Motor torque zero-crossing control method, related device and automobile

Abstract

The embodiment of the invention discloses a motor torque zero-crossing control method. The method comprises the steps that the motor rotating speed, the gear rotating speed and the motor rotating speed change rate of a vehicle are obtained; in response to the situation that the motor torque of the vehicle meets the zero-crossing control condition, calculating a motor target rotating speed according to the gear rotating speed; calculating a motor target rotating speed difference according to the motor rotating speed and the motor target rotating speed; calculating a motor target rotating speed change rate according to the motor target rotating speed difference and the gear rotating speed change rate; the gear rotating speed change rate is determined according to the running state of the vehicle; and determining a motor target torque according to the motor rotating speed change rate and the motor target rotating speed change rate. The operation condition of the vehicle is automatically judged according to the motor rotating speed change rate and the gear rotating speed change rate, the motor target torque suitable for the current operation condition is calculated according to the different operation conditions of the vehicle, and then the motor torque zero-crossing control of the vehicle is achieved according to the corresponding motor target torque. And the smoothness of the torque zero-crossing control of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a method for controlling motor torque to cross zero, related devices, and an automobile. Background Art

[0002] With the development of vehicle technology, driven by new concepts such as energy conservation, emission reduction, and environmental protection, new energy vehicles have better economy compared to fuel-driven transmission vehicles due to the characteristics of the motor.

[0003] The tooth surface commutation switching of the motor gear in a new energy vehicle is called zero-crossing control. For example, when the vehicle is driving normally, the motor gives a positive torque, and at this time, the meshing gear will be close to a certain tooth surface. When the vehicle is in the energy recovery process, the motor gives a negative torque, and at this time, the meshing gear crosses the tooth surface gap and is close to another tooth surface. Due to the meshing characteristics of the motor gear, when the motor gear steering switches, the gear transmission system will inevitably vibrate due to the impact between the teeth of the meshing gear, thus affecting the driving reliability of the vehicle and reducing the driving experience of the user.

[0004] Related technologies mostly adopt an open-loop control method, that is, based on parameters such as vehicle speed and accelerator pedal opening, the current working condition of the vehicle is determined, and control is executed according to the pre-calibrated motor target torque and zero-crossing control time corresponding to the current working condition. However, since this method cannot accurately judge the zero-crossing start and completion points, the setting of the zero-crossing control time tends to be conservative, reducing the real-time response of the zero-crossing control, and thus making it difficult for the vehicle to complete the torque zero-crossing control dynamically and smoothly. Summary of the Invention

[0005] In order to solve the above technical problems, the present application provides a method for controlling motor torque to cross zero, related devices, and an automobile.

[0006] The embodiments of the present application disclose the following technical solutions:

[0007] In a first aspect, the embodiments of the present application disclose a method for controlling motor torque to cross zero, the method including:

[0008] Obtain the motor speed, gear speed, and motor speed change rate of the vehicle;

[0009] In response to the motor torque of the vehicle satisfying the zero-crossing control condition, calculate the motor target speed according to the gear speed;

[0010] Calculate the motor target speed difference according to the motor speed and the motor target speed;

[0011] Calculate the motor target speed change rate according to the motor target speed difference and the gear speed change rate; the gear speed change rate is determined according to the operating state of the vehicle;

[0012] Determine the target torque of the motor according to the motor speed change rate and the target motor speed change rate.

[0013] Optionally, the calculating the target motor speed according to the gear speed in response to the motor torque of the vehicle satisfying the zero-crossing control condition includes:

[0014] In response to the motor torque of the vehicle being greater than a preset torque, calculate the target motor speed according to the gear speed; the preset torque is calculated according to the gear speed change rate of the vehicle and the motor inertia.

[0015] Optionally, the determining the target torque of the motor according to the motor speed change rate and the target motor speed change rate includes:

[0016] Calculate the target torque of the motor in the zero-crossing stage through a preset control algorithm according to the motor speed change rate and the target motor speed change rate.

[0017] Optionally, the vehicle presets the corresponding relationships between multiple gear speed change rates and multiple operating states;

[0018] The gear speed change rate is determined in the corresponding relationship according to the operating state of the vehicle.

[0019] Optionally, the method further includes:

[0020] In response to determining that the difference between the motor speed and the gear speed is less than a first preset difference, end the zero-crossing torque control of the vehicle.

[0021] Optionally, the method further includes:

[0022] In response to the difference between the wheel speed change rate at a first preset time and the wheel speed change rate at a second preset time being greater than a second preset difference, end the zero-crossing torque control of the vehicle.

[0023] In a second aspect, an embodiment of the present application discloses a zero-crossing control device for motor torque, and the device includes:

[0024] An obtaining unit, configured to obtain the motor speed, the gear speed, and the motor speed change rate of the vehicle;

[0025] A target speed calculating unit, configured to calculate the target motor speed according to the gear speed in response to the motor torque of the vehicle satisfying the zero-crossing control condition;

[0026] A target slip calculating unit, configured to calculate the target motor speed difference according to the motor speed and the target motor speed;

[0027] A rate of change calculation unit for calculating a target motor speed change rate based on the target motor speed difference and the gear speed change rate; the gear speed change rate is preset for the vehicle.

[0028] A torque determination unit for determining a target motor torque based on the motor speed change rate and the target motor speed change rate.

[0029] Optionally, the target speed calculation unit is further configured to:

[0030] In response to the motor torque of the vehicle being greater than a preset torque, calculate a target motor speed based on the gear speed; the preset torque is calculated based on the gear speed change rate of the vehicle and the motor moment of inertia.

[0031] Optionally, the torque determination unit is further configured to:

[0032] Calculate the target motor torque in the zero-crossing stage through a preset control algorithm based on the motor speed change rate and the target motor speed change rate.

[0033] Optionally, the vehicle presets the correspondence between multiple gear speed change rates and multiple operating states;

[0034] The gear speed change rate is determined in the correspondence based on the operating state of the vehicle.

[0035] Optionally, the device further includes:

[0036] A first control unit for ending the zero-crossing torque control of the vehicle in response to determining that the difference between the motor speed and the gear speed is less than a first preset difference.

[0037] Optionally, the device further includes:

[0038] A second control unit for ending the zero-crossing torque control of the vehicle in response to the difference between the wheel speed change rate in a first preset time and the wheel speed change rate in a second preset time being greater than a second preset difference.

[0039] In a third aspect, an embodiment of the present application discloses a computer device, which includes a processor and a memory:

[0040] The memory is used to store program code and transmit the program code to the processor;

[0041] The processor is configured to execute the motor torque zero-crossing control method according to the instructions in the program code in the first aspect and any optional item of the first aspect.

[0042] Fourthly, an embodiment of the present application discloses a computer-readable storage medium for storing a computer program, which is used to execute the motor torque zero-crossing control method described in the first aspect and any optional item of the first aspect when executed by a processor.

[0043] Fifthly, an embodiment of the present application discloses a vehicle, which includes a vehicle controller, a motor controller, a drive motor, and a transmission system;

[0044] The vehicle controller is used to execute the motor torque zero-crossing control method described in the first aspect and any optional item of the first aspect to send motor control data to the motor controller;

[0045] The motor controller is used to perform zero-crossing control on the torque of the drive motor through the transmission system according to the motor control data.

[0046] It can be seen from the above technical solutions that by obtaining the motor speed, gear speed, and motor speed change rate of the vehicle; in response to the motor torque of the vehicle satisfying the zero-crossing control condition, calculating the target motor speed according to the gear speed; calculating the target motor speed difference according to the motor speed and the target motor speed; calculating the target motor speed change rate according to the target motor speed difference and the gear speed change rate; the gear speed change rate is preset according to the vehicle; determining the target motor torque according to the motor speed change rate and the target motor speed change rate. That is, automatically judge the operating conditions of the vehicle through the motor speed change rate and the gear speed change rate, calculate the target motor torque suitable for the current operating conditions according to different operating conditions of the vehicle, and then realize the zero-crossing control of the motor torque of the vehicle according to the corresponding target motor torque, improving the smoothness of the zero-crossing control of the torque of the vehicle. Description of the Drawings

[0047] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the drawings required for use in the description of the embodiments or the prior art. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0048] Figure 1 It is a flowchart of a method for motor torque zero-crossing control provided by an embodiment of the present application;

[0049] Figure 2 It is a hardware schematic diagram of motor torque zero-crossing control provided by an embodiment of the present application;

[0050] Figure 3 It is a schematic diagram of the rotational speed state in the tooth surface commutation stage of a motor torque zero-crossing control provided by an embodiment of the present application;

[0051] Figure 4 This is a structural block diagram of a device for motor torque zero-crossing control provided by an embodiment of the present application;

[0052] Figure 5 This is a structural block diagram of a computer device for motor torque zero-crossing control provided by an embodiment of the present application. Detailed implementation manners

[0053] In order to enable those skilled in the art to better understand the solution of the present application, the technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present application. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all the embodiments.

[0054] The terms "first", "second", etc. in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that such terms can be interchanged under appropriate circumstances, which is only a way of distinguishing objects with the same attributes when describing the embodiments of the present application.

[0055] Please refer to Figure 2 , Figure 2 This is a hardware schematic diagram of motor torque zero-crossing control provided by an embodiment of the present application.

[0056] Figure 2 It reflects the control situation of the switching direction when the gears are in the meshing state. Among them, the motor gear at the motor end meshes with the driving-end gear at the input driving end. The motor gear rotates clockwise, while the driving-end gear rotates counterclockwise, so as to realize the meshing rotation of the gears. As shown in the figure, at this time, the teeth of the motor gear are in contact with the tooth surface A of the driving-end gear. When zero-crossing control is performed, the direction of the motor gear switches, so that the teeth of the motor gear disengage from the tooth surface A of the driving-end gear. During the conversion process, the rotational speed of the motor is greater than the rotational speed of the input driving end, that is, the rotational speed of the motor gear driven by the motor is greater than the rotational speed of the driving-end gear driven by the input driving end. As a result, the teeth of the motor gear cross the tooth surface gap between the tooth surface A and the tooth surface B of the driving-end gear, so as to be converted from the contact with the tooth surface A to the contact with the tooth surface B, thus completing the switching of the rotation direction of the meshing gears, that is, completing the motor torque zero-crossing control.

[0057] During the zero-crossing control process of new energy vehicles, due to the meshing characteristics of the motor gears, when the rotation direction of the motor gears switches, as Figure 2 shown, if the rotational speed of the motor gear is too high and the rotational speed of the driving-end gear is relatively low, the teeth of the motor gear will hit the tooth surface B of the driving-end gear, resulting in the gear transmission system shaking due to the impact between the teeth of the meshing gears, thus affecting the driving reliability of the vehicle and reducing the driving experience of users.

[0058] Related technologies mostly implement zero-crossing control in an open-loop control manner, that is, by parameters such as the vehicle speed and the opening degree of the accelerator pedal, the target torque of the motor is controlled, and the target torque of the motor is corrected according to the conditions such as the vehicle is in a braking state or driving on a slope, so as to provide a suitable target torque of the motor for the motor gear, thereby reducing the impact tooth surface force when the motor gear engages with the tooth surface B.

[0059] However, this control method needs to be optimized through a large number of on-vehicle tests to verify the optimal target torque of the motor corresponding to different vehicle speeds and accelerator pedal opening degrees, and then realize the calibration of the target torque of the motor, which requires high calibration ability from engineers. At the same time, the open-loop control only controls the target torque of the motor according to the vehicle speed and the opening degree of the accelerator pedal, and cannot accurately judge the start time and completion time of the zero-crossing control. In order to ensure the completion of the zero-crossing control, the setting of the zero-crossing control time is relatively conservative during the open-loop control process, resulting in a decrease in the real-time performance and responsiveness of the zero-crossing control.

[0060] Based on the above technical problems, the embodiment of the present application provides a method for controlling the zero-crossing of motor torque. By the gear speed and the change rate of the gear speed, the driving state of the vehicle is judged, and then through closed-loop control, the smooth switching of the gear rotation direction is realized. It is not necessary for engineers to calibrate the optimal target torque of the motor corresponding to each vehicle operating condition. At the same time, since it can determine the start and end times of the zero-crossing control according to the gear speed and the change rate of the gear speed, the time consumed by the zero-crossing control is reduced, and the responsiveness of the zero-crossing control is improved.

[0061] Please refer to Figure 1 , Figure 1 which is a flowchart of a method for controlling the zero-crossing of motor torque provided by the embodiment of the present application. For the convenience of description, in the following embodiments and the corresponding implementation manners, the specific process of controlling the zero-crossing of motor torque is also introduced with the hardware schematic shown in Figure 2 .

[0062] It can be understood that this method can be applied to the electronic control unit (ECU) of the vehicle or other control units with computing capabilities, and then the control signal is sent to the motor controller through a communication bus such as the Controller Area Network (CAN) bus, and then the drive motor and the transmission system are controlled through the motor controller. This method includes S101-S105:

[0063] S101: Obtain the motor speed, gear speed and motor speed change rate of the vehicle.

[0064] Among them, withFigure 2 For example, the motor speed of the vehicle corresponds to Figure 2 the motor gear speed in Figure 2 the moving end gear speed in Figure 2 The motor speed change rate corresponds to

[0065]

[0066] In some possible implementation manners, the motor speed and the gear speed can be obtained by sensors such as magnetosensitive, laser or magnetoelectric speed sensors that can convert the speed of a rotating object into an electrical quantity output. The motor speed change rate can be calculated by a control unit with computing ability based on the obtained speed.

[0067] S102: In response to the motor torque of the vehicle satisfying the zero-crossing control condition, calculate the target motor speed according to the gear speed.

[0068] To improve the determination accuracy of the start time of zero-crossing control, in some specific implementation manners of determining the zero-crossing control condition of the motor torque of the vehicle, based on the above embodiments, further, the step of calculating the target motor speed according to the gear speed in response to the motor torque of the vehicle satisfying the zero-crossing control condition includes:

[0069] In response to the motor torque of the vehicle being greater than a preset torque, calculate the target motor speed according to the gear speed; the preset torque is calculated according to the gear speed change rate of the vehicle and the motor inertia.

[0070] Similarly, taking the Figure 2 process of zero-crossing control shown as an example, when the motor torque is greater than the preset torque, it is determined that the zero-crossing control of the motor torque starts, that is, it is determined that the teeth of the motor gear disengage from the tooth surface A at this time.

[0071] In some possible implementation manners, the preset torque can be calculated by the following formula (1):

[0072] T s = A W * J (1)

[0073] In the formula, T s is the preset torque, and A W is the gear speed change rate.

[0074] ​When the teeth of the motor gear disengage from the tooth surface A and cross the tooth surface gap, that is, during the zero-crossing control process, it is first necessary to calculate the target motor speed, that is, the expected speed of the motor gear, and then correct the target motor torque according to the target motor speed and the current motor speed, and assign the corrected target motor torque to the motor to adjust the motor speed to the target motor speed through the motor.

[0075] In some possible implementation manners, the target motor speed in the motor torque zero-crossing control stage can be calculated by the following formula (2):

[0076] N T =N W +K 1 (2)

[0077] In the formula, N T is the target motor speed, N W is the gear speed, and K 1 is the preset speed compensation value. When the running state of the vehicle makes the motor torque zero-crossing control upward, K 1 is set to a positive value; when the running state of the vehicle makes the motor torque zero-crossing control downward, K 1 is set to a negative value

[0078] S103: Calculate the target motor speed difference according to the motor speed and the target motor speed.

[0079] Among them, the target motor speed difference can be calculated by the following formula (3):

[0080] N D =N T -N M (3)

[0081] In the formula, N D is the target motor speed difference, N M is the motor speed, that is, the real-time speed of the motor gear during the motor torque zero-crossing control.

[0082] S104: Calculate the target motor speed change rate according to the target motor speed difference and the gear speed change rate.

[0083] Among them, the gear speed change rate is determined according to the running state of the vehicle.

[0084] To simplify the determination process of the gear speed change rate in the zero-crossing control and improve the responsiveness of the zero-crossing control, based on the above embodiments, further, the vehicle presets the corresponding relationships between multiple gear speed change rates and multiple running states;

[0085] The gear speed change rate is determined in the corresponding relationship according to the running state of the vehicle.

[0086] In some possible implementation manners, a correspondence table between the gear rotation speed change rate and the vehicle operation state may be pre-stored in the electronic control unit of the vehicle. When the motor torque zero-crossing control needs to be executed, the gear rotation speed change rate corresponding to the current operation state is obtained by querying in the correspondence table.

[0087] In some possible implementation manners, the motor target rotation speed change rate can be calculated by the following formula (4):

[0088] A T = A F + N D (4)

[0089] In the formula, A T is the motor target rotation speed change rate, and A F is the gear rotation speed change rate.

[0090] S105: Determine the motor target torque according to the motor rotation speed change rate and the motor target rotation speed change rate.

[0091] In some possible implementation manners, first calculate the difference between the motor rotation speed change rate and the motor target rotation speed change rate, and then obtain the motor target torque in the zero-crossing control stage through a control algorithm according to the calculated difference.

[0092] Among them, the difference between the motor rotation speed change rate and the motor target rotation speed change rate can be calculated by the following formula (5):

[0093] A D = A T - A M (5)

[0094] In the formula, A D is the calculated difference, A M is the motor rotation speed change rate, and A T is the motor target rotation speed change rate.

[0095] Among them, the control algorithm is a control algorithm determined according to the system dynamic characteristics of the motor control system. The preset control algorithm can be various algorithms such as a Proportion Integration Differentiation (PID) control algorithm, a fuzzy control algorithm, a neural network control algorithm, an adaptive control algorithm, or a sliding mode control algorithm, and combinations of their uses.

[0096] By monitoring the change rate of the motor speed in real time, comparing the change rate of the motor speed with the target change rate of the motor speed, and determining the target torque of the motor in the zero-crossing control stage according to the difference through a control algorithm, the change rate of the motor speed is made to approach the target change rate of the motor speed. Combined with Figure 2 It can be seen that the change rates of the speeds of the motor gear and the moving-end gear are similar, thereby reducing the contact tooth surface force when the tooth of the motor gear approaches the tooth surface B of the moving-end gear, so as to reduce the jitter caused by the impact between the teeth of the gears and improve the driving reliability of the vehicle.

[0097] Please combine Figure 2 , refer to Figure 3 , Figure 3 which is a schematic diagram of the speed state in the tooth surface commutation stage of the motor torque zero-crossing control provided by an embodiment of the present application. Figure 3 The motor speed in Figure 2 corresponds to the motor gear speed in Figure 3 , and the wheel speed in Figure 2 corresponds to the moving-end gear speed in

[0098] When not in the tooth surface commutation stage, that is, when not in the process of the motor torque zero-crossing control, since the tooth of the motor gear is in contact with the tooth surface A of the moving-end gear, the motor gear and the moving-end gear run at the same speed. When entering the tooth surface commutation stage, that is, starting the motor torque zero-crossing control, the speed of the motor gear changes away from the speed of the moving-end gear. At this time, the target torque of the motor is controlled. In the tooth surface commutation stage, the motor speed is controlled to be slightly higher than the speed of the moving-end gear, so that the tooth of the motor gear crosses the tooth surface gap from the tooth surface A to the tooth surface B. After the tooth surface commutation is completed, the speed of the motor gear is controlled to be the same as the speed of the moving-end gear, thereby minimizing the impact caused by the impact between the teeth of the motor gear and the moving-end gear.

[0099] In response to determining that the difference between the motor speed and the gear speed is less than a first preset difference, end the zero-crossing torque control of the vehicle.

[0100] Among them, the calculation of the difference between the motor speed and the gear speed can be shown by the following formula (6):

[0101] N M -N W <K 2 (6)

[0102] In the formula, K 2 is the first preset difference, that is, the preset speed difference threshold.

[0103] Please combine Figure 3, when the motor speed and the wheel speed return to consistency again, it indicates that the tooth surface commutation stage ends, that is, the motor torque zero-crossing control stage ends.

[0104] As another implementation for determining the zero-crossing control completion time and improving the real-time performance of zero-crossing control, based on the above embodiments, further, the method further includes:

[0105] In response to the difference between the wheel speed change rate of the first preset time and the wheel speed change rate of the second preset time being greater than the second preset difference, end the zero-crossing torque control of the vehicle.

[0106] In some possible implementation manners, the calculation of the difference between the motor speed and the gear speed can be shown by the following formula (7):

[0107] A WF1 -A WF2 >K 3 (7)

[0108] In the formula, K 3 is the second preset difference, that is, the preset wheel speed change rate difference threshold, and A WF1 is the filtered wheel speed change rate of the first preset time, and A WF2 is the filtered wheel speed change rate of the second preset time.

[0109] In this implementation manner, the filtering coefficient of the wheel speed change rate of the first preset time is less than the filtering coefficient of the wheel speed change rate of the second preset time.

[0110] In some possible implementation manners, a longest zero-crossing control time is set in the electronic control unit of the vehicle. When the longest zero-crossing control time is reached and the above two control conditions are not satisfied, the motor torque zero-crossing control is stopped simultaneously to ensure the safety of zero-crossing control.

[0111] Please refer to Figure 4 , Figure 4 , which is the structural block diagram of a device for motor torque zero-crossing control provided by an embodiment of the present application. The device includes:

[0112] An obtaining unit 410, configured to obtain the motor speed, gear speed and motor speed change rate of the vehicle;

[0113] A target speed calculation unit 420, configured to calculate a motor target speed according to the gear speed in response to the motor torque of the vehicle satisfying the zero-crossing control condition;

[0114] A target slip calculation unit 430, configured to calculate a motor target speed difference according to the motor speed and the motor target speed;

[0115] A rate-of-change calculation unit 440 is configured to calculate a target motor speed change rate based on the target motor speed difference and the gear speed change rate; the gear speed change rate is preset for the vehicle.

[0116] A torque determination unit 450 is configured to determine a target motor torque based on the motor speed change rate and the target motor speed change rate.

[0117] As a possible implementation, the target speed calculation unit is further configured to:

[0118] In response to the motor torque of the vehicle being greater than a preset torque, calculate a target motor speed based on the gear speed; the preset torque is calculated based on the gear speed change rate of the vehicle and the motor inertia.

[0119] As a possible implementation, the torque determination unit is further configured to:

[0120] Calculate a target motor torque in the zero-crossing stage through a preset control algorithm based on the motor speed change rate and the target motor speed change rate.

[0121] As a possible implementation, the vehicle presets the correspondence between a plurality of the gear speed change rates and a plurality of operating states;

[0122] The gear speed change rate is determined in the correspondence according to the operating state of the vehicle.

[0123] As a possible implementation, the device further includes:

[0124] A first control unit, configured to end the zero-crossing torque control of the vehicle in response to determining that the difference between the motor speed and the gear speed is less than a first preset difference.

[0125] As a possible implementation, the device further includes:

[0126] A second control unit, configured to end the zero-crossing torque control of the vehicle in response to the difference between the wheel speed change rate at a first preset time and the wheel speed change rate at a second preset time being greater than a second preset difference.

[0127] Please refer to Figure 5 , Figure 5 , which is a structural block diagram of a computer device for motor torque zero-crossing control provided by an embodiment of the present application. The computer device includes a processor 510 and a memory 520:

[0128] The memory 520 is configured to store program codes and transmit the program codes to the processor 510;

[0129] The processor 510 is configured to execute the motor torque zero-crossing control method according to any one of the above embodiments based on the instructions in the program code.

[0130] An embodiment of the present application also discloses a computer-readable storage medium, which is used to store a computer program. The computer program, when executed by a processor, is used to execute the motor torque zero-crossing control method according to any one of the above embodiments.

[0131] An embodiment of the present application also discloses a vehicle, which includes a vehicle controller, a motor controller, a drive motor, and a transmission system;

[0132] The vehicle controller is configured to execute the motor torque zero-crossing control method according to any one of the above embodiments to send motor control data to the motor controller;

[0133] The motor controller is configured to perform zero-crossing control on the torque of the drive motor through the transmission system according to the motor control data.

[0134] It can be understood that this method can be applied to a processing device, which is a processing device capable of performing motion control. For example, it can be a terminal device or a server with motion control functions. This method can be independently executed by a terminal device or a server, or can be applied to a network scenario where a terminal device and a server communicate and be executed in cooperation by the terminal device and the server. Among them, the terminal device can be a device such as a computer or a mobile phone. The server can be understood as an application server or a Web server. In actual deployment, the server can be an independent server or a cluster server.

[0135] Those of ordinary skill in the art can understand that all or part of the steps to implement the above method embodiments can be completed by hardware related to program instructions. The foregoing program can be stored in a computer-readable storage medium. When the program is executed, it executes the steps including the above method embodiments; and the foregoing storage medium can be at least one of the following media: read-only memory (abbreviation: ROM), RAM, magnetic disk, or optical disc, etc., various media that can store program code.

[0136] It should be noted that the various embodiments in this specification are described in a progressive manner. For the same or similar parts among the various embodiments, reference can be made to each other, and the key point of each embodiment is to illustrate the differences from other embodiments. In particular, for the device and system embodiments, since they are basically similar to the method embodiments, the description is relatively simple, and the relevant parts can be referred to the description of the method embodiments. The device and system embodiments described above are only illustrative. The units described as separate components may or may not be physically separated, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed to multiple network units. Some or all of the modules can be selected according to actual needs to achieve the purpose of the solution of this embodiment. Those of ordinary skill in the art can understand and implement it without creative efforts.

[0137] As described above, this is only a specific implementation manner of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by those skilled in the art within the technical scope disclosed in the present application should be covered within the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

Claims

1. A motor torque zero-crossing control method, characterized in that: The method comprises: Obtain the vehicle's motor speed, gear speed and motor speed change rate; In response to the motor torque of the vehicle satisfying a zero-crossing control condition, calculating a motor target speed according to the gear speed; Calculating a motor target speed difference according to the motor speed and the motor target speed; Calculating the motor target speed change rate according to the motor target speed difference and the gear speed change rate; the gear speed change rate is determined according to the running state of the vehicle; The motor target torque is determined according to the motor speed change rate and the motor target speed change rate.

2. The method according to claim 1, characterized in that In response to the motor torque of the vehicle satisfying a zero-crossing control condition, calculating a motor target speed according to the gear speed includes: In response to the motor torque of the vehicle being greater than a preset torque, a motor target speed is calculated based on the gear speed; the preset torque is calculated based on a gear speed change rate of the vehicle and a motor rotational inertia.

3. The method according to claim 1, characterized in that The step of determining the motor target torque according to the motor speed change rate and the motor target speed change rate includes: The motor target torque in the zero-crossing phase is calculated by a preset control algorithm according to the motor speed change rate and the motor target speed change rate.

4. The method according to claim 1, characterized in that: The vehicle presets a plurality of corresponding relationships between the gear speed change rates and a plurality of operating states; The gear speed change rate is determined in the corresponding relationship according to the operating state of the vehicle.

5. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: In response to determining that the difference between the motor speed and the gear speed is less than a first preset difference, the zero-crossing torque control of the vehicle is terminated.

6. The method according to any one of claims 1 to 4, characterized in that: The method further comprises: In response to a difference between a wheel speed change rate at a first preset time and a wheel speed change rate at a second preset time being greater than a second preset difference, the zero-crossing torque control of the vehicle is terminated.

7. A motor torque zero-crossing control device, characterized in that: The device comprises: An acquisition unit, used to obtain the motor speed, gear speed and motor speed change rate of the vehicle; a target speed calculation unit, configured to calculate a motor target speed according to the gear speed in response to the motor torque of the vehicle satisfying a zero-crossing control condition; a target slip calculation unit, used for calculating a motor target speed difference according to the motor speed and the motor target speed; A change rate calculation unit, used for calculating the motor target speed change rate according to the motor target speed difference and the gear speed change rate; the gear speed change rate is preset according to the vehicle; The torque determination unit is used to determine the motor target torque according to the motor speed change rate and the motor target speed change rate.

8. A computer device, characterized in that: The computer device comprises a processor and a memory: The memory is used to store program code and transmit the program code to the processor; The processor is used to execute the motor torque zero-crossing control method described in any one of claims 1-6 according to the instructions in the program code.

9. A computer-readable storage medium, characterized in that: The computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, it is used to execute the motor torque zero-crossing control method according to any one of claims 1 to 6.

10. An automobile, characterized in that: The automobile comprises a vehicle controller, a motor controller, a drive motor and a transmission system; The vehicle controller is used to execute the motor torque zero-crossing control method as described in any one of claims 1 to 6 to send motor control data to the motor controller; The motor controller is used for controlling the zero-crossing of the driving motor torque through the transmission system according to the motor control data.

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