Torque compensation method, device, equipment, medium and program product
By performing torque compensation when the motor torque crosses zero, the problem of poor vehicle jitter suppression effect in the prior art is solved, and more stable and accurate torque compensation is achieved, and the stability of the vehicle is improved.
Patent Information
- Application Number
- CN202510034330.0
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-01-09
- Publication Date
- 2025-04-15
AI Technical Summary
The prior art has poor effect on suppressing vehicle jitter when the motor torque zero crossing and the target torque rise or fall too quickly.
By determining whether there is a zero crossing point of the motor torque based on the motor command of the drive motor, and in the event of a zero crossing point, whether to perform torque compensation based on the motor torque and rotation speed. Specifically, when the motor torque changes from a positive value to zero and the rotational speed decreases, or from a negative value to zero and the rotational speed increases, torque compensation is performed on the target torque.
By only performing torque compensation for speed changes in a single direction, torque fluctuations and unnecessary dynamic responses are reduced, and the stability and accuracy of torque compensation are improved, thereby effectively suppressing vehicle jitter.
Smart Images
Figure CN119834690A_ABST
Abstract
Description
Technical Field
[0001] The present application relates to the field of motor technology, and in particular to a torque compensation method, device, equipment, medium and program product. Background Art
[0002] In the related art, electric vehicles have gaps in the power transmission system. During the operation of the motor, if the two states of electric and power generation change, or when the vehicle is subjected to external excitation, the force-bearing interface of the transmission gear will change, which will cause the vehicle to shake. For vehicle shaking caused by speed fluctuations, the commonly used anti-shake strategy in the related art is: reverse torque compensation according to the motor speed fluctuation, that is, when the motor speed rises or falls abnormally, a reverse compensation torque is superimposed on the current torque to weaken the speed fluctuation, or when the motor target torque is within a small positive and negative range, a fixed torque value is output before and after the torque passes through zero without any compensation control.
[0003] The above anti-shake strategy has a relatively good control effect when the torque direction does not change and the change is relatively slow. However, for scenarios where the torque passes through zero and the target torque rises or falls too quickly, the anti-shake effect is not obvious, resulting in poor effect in suppressing vehicle shaking. Summary of the invention
[0004] The embodiments of the present application provide a torque compensation method, device, equipment, medium and program product to solve the problem of poor effect of suppressing vehicle vibration in related technologies.
[0005] To solve the above technical problems, this application is implemented as follows:
[0006] In a first aspect, an embodiment of the present application provides a torque compensation method, comprising:
[0007] Based on the motor command of the driving motor, determining whether the motor torque has a zero crossing point;
[0008] In the case where it is determined that the motor torque has a zero-crossing point, determining whether to perform torque compensation on the target torque based on the motor torque and the motor speed;
[0009] When the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases, torque compensation is performed on the target torque to obtain a first output torque.
[0010] Optionally, the method further comprises: determining a speed fluctuation value based on an actual speed and a target speed of the drive motor;
[0011] When the speed fluctuation value is less than zero, determining that the motor speed decreases;
[0012] When the speed fluctuation value is greater than zero, it is determined that the motor speed increases.
[0013] Optionally, performing torque compensation on the target torque to obtain the first output torque includes:
[0014] Determine a first compensation torque based on a first compensation coefficient and the speed fluctuation value, wherein the first compensation torque is a product of the first compensation coefficient and the speed fluctuation value;
[0015] Based on the first compensation torque and the target torque, a first output torque is determined, the first output torque being the sum of the first compensation torque and the target torque.
[0016] Optionally, the method further comprises:
[0017] When it is determined that the motor torque does not have a zero-crossing point, torque compensation is performed on the target torque to obtain a second output torque.
[0018] Optionally, performing torque compensation on the target torque to obtain the second output torque includes:
[0019] Determining a second compensation torque based on a second compensation coefficient and the speed fluctuation value, wherein the second compensation torque is a product of the second compensation coefficient and the speed fluctuation value;
[0020] Based on the second compensation torque and the target torque, a second output torque is determined, and the second output torque is the sum of the second compensation torque and the target torque.
[0021] Optionally, the method further comprises:
[0022] When it is determined that the motor torque has a zero-crossing point, a timer is started to count and the timing duration is obtained;
[0023] When the timing duration is greater than the duration threshold, torque compensation is performed on the target torque to obtain a third output torque.
[0024] In a second aspect, an embodiment of the present application provides a torque compensation device, comprising:
[0025] A first determination module is used to determine whether the motor torque has a zero crossing point based on the motor command of the driving motor;
[0026] A second determination module is used to determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed when it is determined that the motor torque has a zero-crossing point;
[0027] The first compensation module is used to perform torque compensation on the target torque to obtain a first output torque when the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases.
[0028] In a third aspect, an embodiment of the present application provides an electronic device, comprising: a processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program, when executed by the processor, implements the steps of the torque compensation method as described in the first aspect above.
[0029] In a fourth aspect, an embodiment of the present application provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the steps of the torque compensation method described in the first aspect above are implemented.
[0030] In a fifth aspect, an embodiment of the present application provides a computer program product, comprising computer instructions, which, when executed by a processor, implement the steps of the torque compensation method as described in the first aspect above.
[0031] In an embodiment of the present application, the torque compensation method can determine whether the motor torque has a zero crossing point based on the motor command of the driving motor. When it is determined that the motor torque has a zero crossing point, determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed. When the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases, torque compensation is performed on the target torque to obtain a first output torque, so that when the motor torque passes through zero, torque compensation is only performed on the speed change in a single direction to avoid frequent switching between two opposite directions, thereby reducing torque fluctuations and unnecessary dynamic responses, avoiding compensation transition affecting the compensation effect, and improving the stability and accuracy of torque compensation, thereby improving the effect of suppressing vehicle vibration. BRIEF DESCRIPTION OF THE DRAWINGS
[0032] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for use in the description of the embodiments of the present application will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.
[0033] Figure 1 is a flow chart of a torque compensation method provided in an embodiment of the present application;
[0034] Figure 2is an application flow chart of a torque compensation method provided in an embodiment of the present application;
[0035] Figure 3 It is a structural schematic diagram of a torque compensation device provided in an embodiment of the present application. DETAILED DESCRIPTION
[0036] The following will be combined with the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.
[0037] In the embodiments of the present application, a torque compensation method, device, equipment, medium and program product are proposed to solve the problem of poor effect of suppressing vehicle vibration in related technologies.
[0038] See also Figure 1 , Figure 1 is a flow chart of a torque compensation method provided in an embodiment of the present application, such as Figure 1 As shown, the method comprises the following steps:
[0039] Step 101: Based on the motor command of the driving motor, determine whether the motor torque has a zero crossing point.
[0040] In this step, the above-mentioned motor command can be a signal received by the drive motor and generated by the vehicle control system, which is used to indicate the motor torque of the drive motor. By analyzing the motor command of the drive motor, the change of the target torque can be determined, and then it can be determined whether the motor torque has a zero crossing point.
[0041] It can be understood that the zero-crossing point of the above-mentioned motor torque can be that the torque value output by the driving motor decreases from a positive value to zero and then becomes a negative value, or the torque value output by the driving motor increases from a negative value to zero and then becomes a positive value.
[0042] Optionally, before determining whether the motor torque has a zero-crossing point, it may be determined whether the motor speed fluctuates. If it is determined that the motor speed fluctuates, it may be further determined whether the motor torque has a zero-crossing point.
[0043] Specifically, the above-mentioned determination of whether the motor has speed fluctuation may be performed by real-time monitoring and recording of the speed data of the driving motor, or by using a vibration sensor to monitor the vibration condition of the motor, etc., and this application does not make any specific limitation on this.
[0044] Step 102: When it is determined that the motor torque has a zero-crossing point, determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed.
[0045] In this step, the motor speed may be the speed at which the drive motor rotates around its rotation axis.
[0046] Step 103 : When the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases, torque compensation is performed on the target torque to obtain a first output torque.
[0047] In this step, the target torque is the torque indicated by the motor instruction currently received by the drive motor, the first output torque is the torque determined after torque compensation is performed on the target torque, and the output torque of the drive motor is controlled to be the first output torque.
[0048] It can be understood that, when the motor torque changes from a positive value to zero, a unilateral compensation method is adopted, that is, only the fluctuation of the motor speed decrease is compensated and controlled, and no anti-shake torque compensation is performed for the secondary speed increase fluctuation. Correspondingly, when the motor torque changes from a negative value to zero, a unilateral compensation method is adopted, that is, only the fluctuation of the motor speed increase is compensated and controlled, and no anti-shake torque compensation is performed for the secondary speed decrease fluctuation.
[0049] In an embodiment of the present application, the torque compensation method can determine whether the motor torque has a zero crossing point based on the motor command of the driving motor. When it is determined that the motor torque has a zero crossing point, determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed. When the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases, torque compensation is performed on the target torque to obtain a first output torque, so that when the motor torque passes through zero, torque compensation is only performed on the speed change in a single direction to avoid frequent switching between two opposite directions, thereby reducing torque fluctuations and unnecessary dynamic responses, avoiding compensation transition affecting the compensation effect, and improving the stability and accuracy of torque compensation, thereby improving the effect of suppressing vehicle vibration.
[0050] Optionally, the method further comprises: determining a speed fluctuation value based on an actual speed and a target speed of the drive motor;
[0051] When the speed fluctuation value is less than zero, determining that the motor speed decreases;
[0052] When the speed fluctuation value is greater than zero, it is determined that the motor speed increases.
[0053] Specifically, the speed fluctuation value may be the difference between the actual speed and the target speed, the actual speed being the motor rotation speed monitored in real time, and the target speed being the speed value determined by filtering the motor speed signal measured in real time.
[0054] Optionally, performing torque compensation on the target torque to obtain the first output torque includes:
[0055] Determine a first compensation torque based on a first compensation coefficient and the speed fluctuation value, wherein the first compensation torque is a product of the first compensation coefficient and the speed fluctuation value;
[0056] Based on the first compensation torque and the target torque, a first output torque is determined, the first output torque being the sum of the first compensation torque and the target torque.
[0057] Specifically, the first compensation coefficient may be a calibration value, which may be determined according to the vehicle model and requirements.
[0058] For example, during the operation of the motor, it is detected in real time whether the motor speed fluctuates. If the motor speed fluctuates, it is first determined whether the current target torque has a torque zero-crossing change, that is, whether the target torque gradually decreases from a positive value to zero, or the torque rises from a negative value to zero; if the motor target torque has a zero-crossing change, a unilateral compensation method is used in anti-shake control; if there is no target torque zero-crossing change, a bilateral compensation method is used in anti-shake control;
[0059] For unilateral compensation, first determine whether the motor target torque gradually decreases from a positive value to zero, or increases from a negative value to zero. If the motor torque decreases from a positive value to zero, then when the motor speed decreases, calculate the difference Δn between the current speed and the target speed. The target speed is obtained by filtering the current speed.
[0060] The compensation torque ΔT is obtained by multiplying the speed difference Δn by the compensation coefficient K1 (calibration quantity), and then the motor output torque is controlled to be the target torque T0+ΔT. The timing starts after the target torque passes through zero. Within the unilateral compensation time window t0, if the difference Δn between the current speed and the target speed is less than 0, the compensation torque is calculated and added to the target torque. If Δn is greater than 0, the compensation torque is not calculated and the target torque command is directly responded to. After the time exceeds t0, the compensation torque is continued to be calculated and added to the target torque.
[0061] If the motor torque rises from a negative value to zero, then when the motor speed rises, the difference Δn between the current speed and the target speed is detected, and the compensation torque ΔT is obtained based on the speed difference Δn multiplied by the compensation coefficient K2 (calibration quantity), and then the motor output torque is controlled to be the target torque T0+ΔT. Next, the timing starts after the target torque passes through zero. Within the unilateral compensation time window t0, if the difference Δn between the current speed and the target speed is greater than 0, the compensation torque is calculated and added to the target torque. If Δn is less than 0, the compensation torque is not calculated, and the target torque instruction is directly responded to. After the time exceeds t0, the compensation torque calculation continues and is added to the target torque.
[0062] Optionally, the method further comprises:
[0063] When it is determined that the motor torque does not have a zero-crossing point, torque compensation is performed on the target torque to obtain a second output torque.
[0064] It can be understood that when it is determined that the motor torque does not have a zero crossing point, the target torque is compensated bilaterally. For example, for bilateral compensation, as long as fluctuations in the motor speed are detected, the difference Δn between the current speed and the target speed is calculated in real time, and the compensation torque ΔT is obtained by multiplying the speed difference Δn by the compensation coefficient K3 (calibration quantity), and the motor output torque is controlled to be the target torque T0+ΔT.
[0065] Optionally, performing torque compensation on the target torque to obtain the second output torque includes:
[0066] Determining a second compensation torque based on a second compensation coefficient and the speed fluctuation value, wherein the second compensation torque is a product of the second compensation coefficient and the speed fluctuation value;
[0067] Based on the second compensation torque and the target torque, a second output torque is determined, and the second output torque is the sum of the second compensation torque and the target torque.
[0068] Specifically, the second compensation coefficient may be a calibration value, which may be determined according to the vehicle model and requirements.
[0069] In this embodiment, the torque compensation method can obtain the second output torque by performing torque compensation on the target torque when it is determined that the motor torque does not cross a zero point. That is, when it is determined that the motor torque does not cross a zero point, a bilateral compensation method is used to perform anti-shake control on the vehicle.
[0070] Optionally, the method further comprises:
[0071] When it is determined that the motor torque has a zero-crossing point, a timer is started to count and the timing duration is obtained;
[0072] When the timing duration is greater than the duration threshold, torque compensation is performed on the target torque to obtain a third output torque.
[0073] Specifically, the above-mentioned duration threshold can be a preset unilateral compensation duration. In this embodiment, the above-mentioned torque compensation method can start the timer to start timing when it is determined that the motor torque has a zero crossing point to obtain the timing duration, and when the timing duration is greater than the duration threshold, perform torque compensation on the target torque to obtain the third output torque, so that unilateral compensation is only performed within the duration threshold, and bilateral compensation is still performed after exceeding the duration threshold, so that a phased compensation strategy combining response speed and accurate adjustment can be implemented, thereby further improving the stability of torque compensation.
[0074] For example, Figure 2 is an application flow chart of a torque compensation method provided in an embodiment of the present application, such as Figure 2 As shown, the specific steps are as follows:
[0075] Step 1, detect and calculate the current speed fluctuation Δn=current speed-target speed (speed after filtering);
[0076] Step 2, determining whether the target torque currently received by the motor system is zero-crossing, if the torque is zero-crossing, executing step 3, otherwise executing step 11;
[0077] Step 3, execute the unilateral compensation control strategy, and start timing t after the torque passes through zero;
[0078] Step 4, determine whether the current target torque drops from a positive value to 0, if yes, execute step 5, otherwise execute step 6;
[0079] Step 5, determining whether the current speed fluctuation value Δn is less than zero, if it is less than zero, executing step 9;
[0080] Step 6, judging whether the current timing is greater than the unilateral compensation time window t0, if it is greater than t0, then continue to perform torque compensation and execute step 9, otherwise, no longer perform torque compensation and directly execute the received target torque command and execute step 11;
[0081] Step 7, determining whether the current speed fluctuation value Δn is greater than zero, if it is greater than zero, performing torque compensation and executing step 9, otherwise continuing to execute step 8;
[0082] Step 8, judging whether the current timing is greater than the unilateral compensation time window t0, if it is greater than t0, then continue to perform torque compensation and execute step 9, otherwise no longer perform torque compensation and directly execute the received target torque command and execute step 11;
[0083] Step nine, calculate the current anti-shake compensation torque ΔT=k1*Δn, where k1 is the compensation coefficient, which can be calibrated;
[0084] Step 10, calculating the motor output target torque T=T0+ΔT, where T0 is the currently received target torque;
[0085] Step eleven: Control the motor output torque T based on the space vector algorithm and the torque lookup table method.
[0086] See also Figure 3 , Figure 3 is a schematic diagram of the structure of a torque compensation device provided in an embodiment of the present application, such as Figure 3 As shown, the torque compensation device 300 includes:
[0087] A first determination module 301 is used to determine whether the motor torque has a zero crossing point based on the motor command of the driving motor;
[0088] A second determination module 302 is used to determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed when it is determined that the motor torque has a zero crossing point;
[0089] The first compensation module 303 is used to perform torque compensation on the target torque to obtain a first output torque when the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases.
[0090] Optionally, the device further comprises:
[0091] A third determination module, configured to determine a speed fluctuation value based on an actual speed and a target speed of the drive motor;
[0092] When the speed fluctuation value is less than zero, determining that the motor speed decreases;
[0093] When the speed fluctuation value is greater than zero, it is determined that the motor speed increases.
[0094] Optionally, the first compensation module includes:
[0095] a first determining unit, configured to determine a first compensation torque based on a first compensation coefficient and the speed fluctuation value, wherein the first compensation torque is a product of the first compensation coefficient and the speed fluctuation value;
[0096] The second determining unit is used to determine a first output torque based on the first compensation torque and the target torque, where the first output torque is the sum of the first compensation torque and the target torque.
[0097] Optionally, the device further comprises:
[0098] The second compensation module is used to perform torque compensation on the target torque to obtain a second output torque when it is determined that the motor torque does not have a zero-crossing point.
[0099] Optionally, the second compensation module includes:
[0100] a third determining unit, configured to determine a second compensation torque based on a second compensation coefficient and the speed fluctuation value, wherein the second compensation torque is a product of the second compensation coefficient and the speed fluctuation value;
[0101] The fourth determining unit is used to determine a second output torque based on the second compensation torque and the target torque, where the second output torque is the sum of the second compensation torque and the target torque.
[0102] Optionally, the device further comprises:
[0103] A starting module is used to start a timer to start timing and obtain a timing duration when it is determined that the motor torque has a zero-crossing point;
[0104] The third compensation module is used to perform torque compensation on the target torque to obtain a third output torque when the timing duration is greater than a duration threshold.
[0105] An embodiment of the present application also provides an electronic device, including: a processor, a memory, and a program stored in the memory and executable on the processor. When the program is executed by the processor, the various processes of the above-mentioned torque compensation method embodiment are implemented, and the same technical effect can be achieved. To avoid repetition, it will not be repeated here.
[0106] The embodiment of the present application also provides a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, each process of the torque compensation method embodiment described above is implemented, and the same technical effect can be achieved. To avoid repetition, it is not repeated here. The computer-readable storage medium is, for example, a read-only memory (ROM), a random access memory (RAM), a magnetic disk or an optical disk.
[0107] An embodiment of the present application also provides a computer program product, including computer instructions. When the computer instructions are executed by a processor, the various processes of the above-mentioned torque compensation method embodiment are implemented and the same technical effect can be achieved. To avoid repetition, they will not be repeated here.
[0108] It should be noted that, in this article, the terms "include", "comprises" or any other variations thereof are intended to cover non-exclusive inclusion, so that a 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, an element defined by the sentence "comprises a ..." does not exclude the existence of other identical elements in the process, method, article or device including the element.
[0109] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application, or the part that contributes to the prior art, can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, a magnetic disk, or an optical disk), and includes a number of instructions for a terminal (which can be a mobile phone, a computer, a server, an air conditioner, or a network device, etc.) to execute the methods described in each embodiment of the present application.
[0110] 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 torque compensation method, characterized in that: include: Based on the motor command of the driving motor, determining whether the motor torque has a zero crossing point; In the case where it is determined that the motor torque has a zero-crossing point, determining whether to perform torque compensation on the target torque based on the motor torque and the motor speed; When the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases, torque compensation is performed on the target torque to obtain a first output torque.
2. The method according to claim 1, characterized in that The method further includes: determining a speed fluctuation value based on an actual speed and a target speed of the drive motor; When the speed fluctuation value is less than zero, determining that the motor speed decreases; When the speed fluctuation value is greater than zero, it is determined that the motor speed increases.
3. The method according to claim 2, characterized in that The step of performing torque compensation on the target torque to obtain the first output torque includes: Determine a first compensation torque based on a first compensation coefficient and the speed fluctuation value, wherein the first compensation torque is a product of the first compensation coefficient and the speed fluctuation value; Based on the first compensation torque and the target torque, a first output torque is determined, the first output torque being the sum of the first compensation torque and the target torque.
4. The method according to claim 2, characterized in that: The method further comprises: When it is determined that the motor torque does not have a zero-crossing point, torque compensation is performed on the target torque to obtain a second output torque.
5. The method according to claim 4, characterized in that The step of performing torque compensation on the target torque to obtain the second output torque includes: Determining a second compensation torque based on a second compensation coefficient and the speed fluctuation value, wherein the second compensation torque is a product of the second compensation coefficient and the speed fluctuation value; Based on the second compensation torque and the target torque, a second output torque is determined, and the second output torque is the sum of the second compensation torque and the target torque.
6. The method according to claim 1, characterized in that The method further comprises: When it is determined that the motor torque has a zero-crossing point, a timer is started to count and the timing duration is obtained; When the timing duration is greater than the duration threshold, torque compensation is performed on the target torque to obtain a third output torque.
7. A torque compensation device, characterized in that: include: A first determination module is used to determine whether the motor torque has a zero crossing point based on the motor command of the driving motor; A second determination module is used to determine whether to perform torque compensation on the target torque based on the motor torque and the motor speed when it is determined that the motor torque has a zero-crossing point; The first compensation module is used to perform torque compensation on the target torque to obtain a first output torque when the motor torque changes from a positive value to zero and the motor speed decreases, or when the motor torque changes from a negative value to zero and the motor speed increases.
8. An electronic device, characterized in that: include: A processor, a memory, and a computer program stored in the memory and executable on the processor, wherein the computer program implements the steps of the method according to any one of claims 1 to 6 when executed by the processor.
9. A readable storage medium, characterized in that: The readable storage medium stores a program or an instruction, wherein the program or the instruction, when executed by a processor, implements the steps of the method according to any one of claims 1 to 6.
10. A computer program product, characterized in that The method comprises computer instructions, which, when executed by a processor, implement the steps of the method according to any one of claims 1 to 6.