Motor control method and device, equipment and storage medium

Abstract

The invention belongs to the technical field of electric vehicles, and discloses a motor control method, device and equipment and a storage medium. The method comprises the steps of monitoring the demand torque and the running speed of a current vehicle; according to the driving speed, matching an expected zero-setting torque interval set to determine an expected zero-setting torque interval; and when the required torque is in the expected zero-setting torque interval, the torque of the motor is set to be zero. According to the scheme, on the premise that drivability and dynamic property of the vehicle are not affected, when the vehicle runs and the target driving force is smaller than or equal to the threshold value, the purposes of reducing power consumption, increasing endurance mileage and improving comfort can be achieved by reducing the torque output of the motor or setting the target driving force to be 0.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a motor control method, device, equipment and storage medium. Background Art

[0002] Topics such as improving the range of electric vehicles and making them more comfortable and energy-efficient have always been hot topics in the electric vehicle field. The electric vehicle industry is also constantly innovating in technology to create vehicles with longer range, greater comfort and greater energy efficiency.

[0003] Without affecting the vehicle's drivability and power, at present, when in a low-torque state, especially at low speed or coasting, it is inefficient if the motor maintains a small torque output. At the same time, in a low-torque demand range (such as frequent starting and stopping in congested urban roads), if the motor continues to output a small torque, it may cause torque fluctuations due to insufficient control accuracy or load changes, causing body shaking.

[0004] The above contents are only used to assist in understanding the technical solution of the present invention and do not constitute an admission that the above contents are prior art. Summary of the invention

[0005] The main purpose of the present invention is to provide a motor control method, device, equipment and storage medium, aiming to solve the technical problem of low motor control comfort in the prior art.

[0006] To achieve the above object, the present invention provides a motor control method, the method comprising the following steps:

[0007] Monitor the current vehicle's required torque and driving speed;

[0008] Determining an expected zero torque interval according to the driving speed matching expected zero torque interval set;

[0009] When the required torque is in the expected zero torque interval, the motor torque is set to zero.

[0010] Optionally, the calibration method of the expected zero torque interval set includes:

[0011] Obtaining torque zeroing thresholds at different vehicle speeds and controllability parameters corresponding to the torque zeroing thresholds;

[0012] Screening the torque zeroing threshold according to the maneuverability parameter to obtain a first target torque zeroing threshold and a second target torque zeroing threshold at different vehicle speeds;

[0013] The expected zero torque interval set is determined according to the first target torque zero threshold and the second target torque zero threshold corresponding to each of the vehicle speeds.

[0014] Optionally, the step of screening the torque zeroing threshold according to the maneuverability parameter to obtain a first target torque zeroing threshold and a second target torque zeroing threshold at different vehicle speeds includes:

[0015] Determine the current vehicle speed;

[0016] Filtering a target maneuverability parameter according to the maneuverability parameter corresponding to the current vehicle speed and a preset maneuverability parameter threshold;

[0017] Determining a corresponding first torque threshold set and a second torque threshold set according to the target maneuverability parameter;

[0018] A threshold with the largest torque value is selected from the first torque threshold set to be determined as the first target torque zeroing threshold at the current vehicle speed, and a threshold with the largest torque value is selected from the second torque threshold set to be determined as the second target torque zeroing threshold at the current vehicle speed.

[0019] Optionally, the motor control method further includes:

[0020] Monitor the current motor torque of the vehicle and the target required torque;

[0021] Determining a preset control torque threshold according to the motor torque of the current vehicle;

[0022] Determining a torque control difference according to the motor torque and a preset control torque threshold;

[0023] According to the current vehicle speed and the torque control difference, a preset torque control table is searched to determine the torque change rate;

[0024] Torque smoothing control is performed according to the torque change rate.

[0025] Optionally, the calibration method of the preset torque control table includes:

[0026] Determining a control torque threshold of the target vehicle according to the torque zeroing threshold;

[0027] Setting a torque change rate corresponding to a plurality of control torque thresholds, and detecting a speed of a target vehicle and a required torque of the target vehicle corresponding to the torque change rate;

[0028] Determine a control index corresponding to the control torque threshold value according to the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle;

[0029] Screening the control torque threshold to be determined according to the control index to determine the control torque threshold;

[0030] A preset torque control table is determined according to the control torque threshold value and the corresponding vehicle speed of the target vehicle and the required torque of the target vehicle.

[0031] Optionally, determining the control index corresponding to the control torque threshold according to the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle includes:

[0032] When the target vehicle is at the target vehicle speed and the target vehicle required torque, the target vehicle is controlled by a corresponding torque change rate to obtain a driving parameter or a simulation parameter of the target vehicle;

[0033] Determine one or more of the target vehicle's driving smoothness, frustration parameter, vibration parameter, throttle response speed, and maneuverability according to the driving parameter or simulation parameter;

[0034] The control index corresponding to the control torque threshold is determined according to one or more of the target vehicle's driving smoothness, jerk parameter, vibration parameter, throttle response speed and controllability.

[0035] Optionally, determining the torque control difference according to the motor torque and a preset control torque threshold includes:

[0036] When the motor torque enters a control interval corresponding to a preset control torque threshold, determining a current target required torque;

[0037] A torque control difference is determined according to the target required torque and a preset control torque threshold.

[0038] In addition, to achieve the above object, the present invention further provides a motor control device, the motor control device comprising:

[0039] An acquisition module is used to monitor the current required torque and driving speed of the vehicle;

[0040] A processing module, configured to determine an expected zeroing torque interval according to the driving speed matching expected zeroing torque interval set;

[0041] The control module is used to set the motor torque to zero when the required torque is in the expected zero torque interval.

[0042] In addition, to achieve the above-mentioned purpose, the present invention also proposes a motor control device, which includes: a memory, a processor, and a motor control program stored in the memory and executable on the processor, and the motor control program is configured to implement the steps of the motor control method described above.

[0043] In addition, to achieve the above-mentioned purpose, the present invention further proposes a storage medium, on which a motor control program is stored, and when the motor control program is executed by a processor, the steps of the motor control method described above are implemented.

[0044] The present invention monitors the current vehicle demand torque and driving speed; determines the expected zero torque interval according to the driving speed matching expected zero torque interval set; and sets the motor torque to zero when the demand torque is in the expected zero torque interval. Through the above scheme, under the premise of not affecting the vehicle's drivability and power, when the vehicle is driving and the target driving force is less than or equal to the threshold, this control can achieve the purpose of reducing power consumption, increasing cruising range, and improving comfort by reducing the motor torque output or setting the target driving force to 0. BRIEF DESCRIPTION OF THE DRAWINGS

[0045] The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0046] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, for ordinary technicians in this field, other drawings can be obtained based on these drawings without paying any creative labor.

[0047] Figure 1 A schematic diagram of a flow chart of a first embodiment of a motor control method of the present invention;

[0048] Figure 2 A schematic diagram of a flow chart of a second embodiment of a motor control method of the present invention;

[0049] Figure 3 A schematic diagram of a control interval of an embodiment of a motor control method of the present invention;

[0050] Figure 4 is a structural block diagram of a first embodiment of a motor control device of the present invention;

[0051] Figure 5 It is a structural diagram of a motor control device in a hardware operating environment involved in an embodiment of the present invention.

[0052] The realization of the purpose, functional features and advantages of the present invention will be further explained in conjunction with embodiments and with reference to the accompanying drawings. DETAILED DESCRIPTION

[0053] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0054] In order to better understand the technical solution of the present application, a detailed description will be given below in conjunction with the accompanying drawings and specific implementation methods.

[0055] The main solution of the embodiment of the present application is: (Brief description of the overall inventive concept of the technical solution of the present application It is suggested here to explain the execution subject of the method, such as a specific execution subject, or it does not limit the execution subject)

[0056] In this embodiment, for the convenience of description, the following description is made by taking the identification of the motor controller as the execution subject.

[0057] Due to the existing technology, when in a low-torque state, especially at low speed or coasting, if the motor maintains a small torque output, it will be inefficient. At the same time, in a low-torque demand range (such as frequent starting and stopping in congested urban roads), if the motor continues to output a small torque, it may cause torque fluctuations due to insufficient control accuracy or load changes, causing body shaking.

[0058] The present application provides a solution to monitor the current vehicle's required torque and driving speed; determine the expected zero torque interval according to the driving speed matching the expected zero torque interval set; and set the motor torque to zero when the required torque is in the expected zero torque interval.

[0059] From the above embodiments, it can be seen that in the low torque demand range of this application, if the motor continues to output a small torque, the torque may fluctuate due to insufficient control accuracy or load changes. The zeroing control of this solution can avoid such high-frequency disturbances and improve driving smoothness. At the same time, when the motor is in a low torque output state, its operating efficiency is in a low efficiency zone, resulting in energy waste. Direct zeroing can make the motor enter a "zero torque-free rotation" state to reduce power loss.

[0060] It should be noted that the execution subject of this embodiment can be a computing service device with data processing, network communication and program running functions, such as a tablet computer, a personal computer, a mobile phone, etc., or an electronic device capable of realizing the above functions, a motor controller, etc. The following takes the motor controller as an example to illustrate this embodiment and the following embodiments.

[0061] Based on this, the present application embodiment provides a motor control method, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the motor control method of the present application.

[0062] In this embodiment, the motor control method includes the following steps:

[0063] Step S10: Monitor the current required torque and driving speed of the vehicle.

[0064] It should be noted that the required torque can be obtained from the vehicle power demand instructions, such as the power demand given by the accelerator pedal or the remote control or automatic driving control instructions, such as the throttle opening. The current vehicle required torque can be obtained by conversion.

[0065] It is understandable that there are many ways to obtain the driving speed, such as: wheel speed sensor, transmission output shaft sensor, GPS, inertial measurement unit (IMU), on-board diagnostic system (OBD) or speed information transmitted by external devices, etc.

[0066] Step S20: determining an expected zero torque interval according to the driving speed matching expected zero torque interval set.

[0067] It should be noted that the present scheme controls the torque to zero through the zeroing interval to improve vehicle comfort and economy, so the expected zeroing torque interval is crucial. There are multiple groups of different expected zeroing torque intervals in the expected zeroing torque interval set, and they correspond one-to-one to the driving speeds. Therefore, the current driving speed can be used to determine which specific expected zeroing torque interval to use as the parameter for the current torque zeroing control.

[0068] Furthermore, the reason for screening by speed is that in the process of selecting the expected zeroing torque interval (interval defined by multiple thresholds), the set value of the threshold directly determines the zeroing control range control, and finally directly affects the range improvement effect and vehicle drivability presented by the overall control. The influence of vehicle speed should be considered. It is known that the higher the speed, the smaller the effect of acceleration on vehicle speed. Therefore, when driving at low speeds, we need to consider more to ensure the drivability of the vehicle. At this time, the threshold can be appropriately set small. When driving at high speeds, we focus on the benefits brought by improving control. At this time, the threshold can be appropriately controlled to be large. In the actual calibration process, the size of each threshold will be determined according to the driver and related goals. Therefore, through speed selection, the vehicle can obtain the benefits expected by the user under different working conditions.

[0069] In some embodiments, torque zeroing thresholds at different vehicle speeds and maneuverability parameters corresponding to the torque zeroing thresholds are obtained; the torque zeroing thresholds are screened according to the maneuverability parameters to obtain a first target torque zeroing threshold and a second target torque zeroing threshold at different vehicle speeds; and a desired zeroing torque interval set is determined according to the first target torque zeroing threshold and the second target torque zeroing threshold corresponding to each of the vehicle speeds.

[0070] It should be noted that in order to better achieve torque zeroing control, the calibration process of the expected zeroing torque interval set will become very important. It should be noted that the measurement focus is different at different vehicle speeds. In principle, the larger the zeroing torque interval (the higher the threshold), the less loss can be achieved. However, it is necessary to consider the operability at different speeds to avoid the vehicle being unable to respond to the throttle due to the large interval. Specifically, this embodiment proposes a preferred embodiment for illustration, which can be, for example: the threshold range of low-speed conditions (0-30km / h) is small (such as ±2~5N·m). At low speeds, the driver is sensitive to power response (such as following a car in congestion), and needs to respond quickly to small accelerator pedal inputs. Frequent start-stop scenarios need to reduce torque fluctuations to avoid the "nodding" phenomenon. The threshold of medium-speed conditions (30-80km / h) is moderately relaxed (such as ±5~10N·m). Balance comfort and responsiveness to avoid frequent torque switching due to small pedal inputs during high-speed gliding, thereby improving gliding energy efficiency. The threshold of high-speed conditions (above 80km / h) is large (such as ±10~20N·m). At high speeds, the vehicle has large inertia, and small torque fluctuations have little impact on the driving experience. Priority is given to ensuring the stability of the power system and reducing the energy loss of the motor in the low-efficiency area (such as copper loss when maintaining small torque).

[0071] Among them, the handling parameters may include, for example, power response delay, gliding smoothness, energy recovery coordination, steering stability, noise and vibration, etc.

[0072] In addition, the first target torque zeroing threshold and the second target torque zeroing threshold refer to torque values ​​in positive and negative directions, and the two constitute a desired zeroing torque range.

[0073] In some embodiments, the current vehicle speed is determined; the target maneuverability parameters are screened according to the maneuverability parameters corresponding to the current vehicle speed and preset maneuverability parameter thresholds; the corresponding first torque threshold set and second torque threshold set are determined according to the target maneuverability parameters; the threshold with the largest torque value is selected from the first torque threshold set as the first target torque zeroing threshold at the current vehicle speed, and the threshold with the largest torque value is selected from the second torque threshold set as the second target torque zeroing threshold at the current vehicle speed.

[0074] It should be noted that several first torque threshold sets and second torque threshold sets are selected according to target maneuverability parameters that meet the requirements, and the maximum threshold is selected therefrom. This is because selecting the maximum threshold can obtain the most energy-saving threshold while satisfying the operating performance.

[0075] Specifically, the zeroing threshold is used as the standard, and entering / exiting the threshold will start / exit the zeroing control. Under different vehicle speeds, actual vehicle tests or simulation tests are conducted to calibrate the maximum threshold torque under the premise of ensuring drivability; when the vehicle is subsequently driven normally, the speed-torque MAP obtained by calibration is queried according to the current real-time vehicle speed to confirm each threshold. Calibration method: In theory, the higher the vehicle speed, the smaller the change in the vehicle speed value due to acceleration, that is, the smaller the impact on the vehicle's drivability. At this time, the zeroing threshold and other parameters are appropriately increased to expand the zeroing torque range, mainly to ensure the benefits of this control; on the contrary, the lower the vehicle speed, the greater the impact of acceleration on the vehicle speed value, that is, the greater the impact on the vehicle's drivability. At this time, the main thing is to ensure that the vehicle's drivability is normal, and the zeroing threshold and other parameters are appropriately reduced to narrow the torque range of the control action to ensure drivability.

[0076] The specific calibration method is described in the following preferred scheme in this embodiment. First, the speed segment is divided: the speed is evenly divided into different speed segments from 0-140Km / h (or other speed limits) at intervals of 10Km / h or 20Km / h, such as 0-10Km / h, 10-20Km / h, etc. The purpose is that since the threshold value is closely related to the speed value, it is unrealistic to calibrate the corresponding threshold value according to the real-time speed at each moment. For this reason, we can consider cutting the continuous speed change process into different speed segments. During calibration, according to the drivability and benefit, find the appropriate threshold value in each speed segment. In this way, a certain calibration accuracy can be ensured, and the workload can be simplified to improve the work efficiency, making the theoretical operation feasible. The driver first controls the actual vehicle speed within the target speed segment, and the calibration personnel sets an initial threshold value. Then the driver triggers the control by driving the vehicle into the target working condition. After that, the threshold value is continuously adjusted and modified to meet the highest possible benefit under the premise of drivability, so as to achieve the control target, and finally confirm the threshold values ​​of different speed segments. After obtaining the thresholds of different speed ranges, we can obtain the corresponding speed-torque MAP. Later, when the control is triggered during actual vehicle driving, the vehicle's control system can obtain the corresponding thresholds based on the MAP after obtaining the real-time speed signal, and feedback to complete the corresponding control. Combined with the above operations, the speed-torque MAP under different speed ranges is obtained. During the actual driving of the vehicle, the VCM can query the MAP according to the current real-time speed to obtain the various thresholds at this time and perform control.

[0077] Step S30: When the required torque is in the expected zero torque interval, the motor torque is set to zero.

[0078] It is understood that when the system detects that the required torque (i.e., the torque value currently required to be output) falls within a specific interval (the expected zero torque interval), the system will force the actual output torque of the motor to be set to zero. The expected zero torque interval is a preset torque range (e.g., -5Nm to +5Nm). If the required torque is within this range, the system believes that the motor does not need actual output torque at this time.

[0079] This embodiment monitors the current vehicle demand torque and driving speed; determines the expected zero torque interval according to the driving speed matching expected zero torque interval set; and sets the motor torque to zero when the demand torque is in the expected zero torque interval. Through the above scheme, under the premise of not affecting the vehicle's drivability and power, when the vehicle is driving and the target driving force is less than or equal to the threshold, this control can achieve the purpose of reducing power consumption, increasing cruising range, and improving comfort by reducing the motor torque output or setting the target driving force to 0.

[0080] Based on the first embodiment of the present application, in the second embodiment of the present application, the same or similar contents as those in the above-mentioned embodiment 1 can be referred to the above introduction, and will not be repeated in the following. Figure 2 , the motor control method further includes:

[0081] Step S100: Monitor the motor torque and target required torque of the current vehicle.

[0082] It should be noted that the present embodiment is used to smooth the change in motor torque. This is because on the basis of zeroing control, the torque change needs to enter the zeroing interval more smoothly to ensure the smoothness of the torque change and avoid a decrease in the operating feel. Specifically, multiple torque thresholds are set: entry control threshold (positive / negative), zeroing threshold (positive / negative), exit control threshold (positive / negative). The values ​​of these thresholds are subsequently confirmed by calibration. The control of torque includes two major parts, one is zeroing processing, and the other is smoothing processing. During vehicle driving, when the torque enters the zeroing threshold range, the torque is directly zeroed; when the torque enters the control and does not enter the zeroing range, the torque is smoothed. The smoothing process obtains the torque change rate by checking the MAP through the difference between the current torque and the corresponding threshold torque. Through the above two types of torque control, it can be ensured that while the torque is zeroed to reduce energy consumption and improve comfort, it can also reduce impact and ensure drivability. This embodiment is the smoothing part, such as Figure 3As shown, the horizontal axis is time, the vertical axis is torque, the 6 dotted lines are 6 corresponding thresholds, the colored line represents the original torque change process without the control, and the black solid line represents the torque change process with the control. Among them, sysoff is the exit control threshold, syson is the entry control threshold, imm0 is the zero threshold, and fGILDCNTON=1 represents the start of control. When the torque enters syson, the signal is set to 1 and the control starts. When the torque leaves sysoff, the signal is set to 0 to exit the control. When the torque enters imm0, the control torque is set to 0. When the torque is within other threshold ranges, smoothing is performed. The control principle of smoothing is: subtract the original torque from the control threshold of the corresponding range to obtain the differential torque. The vehicle speed-torque MAP is checked through the differential torque to obtain the corresponding torque change rate. The torque drop / rise rate is controlled according to the change rate. The torque change rate here also takes into account the vehicle speed value. The torque change rate at low speed is smaller than that at high speed, which ultimately ensures a smooth transition of torque and ensures drivability. Among them, differential torque = target demand torque-preset control torque threshold. Among them, Figure 3 The working condition shown is that the vehicle starts at a certain speed, the accelerator is released to coast, and then kinetic energy is recovered; then the accelerator is pressed and the vehicle accelerates. This embodiment is described using this working condition and is not intended to limit the usage scenario of this embodiment.

[0083] Among them, the current vehicle's motor torque is the actual output torque value of the current motor, reflecting the current working state of the motor. The target demand torque is the target torque value that the motor should output, calculated based on driving intention, vehicle status, and other control system requirements. It can be obtained from vehicle power demand instructions, such as: the power demand given by the accelerator pedal or remote control or automatic driving control instructions, such as the throttle opening. The current vehicle's demand torque can be obtained by conversion.

[0084] Step S200: Determine a preset control torque threshold according to the motor torque of the current vehicle.

[0085] It is understandable that when the motor is in different torque ranges, the control torque threshold for smoothing reference is different. Therefore, it is necessary to see which stage the motor torque of the vehicle is in to select the corresponding control torque threshold as the preset control torque threshold. Figure 3 , when the motor torque of the current vehicle is in stage 1, the torque enters the dotted line of sysoff, so the preset control torque threshold is the positive side exit control threshold. Figure 3 The six thresholds are respectively the positive side entry control threshold syson_plus, the negative side entry control threshold syson_minus, the positive side zeroing threshold imm0_plus, the negative side zeroing threshold imm0_minus, the positive side exit control threshold sysoff_plus and the negative side exit control threshold sysoff_minus.

[0086] Step S300: Determine the torque control difference according to the motor torque and a preset control torque threshold.

[0087] It should be noted that the torque control difference can be calculated based on the motor torque and the preset control torque threshold, and the torque control difference can be used as a basis for selecting the torque change rate to ensure that the torque change rate is appropriate and that the current torque can smoothly enter the zeroing interval.

[0088] In some embodiments, when the motor torque enters a control interval corresponding to a preset control torque threshold, a current target demand torque is determined; and a torque control difference is determined based on the target demand torque and the preset control torque threshold.

[0089] It should be noted that if Figure 3 Taking the motor torque entering number 2, that is, between syson_plus (positive side entry control threshold) and imm0_plus (positive side zero threshold) as an example, the torque control difference = motor torque - negative side entry control threshold, check MAP, get the torque change rate, and make the torque rise to catch up with the original torque.

[0090] Step S400: query a preset torque control table according to the current vehicle speed and the torque control difference to determine the torque change rate.

[0091] It can be understood that by querying the preset torque control table according to the current vehicle speed and the torque control difference to determine the torque change rate, it can be ensured that the torque change rate (Torque Ramp Rate) is dynamically adjusted through the preset torque control table (Torque Map) combined with the current vehicle speed and the torque control difference (i.e. the deviation between the motor torque and the actual torque) to achieve smooth entry into the zeroing interval.

[0092] In some embodiments, a control torque threshold of a target vehicle is determined based on a torque zeroing threshold; a torque change rate corresponding to a number of control torque thresholds is set, and the speed of the target vehicle corresponding to the torque change rate and the required torque of the target vehicle are detected; a control index corresponding to the control torque threshold is determined based on the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle; the control torque threshold to be determined is screened based on the control index to determine the control torque threshold; a preset torque control table is determined based on the control torque threshold and the corresponding speed of the target vehicle and the required torque of the target vehicle.

[0093] Specifically, this embodiment proposes the following preferred torque control difference query preset torque control table calibration method, for example: the driver's target demand torque and the corresponding threshold torque are subtracted to obtain the difference torque---according to the difference torque, the MAP is checked to obtain the torque change rate---the torque change is controlled by the torque change rate, and smoothing is performed. In the entire control process of the target demand torque entering / exiting, it will involve subtracting with different thresholds. The specific four difference torques are as follows: positive side entry threshold-target demand torque; target demand torque-negative side entry threshold; target demand torque-positive side exit threshold; negative side exit threshold-target demand torque. Among them, the confirmation of the change rate needs to consider two aspects, one is the size of the current difference torque value, and the other is the size of the current vehicle speed value. The current difference torque value: the smoothing process mainly involves the target demand torque value, the corresponding threshold, time and other values. In order to achieve the goal of smooth transition and shock mitigation, it is necessary to ensure that the torque can smoothly complete the torque value switching when entering different threshold ranges and performing different torque value change controls. The difference torque between the target demand torque and the corresponding threshold directly affects the impact of the torque switching when entering different threshold ranges, etc. Therefore, it is necessary to fully consider the impact of the difference torque on the change rate. By collecting a large amount of data such as customer driving behavior habits and driving experience, the collected big data is screened and analyzed using mathematical analysis methods to obtain a smoothing processing method with high customer satisfaction, so as to further analyze the corresponding torque processing method and confirm the torque change rate value range corresponding to the different sizes of differential torque. Current vehicle speed value: In addition to considering the impact of the above-mentioned differential torque, on this basis, the vehicle speed factor must also be considered: when the vehicle speed is higher, in order to ensure the ultimate goal of smooth transition at the torque switching, the change rate needs to be appropriately increased to ensure that the torque can change to the target value within the same time range; conversely, when the vehicle speed is lower, the torque change rate can be appropriately reduced. To this end, a real vehicle calibration experiment is required: (similar to the threshold real vehicle calibration method mentioned above), first, divide the speed segment: with 10Km / h or 20Km / h as the interval, evenly cut the speed from 0-140Km / h (or other speed limits) into different speed segments, such as 0-10Km / h, 10-20Km / h, etc.; Purpose: It is unrealistic to calibrate the corresponding change rate according to the real-time speed at each moment. For this reason, we can consider cutting the continuous speed change process into different speed segments. When calibrating, find the appropriate change rate in each speed segment based on the driving experience. This can not only ensure a certain calibration accuracy, but also simplify the workload and improve work efficiency, making theoretical operations feasible. Secondly, actual vehicle calibration: the driver first controls the actual vehicle speed within the target speed range, and the calibrator sets an initial change rate within the range. The driver then drives the vehicle into the target operating condition to trigger the control. After that, the change rate is continuously adjusted to optimize the driving experience and achieve the control target. Finally, the change rate for each different speed range is confirmed.Finally, after comprehensively considering the above two factors, the three-dimensional MAP of differential torque-vehicle speed-torque change rate is obtained. During actual vehicle driving, the vehicle control system can obtain the change rate according to the real-time vehicle speed and differential torque, and perform smoothing control.

[0094] In some embodiments, when the target vehicle is at the target vehicle speed and the target vehicle required torque, the target vehicle is controlled by the corresponding torque change rate to obtain the driving parameters or simulation parameters of the target vehicle; one or more of the target vehicle's driving smoothness, jerkiness parameters, jitter parameters, throttle response speed and controllability are determined based on the driving parameters or simulation parameters; and a control index corresponding to the control torque threshold is determined based on one or more of the target vehicle's driving smoothness, jerkiness parameters, jitter parameters, throttle response speed and controllability.

[0095] It should be noted that specific handling indicators may include one or more of the following data indicators: smoothness, jerkiness parameter, jitter parameter, throttle response speed, and handling. Smoothness is used to characterize the consistency and seamless transition capability of the vehicle's power output during acceleration, deceleration, or gliding. The jerkiness parameter describes the physical quantity of the acceleration change rate (unit: m / s 3 ), reflects the severity of the sudden change in power; the jitter parameter indicates the body / steering wheel vibration caused by mechanical resonance or control fluctuation under specific working conditions (such as low speed and high load); the throttle response speed describes the time difference from pressing the accelerator pedal to the actual output torque of the vehicle (unit: ms); and the handling is the ability of the vehicle to maintain stability and pointing accuracy when turning, changing lanes or cornering.

[0096] Specifically, the control index evaluation process can be obtained through sensors, or analyzed through customer experience evaluation content. At different vehicle speeds, the accelerator is frequently released to enter the torque range of the control, triggering the control to obtain experimental data. - The experimental subject is the driver's subjective direct feeling during each test, including the overall smoothness, the intensity of frustration, and the shaking, etc.; Controllability-the degree of response to the vehicle's driving operation felt by the experimental subject during driving, such as the speed of response to releasing the accelerator, the speed of acceleration and deceleration, etc. First, the feedback object (sensor or tester) calibrates different change rates for the corresponding differential torque conditions at different vehicle speeds; secondly, the driver scores the different change rates under the same differential torque range according to the driving experience, that is, scores the two major indicators of comfort and controllability; finally, the scores of different change rates under each differential torque range are statistically sorted to obtain initial experimental data for subsequent analysis.

[0097] Furthermore, the analysis process can be carried out through indicator weight analysis, principal component analysis or goodness of fit index. Indicator weight analysis: Based on the fact that the rate of change mainly affects the performance and the main goal of the smoothing part of the control is to ensure drivability, we can assign different weight coefficients to the above parameter indicators, build a parameter indicator hierarchy model, confirm the priority of different indicators, and test consistency. Principal component analysis (PCA) or K-means cluster analysis: process data containing multi-dimensional parameter indicators to achieve data classification and dimensionality reduction. Responsiveness and satisfaction goodness of fit: the degree of fit between the score and the final target satisfaction. Goodness of fit is a statistic used to evaluate the effectiveness of a model, measuring the degree of consistency between the model data and the observed data. The higher the goodness of fit, the stronger the explanatory power of the model for the measured data. Commonly used goodness of fit indicators: R 2 (Coefficient of determination): used in linear regression, indicating the proportion of the variance of the response variable explained by the model, with values ​​between 0 and 1, with higher values ​​indicating stronger explanatory power of the model. 2 (Adjusted R 2 ): Considering the impact of the number of variables on the complexity of the model, it is R 2 Modified version of . Mean square error (MSE) and root mean square error (RMSE): used to measure the error between the predicted value and the actual value. The smaller the value, the better the model fit. Chi-square test: used to test the deviation between the observed frequency and the expected frequency, often used in categorical data.

[0098] Step S500: Perform torque smoothing control according to the torque change rate.

[0099] It should be noted that finally, the torque smoothing control is performed according to the torque change rate to ensure that the torque smoothly enters the zeroing interval to complete the zeroing operation.

[0100] In this embodiment, the following working conditions are proposed to illustrate the solution, for example: Figure 31. Before the torque enters syson_plus (positive side entry control threshold), the torque is smoothed. Differential torque = motor torque - sysoff_plus (positive side exit control threshold), check MAP, get the torque change rate, and make the torque change at this rate. 2. When the torque is between syson_plus (positive side entry control threshold) and imm0_plus (positive side zeroing threshold), differential torque = motor torque - syson_minus (negative side entry control threshold), check MAP, get the torque change rate, and make the torque rise to catch up with the original torque. 3. Before entering the zeroing control after the second stage, differential torque = syson_plus (positive side entry control threshold) - motor torque, check MAP, get the torque change rate, and make the torque continue to catch up with the original torque. After catching up, follow the original torque change process. When the torque enters the imm0_plus (positive side zeroing threshold) range, the torque is immediately set to 0. 4. When the torque leaves the sysoff_minus (negative side exit control threshold) range, the control torque is switched from 0 to the negative side zeroing threshold torque, and exits the zeroing control. After leaving the zero control, the differential torque = sysoff_minus (negative side exit control threshold) - motor torque, check MAP, and recover the original torque at a fixed torque change rate. After recovering, follow the original torque change process. 5. When the torque enters syson_minus (negative side entry control threshold), the differential torque = motor torque - syson_minus (negative side entry control threshold), check MAP, get the torque change rate, and change the torque at this rate. When the torque enters imm0_minus (negative side zero threshold), the torque is immediately set to 0. 6. The differential torque = syson_plus (positive side entry control threshold) - motor torque, check MAP, and get the torque change rate. When within the zero threshold range, the control torque is set to 0 first. 7. When the torque leaves the sysoff_plus (positive side exit control threshold) range, the control torque is switched from 0 to the positive side zero threshold torque, and the zero control is exited. After leaving the zero control, the differential torque = motor torque - sysoff_plus (positive side exit control threshold), check MAP, get the torque change rate, and make the torque return to the original torque.

[0101] This embodiment monitors the motor torque and target demand torque of the current vehicle; determines a preset control torque threshold according to the motor torque of the current vehicle; determines a torque control difference according to the motor torque and the preset control torque threshold; queries a preset torque control table according to the current vehicle's driving speed and the torque control difference to determine the torque change rate; and performs torque smoothing control according to the torque change rate. Through the above method, torque smoothing is achieved, so that the motor torque entering the zeroing interval is smoothed. The threshold directly determines and affects the two controls of smoothing and zeroing, and ultimately affects the drivability, comfort, and economy of the vehicle when this function is in effect. Therefore, the premise of control is that the setting of the threshold can balance the drivability and economy of the vehicle, and achieve the maximum benefit as much as possible while ensuring the drivability of the vehicle.

[0102] In addition, an embodiment of the present invention further provides a storage medium, on which a motor control program is stored. When the motor control program is executed by a processor, the steps of the motor control method described above are implemented.

[0103] Reference Figure 4 , Figure 4 It is a structural block diagram of the first embodiment of the motor control device of the present invention.

[0104] like Figure 4 As shown, the motor control device proposed in the embodiment of the present invention includes:

[0105] An acquisition module 10 is used to monitor the current required torque and driving speed of the vehicle;

[0106] A processing module 20, configured to determine an expected zeroing torque interval according to the driving speed matching expected zeroing torque interval set;

[0107] The control module 30 is used to set the motor torque to zero when the required torque is in the expected zero torque interval.

[0108] The motor control device provided by the present application adopts the motor control method in the above embodiment to solve the technical problem of motor control. Compared with the prior art, the beneficial effects of the motor control device provided by the present application are the same as the beneficial effects of the motor control method provided by the above embodiment, and other technical features in the motor control device are the same as the features disclosed in the above embodiment method, which will not be repeated here.

[0109] It should be understood that the above is only an example and does not constitute any limitation on the technical solution of the present invention. In specific applications, technicians in this field can make settings as needed, and the present invention does not limit this.

[0110] In this embodiment, the acquisition module 10 monitors the current vehicle demand torque and driving speed; the processing module 20 determines the expected zero torque interval according to the driving speed matching the expected zero torque interval set; the control module 30 sets the motor torque to zero when the demand torque is in the expected zero torque interval. Through the above scheme, under the premise of not affecting the vehicle's drivability and power, when the vehicle is driving and the target driving force is less than or equal to the threshold, this control can achieve the purpose of reducing power consumption, increasing cruising range, and improving comfort by reducing the motor torque output or setting the target driving force to 0.

[0111] In some embodiments, the processing module 20 is used to obtain the torque zeroing threshold value at different vehicle speeds and the maneuverability parameters corresponding to the torque zeroing threshold value; filter the torque zeroing threshold value according to the maneuverability parameters to obtain the first target torque zeroing threshold value and the second target torque zeroing threshold value at different vehicle speeds; determine the expected zeroing torque interval set according to the first target torque zeroing threshold value and the second target torque zeroing threshold value corresponding to each of the vehicle speeds.

[0112] In some embodiments, the processing module 20 is used to determine the current vehicle speed; filter the target maneuverability parameters according to the maneuverability parameters corresponding to the current vehicle speed and the preset maneuverability parameter thresholds; determine the corresponding first torque threshold set and second torque threshold set according to the target maneuverability parameters; select the threshold with the largest torque value from the first torque threshold set as the first target torque zeroing threshold at the current vehicle speed, and select the threshold with the largest torque value from the second torque threshold set as the second target torque zeroing threshold at the current vehicle speed.

[0113] In some embodiments, the acquisition module 10 is used to monitor the motor torque and target required torque of the current vehicle;

[0114] The processing module 20 is used to determine a preset control torque threshold according to the motor torque of the current vehicle;

[0115] The processing module 20 is used to determine the torque control difference according to the motor torque and a preset control torque threshold;

[0116] The processing module 20 is used to query a preset torque control table according to the current vehicle speed and the torque control difference to determine the torque change rate;

[0117] The control module 30 is used to perform torque smoothing control according to the torque change rate.

[0118] In some embodiments, the processing module 20 is used to determine a control torque threshold of the target vehicle according to the torque zeroing threshold;

[0119] Setting a torque change rate corresponding to a plurality of control torque thresholds, and detecting a speed of a target vehicle and a required torque of the target vehicle corresponding to the torque change rate;

[0120] Determine a control index corresponding to the control torque threshold value according to the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle;

[0121] Screening the control torque threshold to be determined according to the control index to determine the control torque threshold;

[0122] A preset torque control table is determined according to the control torque threshold and the corresponding vehicle speed of the target vehicle and the required torque of the target vehicle.

[0123] In some embodiments, the processing module 20 is used to control the target vehicle by a corresponding torque change rate when the target vehicle is at the target vehicle speed and the target vehicle required torque, and obtain the driving parameters or simulation parameters of the target vehicle;

[0124] Determine one or more of the target vehicle's driving smoothness, frustration parameter, vibration parameter, throttle response speed, and maneuverability according to the driving parameter or simulation parameter;

[0125] The control index corresponding to the control torque threshold is determined according to one or more of the target vehicle's driving smoothness, jerk parameter, vibration parameter, throttle response speed and controllability.

[0126] In some embodiments, the processing module 20 is used to determine the current target required torque when the motor torque enters the control interval corresponding to the preset control torque threshold;

[0127] A torque control difference is determined according to the target required torque and a preset control torque threshold.

[0128] The present application provides a motor control device, which includes: at least one processor; and a memory that is communicatively connected to the at least one processor; wherein the memory stores instructions that can be executed by the at least one processor, and the instructions are executed by the at least one processor so that the at least one processor can execute the motor control method in the above-mentioned embodiment one.

[0129] Reference below Figure 5, which shows a schematic diagram of the structure of a motor control device suitable for implementing the embodiment of the present application. The motor control device in the embodiment of the present application may include but is not limited to mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Descriptions), PMPs (Portable Media Players), vehicle-mounted terminals (such as vehicle-mounted navigation terminals), etc., and fixed terminals such as digital TVs, desktop computers, etc. Figure 5 The motor control device shown is merely an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0130] like Figure 5 As shown, the motor control device may include a processing device 1001 (e.g., a central processing unit, a graphics processor, etc.), which can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM: Read Only Memory) 1002 or a program loaded from a storage device 1003 to a random access memory (RAM: Random Access Memory) 1004. In RAM1004, various programs and data required for the operation of the motor control device are also stored. The processing device 1001, ROM1002, and RAM1004 are connected to each other through a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Generally, the following systems can be connected to the I / O interface 1006: an input device 1007 including, for example, a touch screen, a touch pad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the motor control device to communicate with other devices wirelessly or by wire to exchange data. Although the figure shows a motor control device with various systems, it should be understood that it is not required to implement or have all the systems shown. More or fewer systems can be implemented or have alternatively.

[0131] In particular, according to the embodiments disclosed in the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication device, or installed from a storage device 1003, or installed from a ROM 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the method of the embodiment disclosed in the present application are executed.

[0132] The motor control device provided by the present application adopts the motor control method in the above embodiment to solve the technical problem of motor control. Compared with the prior art, the beneficial effects of the motor control device provided by the present application are the same as the beneficial effects of the motor control method provided by the above embodiment, and the other technical features in the motor control device are the same as the features disclosed in the method of the previous embodiment, which will not be repeated here.

[0133] It should be understood that the various parts disclosed in this application can be implemented by hardware, software, firmware or a combination thereof. In the description of the above embodiments, specific features, structures, materials or characteristics can be combined in any one or more embodiments or examples in a suitable manner.

[0134] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any person skilled in the art who is familiar with the present technical field can easily think of changes or substitutions within the technical scope disclosed in the present application, which should be included in the protection scope of the present application. Therefore, the protection scope of the present application should be based on the protection scope of the claims.

[0135] The present application provides a computer-readable storage medium having computer-readable program instructions (ie, computer programs) stored thereon, and the computer-readable program instructions are used to execute the motor control method in the above-mentioned embodiment.

[0136] The computer-readable storage medium provided in the present application may be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, systems or devices, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in combination with an instruction execution system, system or device. The program code contained on the computer-readable storage medium may be transmitted using any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0137] The computer-readable storage medium may be included in the motor control device; or may exist independently without being assembled into the motor control device.

[0138] The computer-readable storage medium carries one or more programs. When the one or more programs are executed by the motor control device, the motor control device: monitors the current vehicle's required torque and driving speed; determines the expected zero torque interval according to the driving speed matching the expected zero torque interval set; and sets the motor torque to zero when the required torque is in the expected zero torque interval.

[0139] Computer program code for performing the operations of the present application may be written in one or more programming languages ​​or a combination thereof, including object-oriented programming languages ​​such as Java, Smalltalk, C++, and conventional procedural programming languages ​​such as "C" or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, as a separate software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0140] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present application. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0141] The modules involved in the embodiments described in this application may be implemented by software or hardware, wherein the name of the module does not constitute a limitation on the unit itself in some cases.

[0142] The readable storage medium provided in the present application is a computer-readable storage medium, which stores computer-readable program instructions (i.e., computer programs) for executing the above-mentioned motor control method, and can solve the technical problems of motor control. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in the present application are the same as the beneficial effects of the motor control method provided in the above-mentioned embodiment, and will not be repeated here.

[0143] The present application also provides a computer program product, comprising a computer program, wherein when the computer program is executed by a processor, the steps of the motor control method as described above are implemented.

[0144] The computer program product provided in this application can solve the technical problem of motor control. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as the beneficial effects of the motor control method provided in the above embodiment, which will not be repeated here.

[0145] The above descriptions are only some embodiments of the present application, and are not intended to limit the patent scope of the present application. All equivalent structural changes made using the contents of the present application specification and drawings under the technical concept of the present application, or direct / indirect applications in other related technical fields are included in the patent protection scope of the present application.

Claims

1. A motor control method, characterized in that: The motor control method comprises: Monitor the current vehicle's required torque and driving speed; Determining an expected zero torque interval according to the driving speed matching expected zero torque interval set; When the required torque is in the expected zero torque interval, the motor torque is set to zero.

2. The method according to claim 1, characterized in that The calibration method of the desired zero torque interval set includes: Obtaining torque zeroing thresholds at different vehicle speeds and controllability parameters corresponding to the torque zeroing thresholds; Screening the torque zeroing threshold according to the maneuverability parameter to obtain a first target torque zeroing threshold and a second target torque zeroing threshold at different vehicle speeds; The expected zero torque interval set is determined according to the first target torque zero threshold and the second target torque zero threshold corresponding to each of the vehicle speeds.

3. The method according to claim 2, characterized in that The step of screening the torque zeroing threshold according to the maneuverability parameter to obtain a first target torque zeroing threshold and a second target torque zeroing threshold at different vehicle speeds includes: Determine the current vehicle speed; Filtering a target maneuverability parameter according to the maneuverability parameter corresponding to the current vehicle speed and a preset maneuverability parameter threshold; Determining a corresponding first torque threshold set and a second torque threshold set according to the target maneuverability parameter; A threshold with the largest torque value is selected from the first torque threshold set to be determined as the first target torque zeroing threshold at the current vehicle speed, and a threshold with the largest torque value is selected from the second torque threshold set to be determined as the second target torque zeroing threshold at the current vehicle speed.

4. The method according to claim 1, characterized in that The motor control method further comprises: Monitor the current motor torque of the vehicle and the target required torque; Determining a preset control torque threshold according to the motor torque of the current vehicle; Determining a torque control difference according to the motor torque and a preset control torque threshold; According to the current vehicle speed and the torque control difference, a preset torque control table is searched to determine the torque change rate; Torque smoothing control is performed according to the torque change rate.

5. The method according to claim 4, characterized in that The calibration method of the preset torque control table includes: Determining a control torque threshold of the target vehicle according to the torque zeroing threshold; Setting a torque change rate corresponding to a plurality of control torque thresholds, and detecting a speed of a target vehicle and a required torque of the target vehicle corresponding to the torque change rate; Determine a control index corresponding to the control torque threshold value according to the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle; Screening the control torque threshold to be determined according to the control index to determine the control torque threshold; A preset torque control table is determined according to the control torque threshold value and the corresponding vehicle speed of the target vehicle and the required torque of the target vehicle.

6. The method according to claim 5, characterized in that The step of determining a control index corresponding to a control torque threshold according to the torque change rate, the speed of the target vehicle corresponding to the torque change rate, and the required torque of the target vehicle includes: When the target vehicle is at the target vehicle speed and the target vehicle required torque, the target vehicle is controlled by a corresponding torque change rate to obtain a driving parameter or a simulation parameter of the target vehicle; Determine one or more of the target vehicle's driving smoothness, frustration parameter, vibration parameter, throttle response speed, and maneuverability according to the driving parameter or simulation parameter; The control index corresponding to the control torque threshold is determined according to one or more of the target vehicle's driving smoothness, jerk parameter, vibration parameter, throttle response speed and controllability.

7. The method according to claim 4, characterized in that The determining of the torque control difference according to the motor torque and a preset control torque threshold comprises: When the motor torque enters a control interval corresponding to a preset control torque threshold, determining a current target required torque; A torque control difference is determined according to the target required torque and a preset control torque threshold.

8. A motor control device, characterized in that: The motor control device comprises: An acquisition module is used to monitor the current required torque and driving speed of the vehicle; A processing module, configured to determine an expected zeroing torque interval according to the driving speed matching expected zeroing torque interval set; The control module is used to set the motor torque to zero when the required torque is in the expected zero torque interval.

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

10. A storage medium, characterized in that: The storage medium stores a motor control program, and when the motor control program is executed by the processor, the steps of the motor control method according to any one of claims 1 to 7 are implemented.

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