Vehicle power take-off torque control method, device and equipment and storage medium

Abstract

The invention discloses a vehicle power take-off torque control method, device and equipment and a storage medium, and relates to the technical field of new energy commercial vehicles, and the method comprises the steps: obtaining a rotating speed value, a proportional integral coefficient and a proportional rotating speed difference value; calculating a proportional control torque and an integral control torque based on the rotating speed value, the proportional-integral coefficient and the proportional rotating speed difference value; and based on the rotating speed value, the proportional control torque and the integral control torque, the vehicle power take-off torque is adjusted to control the vehicle to maintain constant-speed driving. The proportional control torque and the integral control torque are calculated according to the proportional-integral control principle, operation is easy, more calibration energy is saved in practical application, therefore, overshoot is limited, the vehicle power take-off torque is accurately adjusted, constant rotating speed control over the motor in the driving power take-off mode is achieved, road surface working conditions and load changes are automatically adapted, and the power take-off efficiency is improved. A driver does not need to manually adjust an accelerator and a brake pedal, the operation burden of the driver is effectively reduced, and the vehicle use performance and working efficiency are remarkably improved.

Description

Technical Field

[0001] The present application relates to the technical field of new energy commercial vehicles, and in particular to a vehicle power take-off torque control method, device, equipment and storage medium. Background Art

[0002] With the widespread application of new energy commercial vehicles, the power take-off function of vehicles has become increasingly important. The power take-off function is mainly used for special vehicles, such as urban sprinklers and road sweepers, which need to provide stable power for the upper-mounted equipment during driving. In order to meet the use requirements under different working conditions, the vehicle needs to be able to achieve a constant speed output in both parking and driving states, so that the upper-mounted equipment can operate normally.

[0003] At present, the existing practice is to divide the transmission power take-off control mode into parking power take-off, driving power take-off, throttle power take-off, etc. The driver or the body manufacturer needs to input the required speed information into the vehicle controller by setting the buttons on the steering wheel or flashing the speed on the bus to achieve constant speed control under different power take-off modes.

[0004] However, the existing practice is that although the vehicle controller can achieve constant speed output by controlling the speed of the motor in the parking power take-off mode, and the operation is relatively simple, in the driving power take-off mode, the control mode of the motor is changed to torque control. Due to the limitation of the motor control mode, it is impossible to directly achieve constant speed output through speed control at this time. The driver needs to constantly adjust the accelerator and brake pedals during driving to maintain the constant speed of the vehicle and the normal operation of the upper equipment, which increases the driver's operating burden and labor intensity, and is easily affected by road conditions and load changes. It is difficult to ensure the smooth operation of the vehicle and the stable operation of the upper equipment, affecting the vehicle's performance and work efficiency. Therefore, how to more conveniently, efficiently and accurately control the vehicle's power take-off torque has become an urgent problem to be solved.

[0005] The above contents are only used to assist in understanding the technical solution of the present application and do not constitute an admission that the above contents are prior art. Summary of the invention

[0006] The main purpose of this application is to provide a vehicle power take-off torque control method, device, equipment and storage medium, aiming to solve the technical problem of how to control the vehicle power take-off torque more conveniently, efficiently and accurately.

[0007] To achieve the above objectives, the present application proposes a vehicle power take-off torque control method, the method comprising:

[0008] Get the speed value, proportional integral coefficient and proportional speed difference;

[0009] Calculating a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference;

[0010] The vehicle power take-off torque is adjusted based on the rotation speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed travel.

[0011] In one embodiment, the step of obtaining the speed value, the proportional integral coefficient and the proportional speed difference comprises:

[0012] Get the current speed value, accumulated speed value, target speed setting value, proportional coefficient and integral constant;

[0013] determining a speed value based on the current speed value, the integrated speed value and the target speed setting value;

[0014] determining a proportional-integral coefficient based on the proportional coefficient and the integral constant;

[0015] A proportional speed difference is calculated based on the speed current value and the speed set value.

[0016] In one embodiment, the step of calculating the proportional control torque and the integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference comprises:

[0017] Calculating a proportional control torque based on a proportional coefficient in the proportional integral coefficient and the proportional speed difference;

[0018] The integral control torque is calculated based on the integral constant in the proportional integral coefficient and the rotation speed integrated value in the rotation speed value.

[0019] In one embodiment, the step of adjusting the vehicle power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving includes:

[0020] determining a target torque based on the proportional control torque and the integral control torque;

[0021] The vehicle power take-off torque is adjusted based on the rotation speed value and the target torque to control the vehicle to maintain constant speed.

[0022] In one embodiment, the step of adjusting the vehicle power take-off torque based on the speed value and the target torque to control the vehicle to maintain constant speed driving includes:

[0023] Determine the request for flashing information and the flashing speed information based on the target torque;

[0024] Perform vehicle speed flashing based on the request flashing information and the flashing speed information, and determine the flashing state;

[0025] The vehicle power take-off torque is adjusted based on the speed value, the target torque and the flashing state to control the vehicle to maintain constant speed.

[0026] In one embodiment, the step of adjusting the vehicle power take-off torque based on the speed value, the target torque and the flashing state to control the vehicle to maintain constant speed driving includes:

[0027] Get the vehicle operating status;

[0028] Based on the speed value, the target torque, the vehicle operating state and the flashing state, torque control is performed to adjust the vehicle power take-off torque limit overshoot to determine the target torque value;

[0029] The vehicle is controlled to maintain a constant speed based on the target torque value.

[0030] In one embodiment, the step of performing torque control to adjust the vehicle power take-off torque limit overshoot based on the speed value, the target torque, the vehicle operating state and the flashing state, and determining the target torque value includes:

[0031] When the vehicle operating state is driving power take-off and the flashing state is flashing success, adjusting the proportional integral torque to limit the overshoot based on the target torque to obtain a target torque value;

[0032] When the vehicle operating state is parking power take-off or the flashing state is flashing failure, the vehicle torque is adjusted based on the rotation speed value to obtain a target torque value.

[0033] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle power take-off torque control device, the vehicle power take-off torque control device comprising:

[0034] An acquisition module is used to acquire a speed value, a proportional integral coefficient and a proportional speed difference;

[0035] a processing module, configured to calculate a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference;

[0036] The execution module is used to adjust the vehicle power take-off torque based on the rotational speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving.

[0037] In addition, to achieve the above-mentioned purpose, the present application also proposes a vehicle power take-off torque control device, which includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, and the computer program is configured to implement the steps of the vehicle power take-off torque control method as described above.

[0038] In addition, to achieve the above-mentioned purpose, the present application also proposes a storage medium, which is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by the processor, the steps of the vehicle power take-off torque control method as described above are implemented.

[0039] One or more technical solutions proposed in this application have at least the following technical effects:

[0040] The present embodiment proposes a vehicle power take-off torque control method, which obtains a speed value, a proportional integral coefficient and a proportional speed difference; calculates a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference; and adjusts the vehicle power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving. The present application obtains the current speed value, the proportional integral coefficient and the proportional speed difference, and calculates the proportional control torque and the integral control torque using the proportional integral control principle. The operation is simple and the practical application saves more calibration effort, thereby limiting the overshoot and accurately adjusting the vehicle power take-off torque, and realizing the constant speed control of the motor in the driving power take-off mode. The vehicle can automatically adapt to the road conditions and load changes, maintain a constant driving speed and stable operation of the upper equipment, and the driver does not need to manually adjust the throttle and brake pedals, which effectively reduces the driver's operating burden, improves the vehicle's performance and work efficiency, and significantly enhances the adaptability and competitiveness of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0042] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0043] Figure 1 A schematic diagram of a flow chart provided for the first embodiment of the vehicle power take-off torque control method of the present application;

[0044] Figure 2 A schematic diagram of a flow chart provided for the second embodiment of the vehicle power take-off torque control method of the present application;

[0045] Figure 3 This is a simple model logic calculation diagram of the proportional speed difference of the vehicle power take-off torque control method of this application;

[0046] Figure 4A schematic diagram of a simplified process of a vehicle power take-off torque control method provided in an embodiment of the present application;

[0047] Figure 5 This is a schematic diagram of the module structure of a vehicle power take-off torque control device according to an embodiment of the present application;

[0048] Figure 6 Schematic diagram of the device structure of the hardware operating environment involved in the vehicle power take-off torque control method in the embodiment of the present application.

[0049] The purpose, features and advantages of this application will be further described in conjunction with the embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0050] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0051] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0052] The main solution of the embodiment of the present application is: obtaining the speed value, the proportional-integral coefficient and the proportional speed difference; calculating the proportional control torque and the integral control torque based on the speed value, the proportional-integral coefficient and the proportional speed difference; adjusting the vehicle's power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain a constant speed.

[0053] In this embodiment, for the convenience of description, the following description is made by taking the identification of the vehicle power take-off torque control device as the execution subject.

[0054] Although the prior art can achieve constant speed output by controlling the speed of the motor in the parking power take-off mode through the vehicle controller, and the operation is relatively simple, in the driving power take-off mode, the control mode of the motor is changed to torque control. Due to the limitation of the motor control mode, it is impossible to achieve constant speed output directly through speed control at this time. The driver needs to constantly adjust the accelerator and brake pedals during driving to maintain a constant speed of the vehicle and the normal operation of the upper equipment, which increases the driver's operating burden and labor intensity, and is easily affected by road conditions and load changes. It is difficult to ensure the smooth operation of the vehicle and the stable operation of the upper equipment, which affects the vehicle's performance and work efficiency.

[0055] The present application provides a solution, which obtains a speed value, a proportional-integral coefficient and a proportional speed difference; calculates a proportional control torque and an integral control torque based on the speed value, the proportional-integral coefficient and the proportional speed difference; and adjusts the vehicle's power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving.

[0056] It can be seen from the above embodiments that the present application obtains the current speed value, the proportional-integral coefficient and the proportional speed difference, and calculates the proportional control torque and the integral control torque by using the proportional-integral control principle. The operation is simple and the actual application saves more calibration effort, thereby limiting the overshoot and accurately adjusting the vehicle's power take-off torque, and realizing constant speed control of the motor in the driving power take-off mode. The vehicle can automatically adapt to road conditions and load changes, maintain a constant driving speed and stable operation of the upper equipment, and the driver does not need to manually adjust the throttle and brake pedals, which effectively reduces the driver's operating burden, improves vehicle performance and work efficiency, and significantly enhances the adaptability and competitiveness of the entire vehicle.

[0057] Based on this, the embodiment of the present application provides a vehicle power take-off torque control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the vehicle power take-off torque control method of the present application.

[0058] In this embodiment, the vehicle power take-off torque control method includes steps S10 to S30:

[0059] Step S10, obtaining the speed value, the proportional integral coefficient and the proportional speed difference;

[0060] It should be noted that the speed value reflects the characteristics of various speed information calculated based on the monitored motor operating speed, the proportional integral coefficient reflects the characteristics of the control algorithm's response intensity to the error and the adjustment speed, and the proportional speed difference reflects the characteristics of the deviation between the set speed and the current speed.

[0061] It can be understood that the speed value can represent the current speed of the motor obtained by real-time monitoring, the accumulated speed value obtained by integrating the speed within a preset time, and the manually preset target speed setting value, which is directly related to the vehicle's driving speed and the power take-off effect of the upper equipment. The proportional integral coefficient can represent the setting values ​​of the two control parameters, proportional P and integral I, in PI control. The proportional coefficient Kp determines the sensitivity of the control action to the current error, while the integral constant Ki determines the control action's ability to compensate for the accumulated error. Compared with the commonly used PID control, PI control is relatively simple and saves more calibration effort than PID control in actual applications. The proportional speed difference is used to adjust the adjustment direction and intensity of the vehicle's power take-off torque control in real time, thereby achieving constant speed control.

[0062] In addition, it should be noted that the speed value can be used as a real-time feedback signal in the control process, and the proportional integral coefficient can dynamically adjust the intensity of the control action according to the change of the speed value. The proportional coefficient Kp quickly adjusts the control action according to the size of the proportional speed difference to reduce the error; the integral constant Ki compensates for the accumulation of the proportional speed difference to eliminate the steady-state error, and the proportional speed difference is calculated. It can be adjusted accordingly according to the size of the difference to achieve precise control of the speed. For example, when the speed value deviates from the set value, the proportional integral coefficient will calculate the corresponding control torque according to the size and duration of the error to adjust the speed of the motor. The vehicle can automatically adapt to road conditions and load changes, maintain a constant driving speed and stable operation of the upper equipment, improve the vehicle's performance and work efficiency, and the driver does not need to manually adjust the throttle and brake pedals, and can maintain a stable operating state under various complex road conditions and load conditions, significantly enhancing the adaptability and reliability of the vehicle.

[0063] For ease of understanding, the acquisition of a rotational speed value, a proportional integral coefficient and a proportional rotational speed difference is taken as an example for explanation, wherein the information acquisition device is an information acquisition module, and the storage device is a memory.

[0064] The information acquisition module obtains the current speed value, the accumulated speed value, the target speed setting value, the proportional coefficient and the integral constant, determines the speed value based on the current speed value, the accumulated speed value and the target speed setting value, determines the proportional integral coefficient based on the proportional coefficient and the integral constant, calculates the proportional speed difference based on the current speed value and the speed setting value, and performs subsequent processing based on the speed value, the proportional integral coefficient and the proportional speed difference.

[0065] In a feasible implementation, step S10 may include steps A11 to A14:

[0066] Step A11, obtaining the current speed value, the accumulated speed value, the target speed setting value, the proportional coefficient and the integral constant;

[0067] It should be noted that the current speed value reflects the characteristics of the actual operating speed of the motor at the current moment, the accumulated speed value reflects the characteristics of the accumulated integral value of the speed obtained by the motor within a specific period of time, the target speed setting value reflects the characteristics of the expected speed value set according to actual needs, the proportional coefficient reflects the characteristics of the response intensity of the proportional control part in the control algorithm to the error, and the integral constant reflects the characteristics of the compensation ability of the integral control part to the error accumulation.

[0068] Step A12, determining a speed value based on the current speed value, the accumulated speed value and the target speed setting value;

[0069] It can be understood that the current speed value can represent the instantaneous speed data monitored in real time during the control process, the accumulated speed value records the changing trend and cumulative error of the motor speed over time, and the target speed setting value is the target value achieved by setting the expected speed, thereby more accurately determining the speed value and controlling the vehicle to maintain constant speed.

[0070] Step A13, determining a proportional integral coefficient based on the proportional coefficient and the integral constant;

[0071] It can be understood that the proportional coefficient can accurately control the current error. The larger the proportional coefficient, the faster the response to the error. However, too large a proportional coefficient will cause system overshoot and oscillation. The integral constant can accurately control the adjustment speed of error accumulation. The larger the integral constant, the more sufficient the compensation for error accumulation. However, too large an integral constant will cause the system response to become slower.

[0072] In addition, it should be noted that by reasonably setting the proportional coefficient and the integral constant, it is possible to quickly respond to the error between the current speed value and the target speed setting value, and at the same time effectively eliminate the cumulative error reflected by the accumulated speed value, thereby achieving rapid adjustment and long-term stable control of the motor speed, so that the vehicle can quickly adapt to road conditions and load changes in the driving power take-off mode, maintain a constant driving speed and stable operation of the upper equipment.

[0073] Step A14, calculating a proportional speed difference based on the current speed value and the speed setting value.

[0074] It can be understood that the proportional speed difference is the deviation between the target speed setting value and the current speed, and is also an error signal that needs to be eliminated. The proportional speed difference can be used to adjust the direction and strength of torque control, thereby achieving constant speed control.

[0075] Step S20, calculating the proportional control torque and the integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference;

[0076] It should be noted that the proportional control torque reflects the characteristics of the torque generated for eliminating the deviation between the current speed and the target speed, and the integral control torque reflects the characteristics of the torque generated for integrating the accumulated errors to eliminate the steady-state error of the system, thereby stabilizing the motor speed near the target speed.

[0077] It can be understood that, based on the proportional control torque and integral control torque, the output torque of the motor can be accurately adjusted to make the motor speed closer to the target speed setting value, significantly improving the accuracy and reliability of the control system, ensuring that the vehicle can operate stably under various working conditions and meet different usage requirements. At the same time, it can reduce the overshoot and oscillation of the system, making the control process smoother and more reliable, effectively improving the vehicle's performance, reducing the driver's operating burden, improving the driving experience, and significantly improving the vehicle's competitiveness. It can better meet the use needs of special vehicles in urban sanitation, watering, cleaning and other working conditions, and improve the practicality and market value of the entire vehicle.

[0078] For ease of understanding, the calculation of proportional control torque and integral control torque is taken as an example for explanation, wherein the information acquisition device is an information acquisition module, the storage device is a memory, and the processing device is a simple proportional integral loop control module.

[0079] The information acquisition module obtains the speed value, such as the current speed value, the accumulated speed value and the target speed setting value, and obtains the proportional integral coefficient, such as the proportional coefficient Kp and the integral constant Ki. As a simple proportional integral loop control module, the PI control can use two control modes, namely proportional P control and integral I control, to compare the collected data with a setting value, calculate the proportional speed difference based on the current speed value and the speed setting value, and use the proportional speed difference as feedback of the control result to calculate the new output value, so that the system data reaches or stabilizes near the setting value, and calculates the proportional control torque based on the proportional coefficient in the proportional integral coefficient and the proportional speed difference, that is, to perform proportional control, use the current speed value for control, multiply the error value between the setting value and the current input by the proportional coefficient Kp, and then use this product to calculate the control module output, so as to A proportional control torque is obtained, wherein the proportional control torque change is proportional to the input deviation, and the integral control torque is calculated based on the integral constant in the proportional integral coefficient and the accumulated speed value in the speed value, that is, integral control is performed, and the accumulated speed value is used for control. The duration of the current time point and the initial time point is statistically calculated to obtain the duration of the past time period. If it is a constant t, the speed is integrated using the duration t of the past time period to obtain an error value, and the error value is multiplied by the integral constant Ki, and then the product is used to calculate the output of the control module to obtain the integral control torque, wherein the integral control torque is proportional to the integral of the input deviation over time, and the size of the constant t represents the strength of the integral control effect. At the same time, the integral control can enhance the anti-interference ability of the control loop and reduce the steady-state error. Subsequent processing is performed based on the proportional control torque and the integral control torque.

[0080] In a feasible implementation, step S20 may include steps B11 to B12:

[0081] Step B11, calculating the proportional control torque based on the proportional coefficient in the proportional integral coefficient and the proportional speed difference;

[0082] It can be understood that the proportional control torque is proportional to the proportional speed difference. The larger the difference, the greater the proportional control torque, thereby quickly responding to the error and adjusting the control torque in time to make the motor speed closer to the target speed setting value, effectively reducing speed fluctuations and significantly improving the stability of the vehicle.

[0083] Step B12, calculating the integral control torque based on the integral constant in the proportional integral coefficient and the speed accumulation value in the speed value.

[0084] It can be understood that the integral control torque is proportional to the accumulation of the proportional speed difference, which is used to eliminate steady-state errors and achieve precise control of the motor speed, so that the vehicle can maintain a stable operating state in the driving power take-off mode, reduce vehicle jitter and instability of the upper equipment caused by unstable speed, and improve the reliability and service life of the vehicle.

[0085] Step S30: adjusting the vehicle power take-off torque based on the rotation speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed travel.

[0086] It should be noted that the vehicle power take-off torque reflects the expected output torque value calculated based on the proportional control torque and the integral control torque, that is, the ideal optimal output state under the current working condition.

[0087] It can be understood that for the parking power take-off mode, the speed value can be directly used for control to achieve a constant speed output, while in the driving power take-off mode, the vehicle controller performs PI control adjustment by setting the speed and the difference between the current speed, and controls the motor or power take-off to maintain a constant speed based on the proportional control torque and the integral control torque, so that the vehicle travels at a constant speed.

[0088] For ease of understanding, the acquisition of speed value, proportional control torque and integral control torque is taken as an example for explanation, wherein the information acquisition device is an information acquisition module, the storage device is a memory, and the execution device is a simple proportional integral loop control module.

[0089] The information acquisition module acquires the speed value, proportional control torque and integral control torque, determines the target torque based on the proportional control torque and the integral control torque, determines the request for flashing information and the flashing speed information based on the target torque, flashes the entire vehicle speed based on the request for flashing information and the flashing speed information, determines the flashing status, acquires the vehicle operating condition, performs torque control based on the speed value, the target torque, the vehicle operating condition and the flashing status to adjust the vehicle's power take-off torque to limit overshoot, determines the target torque value, and controls the vehicle to maintain constant speed based on the target torque value.

[0090] A vehicle power take-off torque control method proposed in this embodiment obtains a speed value, a proportional integral coefficient and a proportional speed difference; calculates a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference; adjusts the vehicle power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving. The technical problem of how to control the vehicle power take-off torque more conveniently and efficiently is solved. Compared with the prior art, the present application obtains the current speed value, the proportional integral coefficient and the proportional speed difference, and calculates the proportional control torque and the integral control torque using the proportional integral control principle, thereby adjusting the vehicle power take-off torque and realizing constant speed control of the motor in the driving power take-off mode. The driver does not need to adjust the accelerator and brake pedals to realize the vehicle's constant speed power take-off and uniform speed driving at the same time, which significantly improves the convenience of operation, and the vehicle travels at a constant speed, which is better applied to urban sanitation sprinklers, sweepers and other working conditions, increases the technical selling points of the whole vehicle, and enhances core competitiveness.

[0091] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction and will not be repeated later.

[0092] In this embodiment, refer to Figure 2 , Figure 2 The flowchart of the second embodiment of the vehicle power take-off torque control method of the present application is provided, and step S30 specifically includes steps S31-S32:

[0093] Step S31, determining a target torque based on the proportional control torque and the integral control torque;

[0094] It should be noted that the target torque reflects the characteristics of the vehicle power take-off torque calculated based on the proportional control torque and the integral control torque.

[0095] It can be understood that the target torque can represent the ideal optimal output state under the current working conditions to maintain the constant speed of the vehicle and the stable operation of the upper equipment. By calculating the target torque, the vehicle power take-off torque can be accurately adjusted to match the motor output with actual demand, thereby achieving constant speed driving of the vehicle in the driving power take-off mode.

[0096] For ease of understanding, the acquisition of proportional control torque and integral control torque is taken as an example for explanation, wherein the information acquisition device is an information acquisition module, the storage device is a memory, and the execution device is a simple proportional integral loop control module.

[0097] The information acquisition module obtains the proportional control torque and the integral control torque. The PI control module can be used as a simple proportional integral loop control module to determine the target torque based on the proportional control torque and the integral control torque, that is, it combines proportional control and integral control. Proportional control makes the control response more timely. As long as there is an error, the controller will produce a corresponding control action. The integral control takes into account the time accumulation factor and has the ability to eliminate the residual error, thereby realizing a more ideal control process. Among them, the proportional control part is adjusted according to the current value of the error signal, and the integral control part is adjusted according to the accumulated value of the error signal. The output of the PI controller is the sum of the proportional and integral terms, that is, the calculated target torque, that is, the vehicle power take-off torque is expressed as:

[0098]

[0099] Among them, Kp is the adjustable proportional coefficient, Ki is the adjustable integral coefficient, and m(t) is the final output signal.

[0100] Based on mathematical theory, PI control can better maintain system stability when other control methods cause system stability errors or process repetitions. Based on the advantages of PI control, in terms of vehicle control, PI regulation is widely used in vehicle drive torque loop control, and torque PI regulation is achieved through speed to achieve constant speed output control.

[0101] Step S32: adjusting the vehicle power take-off torque based on the rotation speed value and the target torque to control the vehicle to maintain constant speed.

[0102] It can be understood that based on the speed value and the target torque, the vehicle's power take-off torque can be adjusted under different vehicle operating conditions, so that the vehicle can maintain a constant driving speed, improve the vehicle's operating stability, significantly enhance the driving experience, reduce vehicle wear and failure rates, extend the vehicle's service life, better adapt to different road conditions and load changes, and enhance the adaptability of the entire vehicle.

[0103] For ease of understanding, the example of obtaining the speed value and the target torque is used for explanation, wherein the information acquisition device is an information acquisition module, the storage device is a memory, and the execution device is a simple proportional integral loop control module.

[0104] The information acquisition module obtains the speed value and the target torque. The PI control module can be used as a simple proportional integral loop control module to determine the request for flashing information and the flashing speed information based on the target torque, and the vehicle speed is flashed based on the request for flashing information and the flashing speed information to determine the flashing status. That is, on new energy commercial vehicles, the driver or the bodywork requires the speed to be set through the instrument, the instrument sends a request for flashing and the flashing speed information, and the vehicle controller stores the required set speed. After the flashing is completed, the vehicle can start the driving power take-off function to obtain the vehicle operating status, such as the vehicle operating status is driving power take-off and parking power take-off.

[0105] When the vehicle operating state is driving power take-off and the flashing state is flashing success, the proportional integral torque is adjusted based on the target torque to limit the overshoot to obtain the target torque value, that is, the driver sets the steering wheel button, and the vehicle controller controls the motor through PI control to adjust the torque to the instrument set speed to maintain the vehicle driving speed. For the torque control logic of the vehicle controller, the difference between the current motor speed and the set motor speed is calculated, and multiplied by the Kp adjustable proportional coefficient and the Ki adjustable integral coefficient respectively. If the speed difference exceeds the set speed threshold, the Ki integral torque part is adjusted in real time to control the overshoot and maintain steady-state output, such as Figure 3 As shown, Figure 3 This is a simple model logic calculation diagram of the proportional speed difference of the vehicle power take-off torque control method of this application, where spdDiff is the difference between the current motor speed and the set motor speed, creepOff is the overshoot trigger condition after the speed difference exceeds a certain threshold of the set speed, Kp is an adjustable proportional coefficient, Ki is an adjustable integral coefficient, and tqReq is the final output torque value. Different from the parking power take-off speed mode to control the fixed speed, the KI control of the motor torque control under driving power take-off adjusts the torque in real time to achieve power take-off from the current speed to the set speed while maintaining a constant speed to meet the use conditions. When the vehicle operating state is parking power take-off or the flashing state is a flashing failure, the vehicle torque is directly adjusted based on the speed value to obtain the target torque value, and the vehicle is controlled to maintain a constant speed based on the target torque value.

[0106] In a feasible implementation, step S32 may include steps C11 to C13:

[0107] Step C11, determining the request for flashing information and the flashing speed information based on the target torque;

[0108] It should be noted that the flashing information reflects the characteristics of the information for updating and storing the speed setting value of the vehicle in the driving power take-off mode, and the flashing speed information reflects the characteristics of the desired speed that the vehicle needs to maintain in the driving power take-off mode.

[0109] It can be understood that the flashing information may include a flashing request signal and a feedback signal of the flashing success status, thereby instructing the vehicle controller to write the target speed value set by the driver into the memory for use in the driving power taking process. The flashing speed information sends a flashing request signal through the instrument and is stored in the vehicle controller, so as to perform precise vehicle power taking torque adjustment, realize constant speed driving of the vehicle and stable operation of the upper equipment.

[0110] Step C12, performing vehicle speed flashing based on the flashing request information and the flashing speed information, and determining a flashing state;

[0111] It should be noted that the flashing state reflects the characteristics of the result state of the vehicle controller storing and updating the target speed information after the vehicle performs a flashing operation on the speed setting value in the driving power take-off mode.

[0112] It can be understood that the flashing status may include two situations: flashing success and flashing failure, thereby indicating whether the target speed information is correctly stored and updated. Through accurate flashing status feedback, control errors caused by flashing failures can be avoided, thereby improving the stability and reliability of the control system, ensuring that the vehicle can run stably at the set speed, and significantly improving the user experience.

[0113] Step C13, adjusting the vehicle power take-off torque based on the rotational speed value, the target torque and the flashing state to control the vehicle to maintain constant speed.

[0114] It can be understood that by adjusting the vehicle power take-off torque based on the speed value, target torque value and flashing status, the motor output can be accurately adjusted to enable the vehicle to maintain a constant driving speed in the driving power take-off mode, thereby achieving precise control of the vehicle, ensuring the stable operation of the upper equipment, and improving the control accuracy and reliability of the vehicle. The constant vehicle power take-off torque output helps to reduce the speed fluctuation and jitter of the vehicle during driving, improve the vehicle's operating stability, significantly enhance the driving experience, and reduce the vehicle's wear and failure rate, extend the vehicle's service life, and ensure that the vehicle can operate stably under various working conditions.

[0115] In a feasible implementation, step C13 may include steps D11 to D13:

[0116] Step D11, obtaining the vehicle operating status;

[0117] It should be noted that the vehicle operating status reflects the actual operating conditions of the vehicle in the driving power take-off mode and the characteristics of the working environment.

[0118] It can be understood that the vehicle operating status may include the vehicle's driving status, road conditions, load conditions and the working status of the upper equipment, so as to infer whether the vehicle is in driving power or parking power, ensuring that the vehicle can be reasonably adjusted according to different operating conditions to maintain a constant driving speed and stable operation of the upper equipment.

[0119] Step D12, performing torque control to adjust the vehicle power take-off torque limit overshoot based on the speed value, the target torque, the vehicle operating state and the flashing state, and determining the target torque value;

[0120] It should be noted that the target torque value reflects the characteristic of controlling the vehicle to travel at a constant speed by the final torque value obtained after limiting the overshoot.

[0121] It can be understood that the target torque value is used to accurately adjust the vehicle's power take-off torque, so that the vehicle can maintain the best operating state under different working conditions, significantly improve the vehicle's control accuracy, ensure the stable operation of the upper equipment, and meet the vehicle's use requirements under various complex working conditions.

[0122] In a feasible implementation, step D12 may include steps E11 to E12:

[0123] Step E11, when the vehicle operating state is driving power take-off and the flashing state is flashing success, adjusting the proportional integral torque limit overshoot based on the target torque to obtain a target torque value;

[0124] It can be understood that when the vehicle operating state is driving power take-off and the flashing state is successful flashing, if there is no need to limit the overshoot, the calculated target torque can be used as the target torque value to control the vehicle to travel at a constant speed. If the overshoot needs to be limited, the target torque is readjusted based on the speed value to calculate the final expected output torque value as the target torque value to control the vehicle to travel at a constant speed. The vehicle power take-off torque is accurately adjusted so that the vehicle can maintain the best operating state under different working conditions, which significantly improves the control accuracy of the vehicle, ensures the stable operation of the upper equipment, and meets the use requirements of the vehicle under various complex working conditions.

[0125] Step E12, when the vehicle operating state is parking power take-off or the flashing state is flashing failure, adjusting the vehicle torque based on the speed value to obtain a target torque value.

[0126] It can be understood that when the vehicle operating state is parking power take-off or the flashing state is flashing failure, the vehicle can be directly controlled to travel at a constant speed according to the rotation speed value.

[0127] Step D13, controlling the vehicle to maintain a constant speed based on the target torque value.

[0128] It is understandable that based on the target torque value, a constant vehicle torque output can be maintained, thereby reducing the speed fluctuation and vibration of the vehicle during driving and improving the vehicle's operating stability. The driving experience is significantly improved, the wear and failure rate of the vehicle is reduced, the service life of the vehicle is extended, and the vehicle is ensured to operate stably under various working conditions, better adapt to different road conditions and load changes, and the adaptability of the vehicle is enhanced. It meets the diverse needs of special vehicles in urban sanitation, watering, cleaning and other fields, and significantly enhances the market competitiveness of vehicle networking.

[0129] This embodiment proposes a vehicle power take-off torque control method, which determines the target torque based on the proportional control torque and the integral control torque; and adjusts the vehicle power take-off torque based on the speed value and the target torque to control the vehicle to maintain constant speed. The technical problem of how to more accurately control the vehicle power take-off torque is solved. Compared with the prior art, this application determines the target torque by combining the proportional control torque and the integral control torque, and adjusts the vehicle power take-off torque based on the real-time speed value, so as to achieve constant speed driving of new energy commercial vehicles in driving power take-off mode, significantly improves the control accuracy and stability of the vehicle, reduces the instability and reduced operating efficiency of the upper equipment caused by speed fluctuations, effectively reduces the operating burden of the driver, improves the driving experience, and at the same time helps to reduce energy consumption and extend the life of the vehicle, significantly enhancing the adaptability and competitiveness of the vehicle under different working conditions.

[0130] For example, in order to help understand the implementation process of the vehicle power take-off torque control method obtained by combining this embodiment with the above-mentioned embodiment 1, please refer to Figure 4 , Figure 4 A brief flow chart of a vehicle power take-off torque control method is provided, specifically:

[0131] After setting the speed, different from parking power taking, directly using the speed to control the motor, constant speed output can be achieved. In the driving power taking mode, the vehicle controller performs PI control adjustment by setting the speed and the current speed difference, and controls the motor or power take-off to maintain a constant speed with real-time torque output, so that the vehicle travels at a constant speed. Referring to Example 1, the speed value, proportional integral coefficient and proportional speed difference are obtained; the proportional control torque and integral control torque are calculated based on the speed value, the proportional integral coefficient and the proportional speed difference; the vehicle power take-off torque is adjusted based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed. Referring to Example 2, the target torque is determined based on the proportional control torque and the integral control torque; the vehicle power take-off torque is adjusted based on the speed value and the target torque to control the vehicle to maintain constant speed. This application changes the motor control mode under driving power taking to torque control, and uses PI control adjustment to obtain constant speed control under driving power taking, so as to solve the logical contradiction of motor speed control under driving power taking, realize constant speed control under different power taking modes, meet different use conditions, and parking and driving can also output power according to the set motor speed. Moreover, on the basis of torque control of the driving power take-off motor, PI control torque regulation is added, Kp is taken for the difference between the set speed and the current speed, the response speed of PI torque regulation is accelerated, and the speed difference is integrated to eliminate the steady-state error. By adjusting the torque-speed closed-loop control, the torque control constant speed output under driving power take-off is realized, and the Kp and Ki parameters are calibrated and fine-tuned to achieve better stability. The constant speed output of the motor under driving power take-off is realized, which is suitable for special upper parts, urban sprinkler trucks and other working conditions. The driver sets a constant speed without operating the accelerator or brake pedal. The vehicle travels at a constant speed while providing power take-off for the vehicle upper part through the gearbox. The PI control torque regulation method is used to adjust the motor torque output in real time according to the road working condition load and the different speed differences, ensuring the smooth operation of the vehicle, significantly improving the driver's operating convenience and reducing the burden.

[0132] It should be noted that the above examples are only used to understand the present application and do not constitute a limitation on the vehicle power take-off torque control method of the present application. More simple transformations based on this technical concept are all within the protection scope of the present application.

[0133] The present application also provides a vehicle power take-off torque control device, please refer to Figure 5 , the vehicle power take-off torque control device comprises:

[0134] An acquisition module 10 is used to acquire a speed value, a proportional integral coefficient and a proportional speed difference;

[0135] A processing module 20, configured to calculate a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference;

[0136] The execution module 30 is used to adjust the vehicle power take-off torque based on the rotation speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving.

[0137] The acquisition module 10 is also used to acquire the current speed value, the accumulated speed value, the target speed setting value, the proportional coefficient and the integral constant;

[0138] determining a speed value based on the current speed value, the integrated speed value and the target speed setting value;

[0139] determining a proportional-integral coefficient based on the proportional coefficient and the integral constant;

[0140] A proportional speed difference is calculated based on the speed current value and the speed set value.

[0141] The processing module 20 is further used to calculate the proportional control torque based on the proportional coefficient in the proportional integral coefficient and the proportional speed difference;

[0142] The integral control torque is calculated based on the integral constant in the proportional integral coefficient and the rotation speed integrated value in the rotation speed value.

[0143] The execution module 30 is further used to determine the target torque based on the proportional control torque and the integral control torque;

[0144] The vehicle power take-off torque is adjusted based on the rotation speed value and the target torque to control the vehicle to maintain constant speed.

[0145] The execution module 30 is further used to determine the request for flashing information and the flashing speed information based on the target torque;

[0146] Perform vehicle speed flashing based on the request flashing information and the flashing speed information, and determine the flashing state;

[0147] The vehicle power take-off torque is adjusted based on the speed value, the target torque and the flashing state to control the vehicle to maintain constant speed.

[0148] The execution module 30 is also used to obtain the vehicle operating status;

[0149] Based on the speed value, the target torque, the vehicle operating state and the flashing state, torque control is performed to adjust the vehicle power take-off torque limit overshoot to determine the target torque value;

[0150] The vehicle is controlled to maintain a constant speed based on the target torque value.

[0151] The execution module 30 is further configured to adjust the proportional integral torque limit overshoot based on the target torque to obtain a target torque value when the vehicle operating state is driving power take-off and the flashing state is flashing success;

[0152] When the vehicle operating state is parking power take-off or the flashing state is flashing failure, the vehicle torque is adjusted based on the rotation speed value to obtain a target torque value.

[0153] The vehicle power take-off torque control device provided by the present application adopts the vehicle power take-off torque control method in the above embodiment, which can solve the technical problem of how to more conveniently, efficiently and accurately control the vehicle power take-off torque. Compared with the prior art, the beneficial effects of the vehicle power take-off torque control device provided by the present application are the same as the beneficial effects of the vehicle power take-off torque control method provided by the above embodiment, and the other technical features of the vehicle power take-off torque control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0154] The present application provides a vehicle power take-off torque control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the vehicle power take-off torque control method in the above-mentioned embodiment one.

[0155] Reference below Figure 6 , which shows a schematic diagram of the structure of a vehicle power take-off torque control device suitable for implementing the embodiment of the present application. The vehicle power take-off torque control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 6 The vehicle power take-off torque control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0156] like Figure 6As shown, the vehicle power take-off torque control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the vehicle power take-off torque control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), a speaker, a vibrator, etc.; storage devices 1003 including, for example, a magnetic tape, a hard disk, etc.; and communication devices 1009. The communication device 1009 can allow the vehicle power take-off torque control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a vehicle power take-off torque control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems may be implemented or have alternatively.

[0157] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0158] The vehicle power take-off torque control device provided by the present application adopts the vehicle power take-off torque control method in the above embodiment, which can solve the technical problem of how to more conveniently, efficiently and accurately control the vehicle power take-off torque. Compared with the prior art, the beneficial effects of the vehicle power take-off torque control device provided by the present application are the same as the beneficial effects of the vehicle power take-off torque control method provided by the above embodiment, and the other technical features in the vehicle power take-off torque control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0159] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0160] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0161] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the vehicle power take-off torque control method in the above-mentioned embodiment.

[0162] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0163] The computer-readable storage medium may be included in the vehicle power take-off torque control device; or may exist independently without being assembled into the vehicle power take-off torque control device.

[0164] The above-mentioned computer-readable storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the vehicle power take-off torque control device, the vehicle power take-off torque control device: obtains the speed value, the proportional-integral coefficient and the proportional speed difference; calculates the proportional control torque and the integral control torque based on the speed value, the proportional-integral coefficient and the proportional speed difference; and adjusts the vehicle power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain a constant speed.

[0165] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0166] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0167] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0168] The readable storage medium provided by the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned vehicle power take-off torque control method, and can solve the technical problem of how to more conveniently, efficiently, and accurately control the vehicle power take-off torque. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as the beneficial effects of the vehicle power take-off torque control method provided by the above-mentioned embodiment, and will not be repeated here.

[0169] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A vehicle power take-off torque control method, characterized in that: The method includes: Get the speed value, proportional integral coefficient and proportional speed difference; Calculating a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference; The vehicle power take-off torque is adjusted based on the rotation speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed travel.

2. The method according to claim 1, characterized in that The step of obtaining the speed value, the proportional integral coefficient and the proportional speed difference comprises: Get the current speed value, accumulated speed value, target speed setting value, proportional coefficient and integral constant; determining a speed value based on the current speed value, the integrated speed value and the target speed setting value; determining a proportional-integral coefficient based on the proportional coefficient and the integral constant; A proportional speed difference is calculated based on the speed current value and the speed set value.

3. The method according to claim 1, characterized in that The step of calculating the proportional control torque and the integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference comprises: Calculating a proportional control torque based on a proportional coefficient in the proportional integral coefficient and the proportional speed difference; The integral control torque is calculated based on the integral constant in the proportional integral coefficient and the rotation speed integrated value in the rotation speed value.

4. The method according to claim 1, characterized in that The step of adjusting the vehicle power take-off torque based on the speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving comprises: determining a target torque based on the proportional control torque and the integral control torque; The vehicle power take-off torque is adjusted based on the rotation speed value and the target torque to control the vehicle to maintain constant speed.

5. The method according to claim 4, characterized in that The step of adjusting the vehicle power take-off torque based on the speed value and the target torque to control the vehicle to maintain constant speed driving comprises: Determine the request for flashing information and the flashing speed information based on the target torque; Perform vehicle speed flashing based on the request flashing information and the flashing speed information, and determine the flashing state; The vehicle power take-off torque is adjusted based on the speed value, the target torque and the flashing state to control the vehicle to maintain constant speed.

6. The method according to claim 5, characterized in that The step of adjusting the vehicle power take-off torque based on the speed value, the target torque and the flashing state to control the vehicle to maintain constant speed driving includes: Get the vehicle operating status; Based on the speed value, the target torque, the vehicle operating state and the flashing state, torque control is performed to adjust the vehicle power take-off torque limit overshoot to determine the target torque value; The vehicle is controlled to maintain a constant speed based on the target torque value.

7. The method according to claim 6, characterized in that The step of performing torque control to adjust the vehicle power take-off torque limit overshoot based on the speed value, the target torque, the vehicle operating state and the flashing state and determining the target torque value comprises: When the vehicle operating state is driving power take-off and the flashing state is flashing success, adjusting the proportional integral torque to limit the overshoot based on the target torque to obtain a target torque value; When the vehicle operating state is parking power take-off or the flashing state is flashing failure, the vehicle torque is adjusted based on the rotation speed value to obtain a target torque value.

8. A vehicle power take-off torque control device, characterized in that: The device comprises: An acquisition module is used to acquire a speed value, a proportional integral coefficient and a proportional speed difference; a processing module, configured to calculate a proportional control torque and an integral control torque based on the speed value, the proportional integral coefficient and the proportional speed difference; The execution module is used to adjust the vehicle power take-off torque based on the rotational speed value, the proportional control torque and the integral control torque to control the vehicle to maintain constant speed driving.

9. A vehicle power take-off torque control device, characterized in that: The device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the computer program is configured to implement the steps of the vehicle power take-off torque control method according to any one of claims 1 to 7.

10. A storage medium, characterized in that: The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, the steps of the vehicle power take-off torque control method as described in any one of claims 1 to 7 are implemented.

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