Method for calculating and reporting feedback torque of permanent magnet synchronous motor for new energy vehicle

Abstract

The invention discloses a method for calculating and reporting feedback torque of a permanent magnet synchronous motor for a new energy vehicle, and relates to the technical field of motor control. Basic parameters such as motor flux linkage, the number of pole pairs, DQ-axis inductance and feedback current are obtained, and calculation torque is obtained through a torque formula; the whole vehicle issuing torque is limited, and the motor control target torque is obtained; the calculation torque and the motor control target torque are compared and filtered, and a feedback calculation difference value torque is calculated according to the calculation torque and the motor control target torque; adding the feedback calculation difference torque and the motor control target torque to obtain a feedback torque; the feedback torque filter coefficient is adjusted on the rack, so that the feedback torque is more accurate; according to the difference between the whole vehicle issuing torque and the feedback torque, direct reporting or reporting after proportional filtering is selected, and the accuracy of the reported torque of the motor is ensured. According to the embodiment of the invention, the feedback torque of the permanent magnet synchronous motor is accurately calculated and reported, so that the accuracy and real-time performance of the new energy vehicle for controlling the torque of the motor are improved.

Description

Technical Field

[0001] The present application belongs to the field of motor control technology, and in particular, relates to a method for calculating and reporting feedback torque of a permanent magnet synchronous motor for new energy vehicles. Background Art

[0002] During the operation of new energy commercial vehicles, it is necessary to refer to the motor feedback torque to control the power of the whole vehicle. At present, the feedback torque can be calculated using the torque formula based on the DQ axis current, inductance, flux and other parameters sampled by the motor controller. However, since the DQ axis feedback current of the permanent magnet synchronous motor is achieved through the current closed-loop PI regulation method, it is easy to overshoot and fluctuate during the current loop PI regulation process.

[0003] Therefore, there is a large deviation between the torque calculated by this method and the actual output torque of the motor, and there is a large deviation between the feedback torque and the actual target torque issued by the vehicle on the actual vehicle, which affects the closed-loop control of the vehicle control system based on the feedback torque of the motor. Summary of the invention

[0004] The purpose of this application is to provide a method for calculating and reporting the feedback torque of a permanent magnet synchronous motor for new energy vehicles, thereby improving the accuracy and real-time performance of motor torque control of new energy vehicles by accurately calculating and reporting the feedback torque of the permanent magnet synchronous motor.

[0005] In order to achieve the above objectives, the solution of this application is: In a first aspect, an embodiment of the present application provides a method for calculating feedback torque of a permanent magnet synchronous motor for a new energy vehicle, comprising: Get calculated torque The basic parameters of the torque are calculated by the torque formula , the basic parameters include motor flux, motor pole pair number, D-axis inductance of permanent magnet synchronous motor, Q-axis inductance of permanent magnet synchronous motor, feedback current of D-axis and feedback current of Q-axis; Get the torque issued by the vehicle , and send torque to the whole vehicle Perform limiting processing to obtain the motor control target torque ; Get the feedback torque filter coefficient, and calculate the torque based on the feedback torque filter coefficient and motor control target torque Get feedback to calculate the difference torque ; Calculate differential torque based on feedback and motor control target torque Get feedback torque .

[0006] According to the above method of the embodiment of the present application, the following additional technical features may also be provided: Further, the calculated torque is obtained The basic parameters of the torque are calculated by the torque formula , the formula is as follows:

[0007] in, represents the calculated torque, Indicates the number of motor pole pairs, represents the motor flux, represents the D-axis inductance of the permanent magnet synchronous motor, represents the Q-axis inductance of the permanent magnet synchronous motor, represents the feedback current of the D axis, Indicates the feedback current of the Q axis.

[0008] Furthermore, the torque of the vehicle is obtained , and send torque to the whole vehicle Perform limiting processing to obtain the motor control target torque ,include: The torque of the vehicle is sent according to the external characteristic limit of the permanent magnet synchronous motor, the temperature limit on the torque and the step limit of the motor control. Perform limiting processing to obtain the motor control target torque .

[0009] Further, the feedback torque filter coefficient is obtained, and the torque is calculated according to the feedback torque filter coefficient. and motor control target torque Get feedback to calculate the differential torque ,include: The feedback torque filter coefficient is obtained through the actual test bench calibration method, and the feedback difference torque is calculated The formula is as follows:

[0010] in, Indicates the feedback calculated difference torque, represents the feedback torque filter coefficient, represents the calculated torque, Indicates the motor control target torque, Indicates the feedback calculation difference torque of the previous calculation cycle.

[0011] Further, the differential torque is calculated based on the feedback and motor control target torque Get feedback torque , the formula is as follows:

[0012] in, is the feedback torque, Indicates the motor control target torque, Indicates the feedback calculated differential torque.

[0013] In a second aspect, an embodiment of the present application provides a method for reporting feedback torque of a permanent magnet synchronous motor for a new energy vehicle, comprising: Preset first torque and the second torque ; If the vehicle sends torque Less than the first torque , and the vehicle sends torque and feedback torque The absolute value of the difference is less than the second torque , the motor reports torque Equal to the vehicle's torque ; If the vehicle sends torque Greater than the first torque , then the feedback torque and motor control target torque Filter according to the proportional method to obtain the motor reported torque , the formula is as follows:

[0014] in, Indicates the motor reports torque, is the feedback torque, Indicates the torque filter coefficient reported by the motor. Indicates the motor control target torque.

[0015] Furthermore, by reporting the torque filter coefficient of the motor on the actual vehicle Make adjustments and corrections.

[0016] Compared with the prior art, the method for calculating and reporting feedback torque of a permanent magnet synchronous motor for a new energy vehicle provided by the embodiment of the present application has the following beneficial technical effects: The embodiment of the present application obtains the basic parameters of the permanent magnet synchronous motor and uses an accurate torque formula to calculate the calculated torque, thereby providing a calculation basis for subsequent torque control; limits the torque issued by the whole vehicle to obtain the target torque for motor control. This process takes into account the physical characteristics and operating limitations of the motor to ensure the rationality of the vehicle's torque request; and uses the feedback torque filter coefficient and the feedback calculated difference torque to calculate the feedback torque. This method can more accurately reflect the actual torque output of the motor, thereby improving the accuracy of torque control.

[0017] The embodiment of the present application introduces feedback to calculate the difference torque, which can dynamically adjust the feedback torque to make it closer to the actual torque output of the motor. This adjustment mechanism helps to enhance the stability of the system and reduce the system instability caused by torque fluctuations. The determination of the motor-reported torque takes into account a variety of situations, including the difference between the torque issued by the whole vehicle and the feedback torque, the setting of the torque threshold, and the adjustment of the motor-reported torque filter coefficient. This flexible motor torque reporting strategy enhances the robustness of the system and enables it to adapt to different operating environments and conditions.

[0018] The precise torque control of the embodiment of the present application helps to optimize the energy efficiency of the motor and reduce unnecessary energy loss, which can not only improve the cruising range of new energy vehicles, but also reduce operating costs; through reasonable torque limitation and adjustment, motor overload and overheating can be avoided, thereby extending the service life of the motor; precise torque control can also ensure that the vehicle's power response is smoother and more stable, improving driving comfort and controllability; in emergency situations, the safety and stability of the vehicle can be ensured by quickly and accurately adjusting the torque output. BRIEF DESCRIPTION OF THE DRAWINGS

[0019] Figure 1 A flow chart of a method for calculating feedback torque of a permanent magnet synchronous motor for a new energy vehicle according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0020] In order to make the above-mentioned purposes, features and advantages of the present application more obvious and easy to understand, the specific implementation methods of the present application are described in detail below in conjunction with the accompanying drawings. It is to be understood that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some structures related to the present application are shown in the accompanying drawings, rather than all structures. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0021] The terms "including" and "having" and any variations thereof in this application are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device comprising a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products or devices.

[0022] Reference to "embodiments" in this application means that a particular feature, structure, or characteristic described in conjunction with the embodiments may be included in at least one embodiment of the present application. The appearance of the phrase in various locations in the specification does not necessarily refer to the same embodiment, nor is it an independent or alternative embodiment that is mutually exclusive with other embodiments. It is explicitly and implicitly understood by those skilled in the art that the embodiments described in this application may be combined with other embodiments.

[0023] like Figure 1 As shown, the embodiment of the present application provides a method for calculating the feedback torque of a permanent magnet synchronous motor for a new energy vehicle, comprising the following steps: Step 101, obtain basic parameters for calculating torque, and obtain the calculated torque through a torque formula. The basic parameters include motor flux, motor pole pair number, D-axis inductance of the permanent magnet synchronous motor, Q-axis inductance of the permanent magnet synchronous motor, D-axis feedback current, and Q-axis feedback current.

[0024] In order to obtain the calculated torque, the embodiment of the present application , you need to obtain the following basic parameters: Motor flux : This is the magnetic flux generated by the permanent magnet in the motor and is one of the important parameters of motor performance.

[0025] Motor pole pairs : The number of motor pole pairs determines the speed and torque characteristics of the motor.

[0026] D-axis inductance of permanent magnet synchronous motor and Q-axis inductance : These two inductance parameters reflect the electromagnetic characteristics of the motor in the D-axis and Q-axis directions, and have an important influence on the dynamic performance of the motor.

[0027] Feedback current of D axis and the Q-axis feedback current :These two currents are key parameters in motor control. By adjusting them, the torque and speed of the motor can be controlled.

[0028] After obtaining the above basic parameters, use the following torque formula to calculate :

[0029] in, represents the calculated torque, Indicates the number of motor pole pairs, represents the motor flux, represents the D-axis inductance of the permanent magnet synchronous motor, represents the Q-axis inductance of the permanent magnet synchronous motor, represents the feedback current of the D axis, Indicates the feedback current of the Q axis.

[0030] This formula takes into account the influence of motor flux, pole pair number, D-axis and Q-axis inductance, and D-axis and Q-axis feedback current, and can accurately calculate the calculated torque of the motor. .

[0031] Specifically, the motor flux It reflects the size of the magnetic flux of the permanent magnet in the motor and is the basis for generating torque. The embodiment of the present application obtains the no-load back EMF of the motor through bench testing. Since the motor has no torque output when testing the back EMF, the DQ axis current is 0 at this time. The magnetic flux of the permanent magnet synchronous motor can be calculated through the DQ axis voltage formula. The motor is dragged to a certain speed to test the phase voltage between the three phases of the permanent magnet synchronous motor. , because it is no-load and there is no current, therefore: ;

[0032] in, represents the Q-axis voltage, represents the angular velocity of the motor rotation, Represents the permanent magnet synchronous motor flux.

[0033] The motor flux can be obtained by the above formula In addition, since the motor flux is greatly affected by temperature, which affects the motor torque calculation, it is necessary to test the flux at different water inlet temperatures. The specific method is to adjust the motor water inlet temperature and use the same method to test the permanent magnet synchronous motor flux at different temperatures. When calculating the torque, the motor flux can be obtained according to the motor temperature by looking up the table to calculate the torque.

[0034] Motor pole pairs It determines the synchronous speed of the motor and is closely related to the torque and power of the motor. The number of motor pole pairs in the embodiment of the present application can be obtained by bypassing the given motor DC current and making the motor rotate one circle. By sequentially giving the motor UVW three-phase DC, a group of UVW three-phase DC is given, and the motor rotates one pair of poles. By this method, the motor is rotated one circle, and the total number of given groups is observed. The number of pole pairs of the motor is the number of pairs of poles.

[0035] D-axis inductance and Q-axis inductance These two inductance parameters reflect the degree of electromagnetic coupling of the motor in the D-axis and Q-axis directions, and have an important impact on the dynamic response and stability of the motor. During the motor calibration process, the embodiment of the present application collects the DQ-axis feedback current and DQ-axis voltage at each speed, and obtains the DQ-axis inductance corresponding to the DQ-axis current through the voltage formula.

[0036] Feedback current of D axis and the Q-axis feedback current The torque output and speed change of the motor can be controlled by adjusting the size and phase of the two currents. The embodiment of the present application uses the FOC current conversion method to transform the collected three-phase current and electrical angular velocity through the formula to obtain the DQ axis feedback current.

[0037] Step 102, obtaining the torque sent by the whole vehicle, and limiting the torque sent by the whole vehicle to obtain the motor control target torque.

[0038] The calculated torque of the permanent magnet synchronous motor can be calculated through step 101, but due to the large fluctuation of the feedback current and the closed-loop regulation of the feedback current during the torque step, the calculated torque deviates greatly from the motor control target torque.

[0039] Therefore, step 102 obtains the torque issued by the whole vehicle and limits the torque issued by the whole vehicle to obtain the motor control target torque. It is the torque value that the motor control system expects the motor to output. However, due to the physical characteristics of the motor and the limitations of the operating environment, this expected value cannot be directly used as the actual output torque of the motor. Therefore, it is necessary to limit the torque issued by the vehicle.

[0040] The limiting process is mainly based on three key factors of permanent magnet synchronous motors: external characteristics, temperature limitations on torque, and step size limitations of motor control. Among them: External characteristic limitation: refers to the maximum torque that the motor can output at different speeds. The external characteristics of the motor are determined when the motor is designed, which limits the maximum output capacity of the motor at different speeds. Therefore, when limiting the torque of the whole vehicle, it is necessary to ensure that the torque of the whole vehicle does not exceed the maximum torque of the motor at the current speed.

[0041] Temperature limits torque: The motor generates heat during operation. If the temperature is too high, it will have an adverse effect on the performance and life of the motor. Therefore, it is necessary to monitor the temperature of the motor and limit the torque of the vehicle according to the temperature to prevent the motor from overheating.

[0042] Motor control step limit: This is a limit set to ensure that the motor's torque output can change smoothly. If the torque output from the vehicle changes too much, it may cause a sudden change in the motor's output torque, which will have an adverse effect on the motor's operating stability and life. Therefore, it is necessary to limit the change step of the torque output from the vehicle.

[0043] After the above three restrictions, the torque value is the motor control target torque. This motor control target torque not only conforms to the physical characteristics of the motor, but also takes into account the motor's operating environment and safety requirements. It is the torque value that the motor control system actually controls the motor output.

[0044] Step 103 , obtaining a feedback torque filter coefficient, and obtaining a feedback calculated difference torque according to the feedback torque filter coefficient, the calculated torque, and the motor control target torque.

[0045] Since the motor has been calibrated, that is, the relationship between the actual output torque of the motor and the DQ axis current has been found, the actual output torque of the motor and the motor control target torque are within a reasonable error range. Step 103 will obtain the calculated torque and motor control target torque After filtering the difference, we get .

[0046] Specifically, the feedback torque filter coefficient It is obtained through the actual bench calibration method. Bench calibration is an experimental method that adjusts the parameters and optimizes the performance of the motor and its control system by simulating various operating conditions of the vehicle under laboratory conditions. In this process, a large amount of data will be collected, including the input parameters (such as voltage, current) and output parameters (such as speed, torque) of the motor, as well as the dynamic relationship between these parameters.

[0047] Through data analysis, a suitable filter coefficient can be determined , which can reflect the characteristics of the motor torque response and the requirements of the control system. Specifically, The value of will affect the feedback calculation difference torque The calculation of the final feedback torque is indirectly affected accuracy and stability.

[0048] Feedback calculation differential torque It is based on the feedback torque filter coefficient , calculate torque and motor control target torque Calculated by a specific filtering formula, the formula is as follows:

[0049] in, Indicates the feedback calculated difference torque, represents the feedback torque filter coefficient, represents the calculated torque, Indicates the motor control target torque, Indicates the feedback calculation difference torque of the previous calculation cycle.

[0050] when When is larger, the formula Partial This means that Will respond more quickly and The difference between When smaller, The changes will be smoother.

[0051] Feedback torque filter coefficient The acquisition and calculation of the differential torque in the calculation feedback The application of the permanent magnet synchronous motor in new energy vehicles is an important part of the control strategy. The value can reflect the characteristics of the motor torque response and the needs of the control system, and the feedback calculation difference torque The calculation is based on , calculate torque and motor control target torque The actual torque output of the motor is adjusted based on the dynamic relationship between the two. This process ensures that the motor can respond to control commands accurately and stably, thus achieving efficient and reliable operation.

[0052] Further explanation: Indicates the feedback calculation difference torque of the previous calculation cycle, that is, in the first cycle, , so the feedback calculation difference torque of the first cycle , and superimposed in sequence, the feedback calculation difference torque of the previous calculation cycle when the feedback calculation difference torque needs to be calculated can be obtained.

[0053] Step 104 , obtaining the feedback torque according to the feedback calculation difference torque and the motor control target torque.

[0054] formula Concisely expresses feedback torque In this formula: Represents feedback torque, which is the value that needs to be finally obtained in the embodiment of the present application, and it reflects the torque output of the motor in actual operation.

[0055] Represents the motor control target torque, which is the expected motor torque value obtained after a series of restriction processing based on the vehicle control requirements.

[0056] Indicates the feedback calculated differential torque, which is obtained by the feedback torque filter coefficient , calculate torque and motor control target torque The calculated value reflects the difference between the current motor torque output and the motor control target torque.

[0057] In the embodiment of the present application, the motor control target torque is obtained through steps 102 and 103 respectively. and feedback calculation difference torque Finally, by controlling the motor to the target torque Calculate the difference torque with feedback Add together to get the feedback torque This value includes both the control strategy's expectation of the motor torque and the deviation in the actual operation of the motor, so it can more accurately reflect the actual torque output of the motor.

[0058] In summary, step 104 combines the motor control target torque with the feedback calculated difference torque, thereby ensuring the accurate execution of the control strategy and taking into account the actual operation of the motor, thereby achieving precise control of the motor torque output.

[0059] The embodiment of the present application also provides a method for reporting feedback torque of a permanent magnet synchronous motor for new energy vehicles. In the power system of new energy vehicles, the permanent magnet synchronous motor (PMSM) is a key component, and its performance optimization and precise control are crucial to improving the energy efficiency, driving experience and safety of the entire vehicle. Feedback torque As one of the important parameters of motor performance, its accurate calculation and reporting are of great significance for achieving efficient and stable control of the motor.

[0060] This embodiment is a method for reporting feedback torque of a permanent magnet synchronous motor for a new energy vehicle. The method is based on the feedback torque calculated above. , through preset conditions and filtering strategies, determine the final torque value reported to the vehicle controller .

[0061] Specifically, two torque thresholds are preset: the first torque and the second torque These two thresholds are used to determine the torque of the vehicle. With feedback torque The difference between the two determines the motor's reported torque. The value strategy of .

[0062] If the vehicle sends torque Less than the preset first torque , and the vehicle sends torque With feedback torque The absolute value of the difference is less than the second torque , then directly report the vehicle's torque As torque value .

[0063] If the vehicle sends torque Greater than the first torque threshold , the proportional filtering method is used to calculate the motor reported torque . This method will feedback torque and motor control target torque Filter according to a certain ratio to obtain the final torque value reported by the motor.

[0064] The formula for calculating the motor reported torque using the proportional filtering method is as follows:

[0065] in, Indicates the motor reports torque, is the feedback torque, Indicates the torque filter coefficient reported by the motor. Indicates the motor control target torque.

[0066] Further explanation: When the actual vehicle does not experience current fluctuations during use, the motor reports the torque filter coefficient It is equal to 1, which means the motor reports torque at this time is equal to the feedback torque The purpose of this formula is to overcome the situation in which the current fluctuations and the feedback torque fluctuations caused by the actual vehicle fluctuations during the actual vehicle use make the motor report the torque As close as possible to the feedback torque .

[0067] in, Report the torque filter coefficient for the motor, which can be adjusted and corrected according to the actual vehicle conditions to achieve more precise control effects.

[0068] The embodiment of the present application realizes flexible adjustment of the motor reported torque by presetting the torque threshold and filter coefficient. Under different working conditions, the appropriate reporting strategy can be selected according to actual needs, thereby improving the adaptability and robustness of the control system. By calculating the motor reported torque by the proportional filtering method, the torque fluctuation caused by sensor error, calculation error and other factors can be effectively reduced, and the accuracy and stability of the motor reported torque can be improved.

[0069] Motor reported torque filter coefficient It can be adjusted and corrected according to the actual vehicle conditions, so that the control system can be personalized according to the needs of different vehicle models and different working conditions, further improving the performance and efficiency of the control system.

[0070] In summary, the reporting method of the feedback torque of the permanent magnet synchronous motor for new energy vehicles realizes the precise control and flexible adjustment of the motor reported torque by presetting the torque threshold and filtering strategy. The method has significant advantages and characteristics in practical applications, and is of great significance for improving the energy efficiency, driving experience and safety of new energy vehicles. It should be noted that in the present application, the terms "including", "comprising" or any other variant thereof are intended to cover non-exclusive inclusion, so that the process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "including one..." do not exclude the existence of other identical elements in the process, method, article or device including the element. In addition, it should be pointed out that the scope of the method and device in the embodiment of the present application is not limited to performing functions in the order shown or discussed, and may also include performing functions in a substantially simultaneous manner or in the opposite order according to the functions involved, for example, the described method may be performed in an order different from that described, and various steps may also be added, omitted, or combined. Additionally, features described with reference to certain examples may be combined in other examples.

[0071] The embodiments of the present application are described above in conjunction with the accompanying drawings, but the present application is not limited to the above-mentioned specific implementation methods. The above-mentioned specific implementation methods are merely illustrative and not restrictive. Under the guidance of the present application, ordinary technicians in this field can also make many forms without departing from the purpose of the present application and the scope of protection of the claims, all of which are within the protection of the present application.

Claims

1. A method for calculating feedback torque of a permanent magnet synchronous motor for new energy vehicles, characterized in that: The calculation method includes: Get calculated torque The basic parameters of the torque are calculated by the torque formula , the basic parameters include motor flux, motor pole pair number, D-axis inductance of the permanent magnet synchronous motor, Q-axis inductance of the permanent magnet synchronous motor, D-axis feedback current and Q-axis feedback current; Get the torque issued by the vehicle , and send torque to the vehicle Perform limiting processing to obtain the motor control target torque ; Obtain feedback torque filter coefficient, calculate torque according to the feedback torque filter coefficient and motor control target torque Get feedback to calculate the difference torque ; The difference torque is calculated based on the feedback and motor control target torque Get feedback torque .

2. The calculation method according to claim 1, characterized in that: The torque is calculated by The basic parameters of the torque are calculated by the torque formula , the formula is as follows: ； in, represents the calculated torque, Indicates the number of motor pole pairs, represents the motor flux, represents the D-axis inductance of the permanent magnet synchronous motor, represents the Q-axis inductance of the permanent magnet synchronous motor, represents the feedback current of the D axis, Indicates the feedback current of the Q axis.

3. The calculation method according to claim 1, characterized in that: The acquisition of the vehicle's torque , and send torque to the vehicle Perform limiting processing to obtain the motor control target torque ,include: According to the external characteristic limit of the permanent magnet synchronous motor, the limit of temperature on torque and the step limit of motor control, the torque of the whole vehicle is issued Perform limiting processing to obtain the motor control target torque .

4. The calculation method according to claim 1, characterized in that: The feedback torque filter coefficient is obtained, and the torque is calculated according to the feedback torque filter coefficient. and motor control target torque Get feedback to calculate the differential torque ,include: The feedback torque filter coefficient is obtained through the actual test bench calibration method, and the feedback difference torque is calculated The formula is as follows: ； in, Indicates the feedback calculated difference torque, represents the feedback torque filter coefficient, represents the calculated torque, Indicates the motor control target torque, Indicates the feedback calculation difference torque of the previous calculation cycle.

5. The calculation method according to claim 1, characterized in that: The differential torque is calculated based on the feedback and motor control target torque Get feedback torque , the formula is as follows: ； in, is the feedback torque, Indicates the motor control target torque, Indicates the feedback calculated differential torque.

6. A method for reporting feedback torque of a permanent magnet synchronous motor for a new energy vehicle according to any one of claims 1 to 5, characterized in that: The reporting method includes: Preset first torque and the second torque ; If the vehicle sends torque Less than the first torque , and the vehicle sends torque and feedback torque The absolute value of the difference is less than the second torque , the motor reports torque Equal to the vehicle's torque ; If the vehicle sends torque Greater than the first torque , then the feedback torque and motor control target torque Filter according to the proportional method to obtain the motor reported torque , the formula is as follows: ； in, Indicates the motor reports torque, is the feedback torque, Indicates the torque filter coefficient reported by the motor. Indicates the motor control target torque.

7. The reporting method according to claim 6, characterized in that: By reporting the torque filter coefficient of the motor on the actual vehicle Make adjustments and corrections.

Images