Motor control method and device, vehicle, storage medium and program product

Abstract

The invention relates to a motor control method and device, a vehicle, a storage medium and a program product. The motor control method comprises the steps that harmonic torque corresponding to harmonic current of a motor of the vehicle is determined; according to the harmonic torque, target torque is determined, and the target torque is used for restraining jitter generated when the motor outputs the harmonic torque; and controlling the motor according to the target torque. According to the technical scheme, real-time, stable and reliable vehicle jitter suppression can be achieved, and then the vehicle performance and the user experience are guaranteed.

Description

Technical Field

[0001] The present disclosure relates to the field of motor drive technology, and in particular to a motor control method, device, vehicle, storage medium and program product. Background Art

[0002] As vehicle technology develops, the vehicle's motor drive system also develops. As one of the core components of a vehicle, the motor drive system can affect the vehicle's driving stability, and thus affect the vehicle's performance and user experience. Summary of the invention

[0003] To overcome the problems existing in the related art, the present disclosure provides a motor control method, device, vehicle, storage medium and program product.

[0004] According to a first aspect of an embodiment of the present disclosure, there is provided a motor control method, comprising: determining a harmonic torque corresponding to a harmonic current of a motor of a vehicle; determining a target torque based on the harmonic torque, wherein the target torque is used to suppress vibration of the vehicle when the motor outputs the harmonic torque; and controlling the motor based on the target torque.

[0005] Optionally, determining the harmonic torque corresponding to the harmonic current of the vehicle's motor includes: acquiring the rotational speed of the motor; determining the fundamental torque corresponding to the fundamental current of the motor; and determining the harmonic torque based on the rotational speed and the fundamental torque.

[0006] Optionally, determining the harmonic torque according to the rotational speed and the fundamental torque includes: performing harmonic torque observation according to the rotational speed and the fundamental torque by a preconfigured observer to obtain the harmonic torque.

[0007] Optionally, the preconfigured observer is configured with observer poles and the mechanical moment of inertia of the vehicle, and the harmonic torque observation is performed according to the rotational speed and the fundamental torque by the preconfigured observer to obtain the harmonic torque, including: determining a first observation torque according to the rotational speed, the observer poles and the mechanical moment of inertia by the preconfigured observer; determining a second observation torque according to the fundamental torque and the observer poles by the preconfigured observer; and determining the harmonic torque according to the first observation torque and the second observation torque by the preconfigured observer.

[0008] Optionally, determining the fundamental torque corresponding to the fundamental current of the motor includes: obtaining the fundamental torque phase; obtaining the fundamental current amplitude of the motor; obtaining the rotor main magnetic flux of the motor; obtaining the pole pair number of the motor; obtaining the inductance parameter of the motor; and determining the fundamental torque based on the fundamental torque phase, the fundamental current amplitude, the rotor main magnetic flux, the pole pair number and the inductance parameter.

[0009] Optionally, the order of the fundamental current is n, and determining the harmonic torque based on the speed and the fundamental torque includes: determining the harmonic torque corresponding to the harmonic current of the target order based on the speed and the fundamental torque, wherein the target order includes 6n+1 and / or 6n-1, and the value of n is a positive integer.

[0010] Optionally, the motor control method further includes: in response to detecting a torque command corresponding to the motor, determining a required torque according to the torque command; determining the target torque according to the harmonic torque includes: determining the target torque according to the required torque and the harmonic torque.

[0011] Optionally, determining the target torque based on the required torque and the harmonic torque includes: determining the difference between the required torque and the harmonic torque as the target torque.

[0012] According to a second aspect of an embodiment of the present disclosure, there is provided a motor control device, comprising: a determination module, configured to determine a harmonic torque corresponding to a harmonic current of a motor of a vehicle; the determination module is further configured to determine a target torque based on the harmonic torque, wherein the target torque is used to suppress vibration of the vehicle when the motor outputs the harmonic torque; and a control module, configured to control the motor based on the target torque.

[0013] According to a third aspect of an embodiment of the present disclosure, a vehicle is provided, comprising: a processor; and a memory for storing processor executable instructions; wherein the processor is configured to: execute the executable instructions to implement the motor control method as described in the first aspect of the present disclosure.

[0014] According to a fourth aspect of an embodiment of the present disclosure, a computer-readable storage medium is provided, on which computer program instructions are stored. When the program instructions are executed by a processor, the motor control method as described in the first aspect of the present disclosure is implemented.

[0015] According to a fifth aspect of an embodiment of the present disclosure, a computer program product is provided, comprising a computer program, which, when executed by a processor, implements the motor control method as described in the first aspect of the present disclosure.

[0016] The technical solution provided by the embodiments of the present disclosure may have the following beneficial effects: By determining the harmonic torque corresponding to the harmonic current of the vehicle's motor, determining the target torque based on the harmonic torque, and controlling the motor through the target torque, the jitter of the vehicle when the motor outputs the harmonic torque can be suppressed. Since the harmonic torque of the motor is a motor parameter that can be observed in real time, the jitter suppression of the vehicle is also real-time, which can ensure the jitter suppression effect of the vehicle. In addition, since the determination of the harmonic torque is not affected by the vehicle's driving conditions, the vehicle jitter suppression is not affected by the vehicle's driving conditions, ensuring the stability and reliability of the vehicle jitter suppression. Therefore, this technical solution can achieve real-time, stable and reliable vehicle jitter suppression, thereby ensuring the performance of the vehicle and user experience.

[0017] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present disclosure. BRIEF DESCRIPTION OF THE DRAWINGS

[0018] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0019] Figure 1 is a flow chart of a motor control method according to an exemplary embodiment.

[0020] Figure 2 is a block diagram of an observer according to an exemplary embodiment.

[0021] Figure 3 is a motor control block diagram according to an exemplary embodiment.

[0022] Figure 4 is a structural block diagram of a motor control device according to an exemplary embodiment.

[0023] Figure 5 is a block diagram of a vehicle according to an exemplary embodiment. DETAILED DESCRIPTION

[0024] Exemplary embodiments will be described in detail herein, examples of which are shown in the accompanying drawings. When the following description refers to the drawings, the same numbers in different drawings represent the same or similar elements unless otherwise indicated. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present disclosure. Instead, they are merely examples of devices and methods consistent with some aspects of the present disclosure as detailed in the appended claims.

[0025] It should be noted that all actions of acquiring signals, information or data in the present disclosure are carried out in compliance with the relevant data protection laws and policies of the country where the device is located and with the authorization given by the owner of the corresponding device.

[0026] As vehicle technology develops, the motor drive system of the vehicle also develops. As one of the core components of the vehicle, the motor drive system can affect the driving stability of the vehicle, and then affect the vehicle's performance and user experience. Therefore, it is necessary to suppress the vehicle's driving jitter caused by the motor drive system.

[0027] For example, during the driving of a vehicle, the torque excitation of the motor drive system causes the vehicle's mechanical transmission to resonate and vibrate, which in turn causes the vehicle to vibrate while driving. The vibrating may affect the performance of the vehicle and thus affect the user experience.

[0028] In the related art, the vehicle shaking problem caused by the motor drive system is suppressed through software control.

[0029] For example, the acceleration value of the driving motor speed during vehicle driving is calculated in real time, converted into a torque command, and added to the total torque command of the vehicle to achieve the purpose of suppressing vehicle vibration.

[0030] For example, during vehicle driving, the speed of the driving motor is filtered to extract vibration information, and the vibration information is converted into a torque command, which is added to the total torque command of the vehicle to achieve the purpose of suppressing vehicle vibration.

[0031] For example, during vehicle driving, the drive motor speed is filtered to extract jitter information, and the jitter information in the motor direct-axis current is also extracted. The jitter information extracted separately is converted into torque instructions and superimposed on the total torque instruction of the vehicle, thereby achieving the purpose of suppressing vehicle jitter.

[0032] The above scheme involves extracting the jitter component of the speed to generate the compensation torque, which has hysteresis and poor vehicle jitter suppression effect. In addition, in the process of extracting jitter information, a filter needs to be applied, and the filtering effect of the filter is usually greatly affected by the vehicle driving conditions. For example, when the frequency of the jitter component in the speed is high, the filter effect is usually poor and the jitter component cannot be effectively extracted, which leads to poor or even no effect in suppressing vehicle jitter.

[0033] Based on this, we analyzed the reasons for the vibration during vehicle driving and found that the torque output by the motor has an inherent harmonic torque component. This harmonic torque component, as an excitation, will stimulate the vibration of the vehicle's mechanical transmission system, thereby causing the vehicle to vibrate and affecting the driver's driving experience.

[0034] In the motor drive system of an electric vehicle, the current of the motor usually includes harmonic current, which causes the motor to output harmonic torque.

[0035] Therefore, an embodiment of the present disclosure provides a technical solution by determining the harmonic torque corresponding to the harmonic current of the vehicle's motor, determining the target torque based on the harmonic torque, and controlling the motor by the target torque, thereby suppressing the vibration of the vehicle when the motor outputs the harmonic torque.

[0036] Since the harmonic torque of the motor is a motor parameter that can be observed in real time, the vehicle's vibration suppression is also real-time, solving the hysteresis problem of vibration suppression and ensuring the vibration suppression effect of the vehicle. In addition, since the determination of the harmonic torque is not affected by the vehicle's driving conditions, the vehicle's vibration suppression is not affected by the vehicle's driving conditions, ensuring the stability and reliability of the vehicle's vibration suppression.

[0037] Therefore, this technical solution can achieve real-time, stable and reliable vehicle vibration suppression, thereby ensuring vehicle performance and user experience.

[0038] Figure 1 is a flow chart of a motor control method according to an exemplary embodiment. The motor control method can be applied to a vehicle. The motor control method includes: Step S11, determining the harmonic torque corresponding to the harmonic current of the motor of the vehicle.

[0039] Step S12, determining a target torque according to the harmonic torque, wherein the target torque is used to suppress the vibration of the vehicle when the motor outputs the harmonic torque.

[0040] Step S13, controlling the motor according to the target torque.

[0041] In some embodiments, the motor control method can also be applied to other devices involving motor drive systems. In addition, the device may also need to suppress jitter due to jitter problems in the motor drive system.

[0042] It can be understood that the magnetic field of the motor contains corresponding harmonics, which can be reflected in the harmonic current of the motor and the harmonic torque output. By analyzing the harmonics of the magnetic field of the motor, the motor parameters related to the harmonic torque can be determined.

[0043] To facilitate understanding of the implementation method of determining the harmonic torque, the harmonic torque of the motor is analyzed next.

[0044] The current of the motor may include a fundamental current and a harmonic current, and the order of the fundamental current may be n, where n is a positive integer. Generally speaking, only the case where n is 1 or 2 may be considered. Therefore, the fundamental current may be a 1st-order fundamental current or a 2nd-order fundamental current. Accordingly, the order of the harmonic current may include 6n+1 and / or 6n-1.

[0045] Among them, when the value of n is 1, the 5th harmonic current can be the harmonic current with the lowest frequency and the largest amplitude among all the harmonic currents, and its corresponding harmonic torque is the most serious. Therefore, the harmonic torque is analyzed by taking the 1st fundamental current and the 5th harmonic current as examples. For fundamental currents and harmonic currents of other orders, the 1st fundamental current and the 5th harmonic current can be referred to.

[0046] For a three-phase motor, its three-phase current can be expressed as:

[0047]

[0048]

[0049] Among them, i u 、i v and i w Represents the current of the three phases UV and W respectively. m1 Represents the 1st fundamental current amplitude, I m5 represents the 5th harmonic current amplitude, w represents the motor speed, t represents the time, Represents the fundamental torque phase corresponding to the 1st fundamental current (also referred to as the 1st fundamental torque phase). Represents the harmonic torque phase corresponding to the 5th harmonic current (also referred to as the 5th harmonic torque phase).

[0050] Furthermore, the fundamental torque corresponding to the 1st fundamental current can be expressed as:

[0051] Among them, T q1th represents the fundamental torque corresponding to the 1st fundamental current, Psi represents the main magnetic flux of the motor rotor, P represents the number of pole pairs of the motor, Ld and Lq represent the motor inductance values ​​of the d-axis and q-axis respectively.

[0052] The rotor main flux, the number of motor pole pairs and the motor inductance are all parameters of the motor and can be obtained through corresponding offline measurement methods. For details, please refer to the mature technology in this field and will not be introduced in detail here.

[0053] It can be seen from the expression of the fundamental torque corresponding to the 1st fundamental current that the fundamental torque has no relationship with the time t and is a constant value that does not change with time. Therefore, the fundamental torque can be used as the driving force of the vehicle to drive the vehicle.

[0054] In some embodiments, since the harmonic torque generated by the harmonic current is the torque generated by the fundamental frequency pulse, the harmonic torque corresponding to the 5th harmonic current will change over time, is not a constant value, and will cause the vehicle to shake.

[0055] Therefore, the harmonic torque corresponding to the 5th harmonic current can be determined by analyzing the fundamental frequency pulse.

[0056] As an optional implementation, the harmonic torque corresponding to the 5th harmonic current can be expressed as:

[0057] Among them, T q5th Represents the harmonic torque corresponding to the 5th harmonic current.

[0058] It can be seen from this expression that the harmonic torque corresponding to the 5th harmonic current includes two parts. One part is the pulsation of 6 times the fundamental frequency (i.e. ), and the other part is 12 times the fundamental frequency pulsation (i.e. ). Since the inductance difference Ld-Lq is usually small, the 12 times fundamental frequency ripple can be ignored.

[0059] Thus, we can get: .in, is the harmonic torque amplitude, is a constant value, which can be expressed as .

[0060] It can be seen from the above expression of harmonic torque that the harmonic torque is related to the speed of the motor and changes with the time t.

[0061] Therefore, as an optional implementation, step S11 includes: acquiring the rotational speed of the motor; determining the fundamental torque corresponding to the fundamental current of the motor; and determining the harmonic torque according to the rotational speed and the fundamental torque.

[0062] In this embodiment, the harmonic torque may be determined in combination with the rotational speed and the fundamental torque of the motor.

[0063] In some embodiments, the rotation speed of the motor can be obtained by real-time sampling of the sensor, which can also be called the motor fundamental angular frequency, with the unit of rad / s.

[0064] In some embodiments, combined with the above analysis on harmonic torque, the fundamental torque is a constant value, which can be determined by corresponding motor parameters.

[0065] Therefore, as an optional implementation, determining the fundamental torque corresponding to the fundamental current of the motor includes: obtaining the fundamental torque phase; obtaining the fundamental current amplitude of the motor; obtaining the rotor main magnetic flux of the motor; obtaining the pole pair number of the motor; obtaining the inductance parameter of the motor; and determining the fundamental torque based on the fundamental torque phase, fundamental current amplitude, rotor main magnetic flux, pole pair number and inductance parameters.

[0066] The inductance parameters may include motor inductance values ​​of the d-axis and the q-axis.

[0067] For example, the fundamental torque corresponding to the 1st fundamental current can be expressed as: Among them, T q1th represents the fundamental torque corresponding to the 1st fundamental current, Psi represents the main magnetic flux of the motor rotor, P represents the number of pole pairs of the motor, Ld and Lq represent the motor inductance values ​​of the d-axis and q-axis respectively.

[0068] The rotor main flux, the number of motor pole pairs and the motor inductance are all parameters of the motor and can be obtained through corresponding offline measurement methods.

[0069] In some embodiments, the harmonic torque can be determined by combining the rotational speed and the fundamental torque through harmonic torque observation.

[0070] Therefore, as an optional implementation, the harmonic torque is observed according to the rotational speed and the fundamental torque by using a pre-configured observer to obtain the harmonic torque.

[0071] In some embodiments, the speed and fundamental torque may be input into a preconfigured observer, which may output observed harmonic torque in combination with preconfigured observer parameters and the input speed and fundamental torque.

[0072] In some embodiments, the preconfigured observer parameters may include: observer poles and the mechanical moment of inertia of the vehicle.

[0073] The observer pole refers to the characteristic value of the observer dynamic system, which determines the convergence speed and stability of the observer. In different scenarios, the observer pole can be reasonably configured according to the convergence and stability requirements of the observer.

[0074] The mechanical rotational inertia of a vehicle can characterize the mechanical rotational characteristics of the vehicle's transmission system and can be determined through actual vehicle calibration.

[0075] As an optional implementation, harmonic torque observation is performed based on the rotational speed and fundamental torque through a preconfigured observer to obtain the harmonic torque, including: determining a first observed torque based on the rotational speed, observer poles and mechanical moment of inertia through a preconfigured observer; determining a second observed torque based on the fundamental torque and observer poles through a preconfigured observer; and determining the harmonic torque based on the first observed torque and the second observed torque through a preconfigured observer.

[0076] In order to facilitate understanding of this implementation, the harmonic torque observation principle of the observer is introduced below. In the following introduction, for the parameters that have appeared in the previous embodiment, their parameter meanings refer to the previous embodiment, and the parameter meanings are not repeated. In addition, the following introduction still takes the 1st fundamental wave and the 5th harmonic as examples, and the same applies to other orders.

[0077] The torque output by the motor drives the vehicle through the mechanical transmission system. The mechanical equation can be expressed as: . Where J represents the mechanical moment of inertia.

[0078] The harmonic torque change rate can be expressed as: .

[0079] Combining the mechanical equation and the harmonic torque change rate, the state equation of the observer can be obtained as:

[0080] Furthermore, the harmonic torque observation equation can be established: ; .in, is the observer pole, z is the internal state variable of the observer, is the adjustment parameter of the internal state variable, represents the observed harmonic torque.

[0081] According to the above observation equation, we can get: , where s represents the frequency domain parameter.

[0082] Therefore, it can be seen that the observed harmonic torque can be divided into two parts. One part is the first observed torque (i.e. ), and the other part is the second observation torque determined according to the fundamental torque and the observer pole (i.e. ), the difference between the first observed torque and the second observed torque can be obtained to obtain the final observed harmonic torque.

[0083] Figure 2 is a block diagram of an observer according to an exemplary embodiment. Figure 2As shown, the input of the observer is the speed and the fundamental torque (the first fundamental torque in the figure), and the output harmonic torque (the fifth harmonic torque in the figure) can be expressed as: .

[0084] For the input fundamental torque, combined with the observer poles, a part of the observed torque can be obtained.

[0085] For the input speed, a part of the observed torque can be obtained by combining the observer poles and the mechanical moment of inertia.

[0086] The final harmonic torque is obtained by integrating the two parts of the observed torque.

[0087] From the introduction of the above observer, it can be seen that by using the observer to combine the speed and fundamental torque to observe the harmonic torque, the parameters of the observer will not be affected by the vehicle's driving conditions, making the observed harmonic torque more stable and accurate, and thus making the suppression of vehicle vibration more stable and reliable.

[0088] In some embodiments, harmonic torque observation may be performed on harmonics of each order, or only on some harmonic torques that have a greater impact on vehicle vibration.

[0089] Therefore, as an optional implementation, when the order of the fundamental current is n, the harmonic torque is determined according to the speed and the fundamental torque, including: determining the harmonic torque corresponding to the harmonic current of the target order according to the speed and the fundamental torque, wherein the target order includes 6n+1 and / or 6n-1, and the value of n is a positive integer.

[0090] In this embodiment, the harmonic torque of 6n+1 and / or 6n-1 is observed. For example, when the value of n is 1, the 5th harmonic torque can be observed, and / or the 7th harmonic torque can be observed. Among them, the 5th harmonic torque has the largest harmonic amplitude and the lowest frequency, so the harmonic torque is the most serious and has the greatest impact on the vibration of the vehicle.

[0091] In some embodiments, if the observed harmonic torque involves only one order, the harmonic torque of the one order is directly used as the final harmonic torque. If the observed harmonic torque involves multiple orders, the harmonic torques of the multiple orders are summed to obtain the final harmonic torque.

[0092] After the harmonic torque is determined in step S11 , a target torque is determined in step S12 based on the harmonic torque. The target torque is used to suppress the (driving) vibration of the vehicle when the motor outputs the harmonic torque.

[0093] In some embodiments, the harmonic torque may be added to the total torque command of the motor to obtain the target torque.

[0094] Therefore, as an optional implementation, the motor control method further includes: in response to detecting a torque command corresponding to the motor, determining the required torque according to the torque command. Thus, determining the target torque according to the harmonic torque may include: determining the target torque according to the required torque and the harmonic torque.

[0095] In this embodiment, the torque command corresponding to the motor can be triggered based on the driver's operation of the accelerator pedal. For example, when the driver steps on the accelerator pedal, the torque command is generated according to the opening of the accelerator pedal.

[0096] In some embodiments, the torque command may represent a driver demand torque, based on which a demand torque for the electric machine may be determined.

[0097] Furthermore, the target torque can be obtained by integrating the required torque and the harmonic torque.

[0098] In some embodiments, determining the target torque based on the required torque and the harmonic torque may include: determining the difference between the required torque and the harmonic torque as the target torque.

[0099] In this implementation, the target torque can be obtained by subtracting the harmonic torque from the required torque.

[0100] For example, the target torque can be expressed as: .in, Represents the target torque, which is the torque command of the final drive motor. Represents the driver's required driving torque (i.e., required torque), which is also the driver's driving torque command.

[0101] It can be understood that since the harmonic torque is the torque output by the motor, offsetting this part of the torque on the basis of the current torque command can achieve the effect of suppressing the vibration of the vehicle.

[0102] Furthermore, in step S13, the motor is controlled according to the target torque.

[0103] In some embodiments, different motor control strategies may be used based on the target torque and the current of the motor to achieve driving of the motor.

[0104] For example, mature motor control schemes such as direct torque control, vector control, maximum torque current ratio control, closed-loop control and open-loop control can be adopted. For details, please refer to the mature technology in the field, which will not be introduced in detail here.

[0105] Figure 3 is a motor control block diagram according to an exemplary embodiment. Figure 3 As shown, in this motor control block diagram, it involves a motor control system, a motor, and an observer.

[0106] The motor control system can obtain real-time motor parameters such as the current and speed of the motor through sensor sampling, and can also calculate the fundamental torque according to the relevant motor parameters.

[0107] The observer can obtain the motor speed and the fundamental torque from the motor control system. Based on the motor speed and the fundamental torque, the observer can determine the harmonic torque.

[0108] Furthermore, the motor control system obtains the final torque command based on the drive torque command generated by the accelerator pedal and the harmonic torque. Then, based on the final torque command, the motor is driven and controlled.

[0109] Through the technical solution of the embodiment of the present disclosure, on the one hand, the harmonic torque in the vehicle drive motor can be observed in real time and superimposed on the torque command of the motor to suppress vehicle jitter. There is no hysteresis, high real-time performance, and good vehicle jitter suppression effect.

[0110] On the other hand, it can effectively suppress the vehicle jitter excited by the 6n±1 harmonic torque. The suppression effect is not affected by the vehicle driving conditions and will not become worse due to the high frequency of the jitter component. The suppression effect of vehicle jitter is stable and reliable.

[0111] Figure 4 It is a structural block diagram of a motor control device shown according to an exemplary embodiment. As Figure 4 shown, the motor control device includes: A determination module 401, configured to determine the harmonic torque corresponding to the harmonic current of the motor of the vehicle.

[0112] The determination module 401 is further configured to: determine a target torque according to the harmonic torque, where the target torque is used to suppress the jitter generated by the vehicle when the motor outputs the harmonic torque.

[0113] A control module 402, configured to: control the motor according to the target torque.

[0114] Optionally, the determination module 401 is further configured to: obtain the speed of the motor; determine the fundamental torque corresponding to the fundamental current of the motor; determine the harmonic torque according to the speed and the fundamental torque.

[0115] Optionally, the determination module 401 is further configured to: perform harmonic torque observation according to the speed and the fundamental torque through a pre-configured observer to obtain the harmonic torque.

[0116] Optionally, the determination module 401 is further configured to: determine a first observed torque according to the rotational speed, the observer pole and the mechanical moment of inertia through the preconfigured observer; determine a second observed torque according to the fundamental torque and the observer pole through the preconfigured observer; and determine the harmonic torque according to the first observed torque and the second observed torque through the preconfigured observer.

[0117] Optionally, the determination module 401 is also configured to: obtain the fundamental torque phase; obtain the fundamental current amplitude of the motor; obtain the rotor main flux of the motor; obtain the pole pair number of the motor; obtain the inductance parameter of the motor; and determine the fundamental torque based on the fundamental torque phase, the fundamental current amplitude, the rotor main flux, the pole pair number and the inductance parameter.

[0118] Optionally, the determination module 401 is further configured to determine the harmonic torque corresponding to the harmonic current of the target order according to the rotational speed and the fundamental torque, wherein the target order includes 6n+1 and / or 6n-1, and the value of n is a positive integer.

[0119] Optionally, the determination module 401 is further configured to: in response to detecting a torque command corresponding to the motor, determine a required torque according to the torque command; and determine a target torque according to the required torque and the harmonic torque.

[0120] Optionally, the determination module 401 is further configured to: determine the difference between the required torque and the harmonic torque as the target torque.

[0121] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0122] The present disclosure also provides a computer-readable storage medium having computer program instructions stored thereon, and the program instructions, when executed by a processor, implement the steps of the motor control method provided by the present disclosure.

[0123] Figure 5 is a block diagram of a vehicle 500 according to an exemplary embodiment. For example, the vehicle 500 may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. The vehicle 500 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.

[0124] Reference Figure 5, the vehicle 500 may include various subsystems, for example, an infotainment system 510, a perception system 520, a decision control system 530, a drive system 540, and a computing platform 550. The vehicle 500 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, each subsystem and each component of the vehicle 500 may be interconnected by wire or wireless means.

[0125] In some embodiments, the infotainment system 510 may include a communication system, an entertainment system, and a navigation system, among others.

[0126] The perception system 520 may include several sensors for sensing information about the environment around the vehicle 500. For example, the perception system 520 may include a global positioning system (the global positioning system may be a GPS system, or a Beidou system or other positioning systems), an inertial measurement unit (IMU), a laser radar, a millimeter wave radar, an ultrasonic radar, and a camera.

[0127] The decision control system 530 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.

[0128] The drive system 540 may include components that provide powered motion for the vehicle 500. In one embodiment, the drive system 540 may include an engine, an energy source, a transmission system, and wheels. The engine may be an internal combustion engine, an electric motor, an air compression engine, or a combination of one or more thereof. The engine is capable of converting energy provided by the energy source into mechanical energy.

[0129] Some or all functions of the vehicle 500 are controlled by a computing platform 550. The computing platform 550 may include at least one processor 551 and a memory 552, and the processor 551 may execute instructions 553 stored in the memory 552.

[0130] The processor 551 may be any conventional processor, such as a commercially available CPU. The processor may also include a graphics processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable Gate Array, FPGA), a system on chip (System on Chip, SOC), an application specific integrated circuit (Application Specific Integrated Circuit, ASIC) or a combination thereof.

[0131] The memory 552 may be implemented by any type of volatile or nonvolatile memory device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0132] In addition to instructions 553 , memory 552 may also store data, such as road maps, route information, vehicle location, direction, speed, etc. The data stored in memory 552 may be used by computing platform 550 .

[0133] In the embodiment of the present disclosure, the processor 551 may execute the instruction 553 to complete all or part of the steps of the above-mentioned motor control method.

[0134] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program executable by a programmable device. The computer program has a code portion for executing the above motor control method when executed by the programmable device.

[0135] Those skilled in the art may also understand that the various illustrative logical blocks and steps listed in the embodiments of the present application may be implemented by electronic hardware, computer software, or a combination of the two. Whether such functions are implemented by hardware or software depends on the specific application and the design requirements of the entire system. Those skilled in the art may use various methods to implement the functions described for each specific application, but such implementation should not be understood as exceeding the scope of protection of the embodiments of the present application.

[0136] In addition, the word "exemplary" is used herein to indicate serving as an example, instance, or diagram. Any aspect or design described as "exemplary" in this article is not necessarily understood to be advantageous compared to other aspects or designs. On the contrary, the use of the word exemplary is intended to present concepts in a specific way. As used herein, the term "or" is intended to represent an inclusive "or" rather than an exclusive "or". That is, unless otherwise specified or clear from the context, "X applies A or B" is intended to represent any one of the natural inclusive arrangements. That is, if X applies A; X applies B; or X applies both A and B, "X applies A or B" is satisfied under any of the aforementioned examples. In addition, unless otherwise specified or clearly pointed to a singular form from the context, the articles "one" and "an" as used in this application and the appended claims are generally understood to mean "one or more".

[0137] Likewise, although the present disclosure has been shown and described with respect to one or more implementations, equivalent variations and modifications will occur to those skilled in the art after reading and understanding the specification and drawings. The present disclosure includes all such modifications and variations and is limited only by the scope of the claims. In particular, with respect to the various functions performed by the components (e.g., elements, resources, etc.) described above, unless otherwise indicated, the terms used to describe such components are intended to correspond to any component (functionally equivalent) that performs the specific functions of the described components, even if the structure is not equivalent to the disclosed structure. In addition, although specific features of the present disclosure may have been disclosed with respect to only one of several implementations, such features may be combined with one or more other features of other implementations as may be desired and beneficial to any given or specific application. In addition, with respect to "including", "having", "having", "having", or variations thereof used in a specific embodiment or claim, such terms are intended to be inclusive in a manner similar to the term "comprising".

[0138] Those skilled in the art will readily appreciate other embodiments of the present disclosure after considering the specification and practicing the invention disclosed herein. This application is intended to cover any modification, use or adaptation of the present disclosure, which follows the general principles of the present disclosure and includes common knowledge or customary techniques in the art that are not disclosed in the present disclosure. The specification and examples are intended to be exemplary only, and the true scope and spirit of the present disclosure are indicated by the appended claims.

[0139] It should be understood that the present disclosure is not limited to the exact structures that have been described above and shown in the drawings, and that various modifications and changes may be made without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

[0140] It should be understood that, unless otherwise specifically noted, the features of some embodiments of the various present disclosures described herein may be combined with each other. As used herein, the term "and / or" includes any one of the related listed items and any combination of any two or more; similarly, "at least one of . . . " includes any one of the related listed items and any combination of any two or more.

[0141] Although terms such as "first", "second" and "third" can be used herein to describe various components, parts, regions, layers or sections, these components, parts, regions, layers or sections are not limited to these terms. On the contrary, these terms are only used to distinguish one component, component, region, layer or section from another component, component, region, layer or section. Therefore, without departing from the teachings of each example, the first component, component, region, layer or section mentioned in the examples described herein may also be referred to as the second component, component, region, layer or section. In addition, the terms "first" and "second" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance or implicitly indicating the number of indicated technical features. Thus, the features defined as "first" and "second" may expressly or implicitly include at least one of the features. In the description herein, the meaning of "multiple" is at least two, such as two, three, etc., unless otherwise clearly and specifically defined.

Claims

1. A motor control method, characterized in that: include: Determine the harmonic torque corresponding to the harmonic current of the motor of the vehicle; Determining a target torque according to the harmonic torque, wherein the target torque is used to suppress vibration of the vehicle when the motor outputs the harmonic torque; The motor is controlled according to the target torque.

2. The motor control method according to claim 1, characterized in that: The determining of the harmonic torque corresponding to the harmonic current of the motor of the vehicle includes: Obtaining the rotation speed of the motor; Determine the fundamental torque corresponding to the fundamental current of the motor; The harmonic torque is determined according to the rotational speed and the fundamental torque.

3. The motor control method according to claim 2, characterized in that: The determining the harmonic torque according to the rotational speed and the fundamental torque comprises: The harmonic torque is obtained by performing harmonic torque observation according to the rotation speed and the fundamental torque through a pre-configured observer.

4. The motor control method according to claim 3, characterized in that: The pre-configured observer is configured with observer poles and the mechanical moment of inertia of the vehicle, and the harmonic torque is observed according to the speed and the fundamental torque by the pre-configured observer to obtain the harmonic torque, including: determining a first observed torque by the preconfigured observer based on the rotational speed, the observer pole, and the mechanical moment of inertia; determining a second observed torque according to the fundamental torque and the observer pole by the preconfigured observer; The harmonic torque is determined by the preconfigured observer based on the first observed torque and the second observed torque.

5. The motor control method according to claim 2, characterized in that: The determining of the fundamental torque corresponding to the fundamental current of the motor includes: Get the fundamental torque phase; Obtaining the fundamental current amplitude of the motor; Obtaining the main magnetic flux of the rotor of the motor; Obtaining the number of pole pairs of the motor; Obtaining an inductance parameter of the motor; The fundamental torque is determined according to the fundamental torque phase, the fundamental current amplitude, the rotor main flux, the pole pair number and the inductance parameter.

6. The motor control method according to claim 2, characterized in that: The order of the fundamental current is n, and the determining of the harmonic torque according to the rotation speed and the fundamental torque includes: The harmonic torque corresponding to the harmonic current of the target order is determined according to the rotational speed and the fundamental torque, wherein the target order includes 6n+1 and / or 6n-1, and the value of n is a positive integer.

7. The motor control method according to any one of claims 1 to 6, characterized in that: The motor control method further comprises: In response to detecting a torque command corresponding to the motor, determining a required torque according to the torque command; The step of determining the target torque according to the harmonic torque comprises: A target torque is determined according to the required torque and the harmonic torque.

8. The motor control method according to claim 7, characterized in that: The determining the target torque according to the required torque and the harmonic torque comprises: The difference between the required torque and the harmonic torque is determined as the target torque.

9. A motor control device, characterized in that: include: A determination module configured to determine a harmonic torque corresponding to a harmonic current of a motor of a vehicle; The determination module is further configured to: determine a target torque according to the harmonic torque, wherein the target torque is used to suppress vibration of the vehicle when the motor outputs the harmonic torque; The control module is configured to control the motor according to the target torque.

10. A vehicle, characterized in that: include: processor; a memory for storing processor-executable instructions; Wherein, the processor is configured to: execute the executable instructions to implement the motor control method as described in any one of claims 1 to 8.

11. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by a processor, the motor control method as described in any one of claims 1 to 8 is implemented.

12. A computer program product, characterized in that It comprises a computer program, which, when executed by a processor, implements the motor control method as described in any one of claims 1 to 8.

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