, it is determined that the drive motor is stalled during the driving of the vehicle.

[0107] If the heat accumulation value is less than the preset stall heat accumulation value, it is determined that the drive motor is not stalled during the driving of the vehicle.

[0108] The embodiment of the present application provides a device 400 for determining a stall of a drive motor in a vehicle. Compared with the prior art, the embodiment provided by the present application solves the technical problems of low accuracy and low efficiency of stall identification in the prior art. The embodiment provided by the present application obtains the speed and driving current of the drive motor in the vehicle during the driving of the vehicle, and when the speed is less than a preset stall speed threshold, determines the heat accumulation value corresponding to the drive motor based on the driving current of the drive motor and the preset stall current threshold, and then determines whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value. The embodiment provided by the present application can accurately determine the stall of the drive motor under different output torques, thereby improving the accuracy of stall identification. Compared with the method in the prior art that requires setting thresholds for multiple torque segments to determine the motor stall, the present application improves the efficiency of stall identification, thereby extending the service life of the drive motor. The embodiment provided by the present application can determine whether the drive motor exits stall adjustment, stall monitoring, or re-enters stall by calculating the heat accumulation adjustment value, so as to better protect the drive motor and prevent the above-mentioned drive motor from being permanently damaged due to overheating and demagnetization.

[0109] See also Figure 5 , Figure 5 A schematic diagram of the structure of a vehicle-mounted terminal provided in an embodiment of the present application is shown in FIG. Figure 5 As shown, the vehicle terminal 500 includes a processor 510 , a memory 520 and a bus 530 .

[0110] The memory 520 stores machine-readable instructions executable by the processor 510. When the vehicle-mounted terminal 500 is running, the processor 510 communicates with the memory 520 via the bus 530. When the machine-readable instructions are executed by the processor 510, the above-mentioned Figure 1 to Figure 2 The steps of the method for determining the stall of the drive motor in the vehicle in the method embodiment shown in the embodiment and the specific implementation thereof can be referred to the method embodiment, which will not be described in detail here.

[0111] The present application also provides a computer-readable storage medium on which a computer program is stored. When the computer program is executed by a processor, the computer program can execute the above-mentioned Figure 1 to Figure 2The steps of the method for determining the stall of the drive motor in the vehicle in the method embodiment shown in the embodiment and the specific implementation thereof can be referred to the method embodiment, which will not be described in detail here.

[0112] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0113] It should be noted that in the above embodiments, the description of each embodiment has its own emphasis, and for parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0114] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment in combination with software and hardware. Moreover, the present application may adopt the form of a computer program product implemented in one or more computer-readable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) that contain computer-readable program code.

[0115] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes 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 computer, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing 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.

[0116] These computer program instructions may also be stored in a computer-readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer-readable memory produce an article of manufacture comprising 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.

[0117] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0118] An embodiment of the present application also provides a computer program product, which includes computer software instructions. When the computer software instructions are executed on a processing device, the processing device executes the process of a method for determining a stall of a drive motor in a vehicle.

[0119] The computer program product includes one or more computer instructions. When the computer program instructions are loaded and executed on the computer, the process or function according to the embodiment of the present application is generated in whole or in part. The computer can be a general-purpose computer, a special-purpose computer, a computer network or other programmable devices. The computer instruction can be stored in a computer-readable storage medium, or transmitted from a computer-readable storage medium to another computer-readable storage medium. For example, the computer instruction can be transmitted from a website site, a computer, a server or a data center by wired (for example, coaxial cable, optical fiber, digital subscriber line (DSL)) or wireless (for example, infrared, wireless, microwave, etc.) mode to another website site, computer, server or data center. The computer-readable storage medium can be any available medium that a computer can store or a data storage device such as a server or a data center that includes one or more available media integration. Available media can be magnetic media, (for example, floppy disk, hard disk, tape), optical media (for example, DVD), or semiconductor media (for example, solid-state drive (SSD)) and the like.

[0120] Those skilled in the art can clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0121] In the several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses and methods can be implemented in other ways. For example, the device embodiments described above are only schematic, for example, the division of units is only a logical function division, and there may be other division methods in actual implementation, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be an indirect coupling or communication connection through some interfaces, devices or units, which can be electrical, mechanical or other forms.

[0122] The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed on multiple network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0123] In addition, each functional unit in each embodiment of the present application may be integrated into one processing unit, or each unit may exist physically separately, or two or more units may be integrated into one unit. The above-mentioned integrated unit may be implemented in the form of hardware or in the form of software functional units.

[0124] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk and other media that can store program codes.

[0125] The above embodiments are only used to illustrate the technical solutions of the present application, rather than to limit them. Although the present application has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or make equivalent replacements for some of the technical features therein. However, these modifications or replacements do not deviate the essence of the corresponding technical solutions from the spirit and scope of the technical solutions of the embodiments of the present application.

[0126] Although the preferred embodiments of this specification 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 this specification.

[0127] Obviously, those skilled in the art can make various changes and modifications to this specification without departing from the spirit and scope of this specification. Thus, if these modifications and variations of this specification fall within the scope of the claims of this specification and their equivalents, this specification is also intended to include these modifications and variations.

Claims

1. A method for determining a stall of a drive motor in a vehicle, characterized in that: The method for determining the stall of a driving motor in a vehicle comprises: During the driving of the vehicle, obtaining the rotation speed and driving current of the driving motor in the vehicle; When the speed is less than the preset stall speed threshold, determining a heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold, wherein the heat accumulation value is used to characterize the heat value accumulated by the drive motor during the driving process of the vehicle; Based on the heat accumulation value and the preset stall heat accumulation value, it is determined whether the drive motor is stalled during the driving of the vehicle, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

2. The method for determining stall of a drive motor in a vehicle according to claim 1, characterized in that: When the rotation speed is less than the preset stall speed threshold, determining the heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and the preset stall current threshold, includes: When the rotation speed is less than the preset stall rotation speed threshold, determining the difference between the drive current of the drive motor and the square of a preset stall current threshold; The difference is processed by time integration to determine the heat accumulation value corresponding to the drive motor.

3. The method for determining stall of a drive motor in a vehicle according to claim 1, characterized in that: The determining whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value includes: If the heat accumulation value is greater than or equal to a preset stall heat accumulation value, it is determined that the drive motor is stalled during the driving of the vehicle; If the heat accumulation value is less than the preset stall heat accumulation value, it is determined that the drive motor is not stalled during the driving of the vehicle.

4. The method for determining stall of a drive motor in a vehicle according to claim 1, characterized in that: After determining whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and the preset stall heat accumulation value, the method for determining stall of the drive motor in the vehicle further includes: After determining that the drive motor is stalled during the driving of the vehicle and performing stall adjustment of reducing the current and / or reducing the frequency of the drive motor, determining an adjusted speed and an adjusted drive current of the drive motor; Determining a heat accumulation adjustment value corresponding to the drive motor based on the adjusted drive current and the preset stall current threshold; If it is determined that the heat accumulation adjustment value is less than or equal to the preset stall heat adjustment value, it is determined to stop the stall adjustment of the drive motor, wherein the preset stall heat adjustment value is less than the preset stall heat accumulation value; If it is determined that the adjusted rotation speed is greater than or equal to the preset stall rotation speed threshold, it is determined to stop stall monitoring of the drive motor.

5. The method for determining stall of a drive motor in a vehicle according to claim 4, characterized in that: After determining to stop monitoring the stall of the drive motor if the adjusted speed is greater than or equal to the preset stall speed threshold, the method for determining the stall of the drive motor in the vehicle further includes: Determining a heat slope corresponding to the drive motor based on the heat accumulation value and the heat accumulation time; Based on the heat slope, heat decay processing is performed on the heat accumulation adjustment value until the heat accumulation adjustment value decreases to a set threshold value.

6. The method for determining stall of a drive motor in a vehicle according to claim 4, characterized in that: The step of determining the heat accumulation adjustment value corresponding to the drive motor based on the adjusted drive current and the preset stall current threshold comprises: Determining a difference between the adjusted drive current and the square of a preset locked-rotor current threshold; The difference is processed by time integration to determine the heat accumulation adjustment value corresponding to the drive motor.

7. The method for determining stall of a drive motor in a vehicle according to claim 4, characterized in that: The preset locked-rotor heat adjustment value is a difference between the preset locked-rotor heat accumulation value and the heat accumulation value.

8. A device for determining stall of a drive motor in a vehicle, characterized in that: The device for determining the stall of a driving motor in a vehicle comprises: An acquisition module, used for acquiring the rotation speed and driving current of the driving motor in the vehicle during the driving of the vehicle; a first determination module, configured to determine, when the rotation speed is less than the preset stall rotation speed threshold, a heat accumulation value corresponding to the drive motor based on the drive current of the drive motor and a preset stall current threshold, wherein the heat accumulation value is used to characterize a heat value accumulated by the drive motor during the driving process of the vehicle; The second determination module is used to determine whether the drive motor is stalled during the driving of the vehicle based on the heat accumulation value and a preset stall heat accumulation value, wherein the preset stall heat accumulation value is used to represent the maximum heat value accumulated by the drive motor from normal driving of the vehicle to stalling.

9. A vehicle-mounted terminal, characterized in that: include: A processor, a memory and a bus, wherein the memory stores machine-readable instructions executable by the processor, and when the vehicle-mounted terminal is running, the processor and the memory communicate via the bus, and the machine-readable instructions are executed by the processor to perform the steps of the method for determining the stall of the drive motor in a vehicle as described in any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the steps of the method for determining stall of a drive motor in a vehicle as described in any one of claims 1 to 7 are executed.

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