Motor control method and device and vehicle

Abstract

The invention provides a motor control method and device and a vehicle. The method comprises the steps of obtaining a target control working condition of a motor of the vehicle; wherein the target control working condition comprises a first control working condition and a second control working condition; under the first control working condition, the motor is controlled to enter a second control mode from a first control mode, one of the first control mode and the second control mode is a DMD control mode, and the other one is a non-DMD control mode; under the second control working condition, the motor is controlled to be in a DMD control mode; determining a target parameter corresponding to the target control working condition according to the rotating speed of the motor; wherein under the first control working condition, the target parameters comprise at least one of the delayed entering time of the motor entering the second control mode from the first control mode and the transition torque amplitude change slope; under the second control working condition, the target parameters comprise operation parameters of the DMD control mode; and controlling operation of the target control working condition according to the target parameter. The stability of vehicle driving can be improved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and in particular, to a motor control method, device and vehicle. Background Art

[0002] During the operation of the motor, keeping the motor in the optimal operating range or the optimal efficiency curve can greatly improve the energy utilization efficiency. However, during the actual operation of the vehicle, most working conditions are below the optimal efficiency curve. To improve the motor operating efficiency, the DMD (Dynamic Motor Drive) control mode has emerged. The DMD control mode generates pulsed torque and allows the torque to work in the high-efficiency area of the motor within a certain period and a certain duty cycle, and the torque is zero during the remaining time in the period, while ensuring that the effective torque within the period meets the driver's demand.

[0003] However, although the DMD control mode can improve the motor operating efficiency, the pulsed torque generated by the DMD control mode will cause a series of drivability problems such as vehicle jitter, resulting in low vehicle driving stability. Summary of the Invention

[0004] A motor control method, device and vehicle provided by the present application can improve the driving stability of the vehicle.

[0005] In a first aspect, an embodiment of the present application provides a motor control method applied to a vehicle. The method includes:

[0006] Obtain the target control working condition of the motor of the vehicle; wherein, the target control working condition includes a first control working condition and a second control working condition; in the first control working condition, control the motor to enter the second control mode from the first control mode, and one of the first control mode and the second control mode is the DMD control mode, and the other is a non-DMD control mode; in the second control working condition, control the motor to be in the DMD control mode;

[0007] Determine the target parameter corresponding to the target control working condition according to the rotational speed of the motor; wherein, in the first control working condition, the target parameter includes at least one of the delay entry time for the motor to enter the second control mode from the first control mode and the change slope of the transition torque amplitude; in the second control working condition, the target parameter includes the operating parameter of the DMD control mode;

[0008] Control the operation of the target control working condition according to the target parameter.

[0009] In a second aspect, the present application provides a motor control device applied to a vehicle. The device includes:

[0010] An acquisition module, configured to acquire a target control condition of a motor of the vehicle; wherein, the target control condition includes a first control condition and a second control condition; in the first control condition, controlling the motor to enter a second control mode from a first control mode, and one of the first control mode and the second control mode is a DMD control mode, and the other is a non-DMD control mode; in the second control condition, controlling the motor to be in the DMD control mode;

[0011] A determination module, configured to determine a target parameter corresponding to the target control condition according to the rotational speed of the motor; wherein, in the first control condition, the target parameter includes at least one of a delay entry time for the motor to enter the second control mode from the first control mode and a change slope of the transition torque amplitude; in the second control condition, the target parameter includes an operating parameter of the DMD control mode;

[0012] A control module, configured to control the operation of the target control condition according to the target parameter.

[0013] In a third aspect, an embodiment of the present application provides an electronic device, which includes: a processor and a memory storing computer program instructions;

[0014] When the processor executes the computer program instructions, it implements the motor control method in any one of the embodiments in the first aspect.

[0015] In a fourth aspect, an embodiment of the present application provides a computer storage medium, on which computer program instructions are stored, and when the computer program instructions are executed by a processor, the motor control method in any one of the embodiments in the first aspect is implemented.

[0016] In a fifth aspect, an embodiment of the present application provides a computer program product, and when the instructions in the computer program product are executed by a processor of an electronic device, the electronic device is caused to execute and implement the motor control method in any one of the embodiments in the first aspect above.

[0017] In a sixth aspect, an embodiment of the present application further provides a vehicle, which includes at least one of the following:

[0018] The motor control device as in the second aspect;

[0019] The electronic device as in the third aspect;

[0020] The computer-readable storage medium as in the fourth aspect.

[0021] In a motor control method, device, and vehicle provided in an embodiment of the present application, when the target control condition is the first control condition, that is, when the motor switches from one control mode to another control mode (one of them is the DMD control mode and the other is a non-DMD control mode), at least one of the delay entry time and the transition torque amplitude change slope is determined based on the motor speed. Among them, the delay entry time can ensure that when the motor mode switches, all components of the motor have enough time to coordinate their work, reducing vehicle jitter caused by the impact generated by instantaneous switching. The transition torque amplitude change slope can make the motor torque change smoothly, preventing or reducing vehicle jitter caused by torque mutation when the motor mode switches. If the target control condition is the second control condition, that is, the motor is in the DMD control mode, the operating parameters in the DMD control mode are determined based on the motor speed, so as to match the pulse torque generated by the DMD control mode with the operating state of the motor, improving the stability during vehicle driving. Finally, the target control condition is controlled to operate according to the determined target parameters, so that during the conversion between different control modes and the operation of the DMD control mode of the motor, the negative impact brought by the pulse torque generated by the DMD control mode can be effectively reduced, avoiding or reducing the jitter of the whole vehicle, thereby improving the driving stability of the vehicle. Brief Description of the Drawings

[0022] To more clearly illustrate the technical solutions in the embodiments of the present application, the following briefly introduces the drawings required to be used in the embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0023] Figure 1 is one of the flowchart diagrams of the motor control method provided in the embodiment of the present application;

[0024] Figure 2 is the second flowchart diagram of the motor control method provided in the embodiment of the present application;

[0025] Figure 3 is the structural diagram of a motor control device provided in the embodiment of the present application;

[0026] Figure 4 is the structural diagram of an electronic device provided in the embodiment of the present application. Detailed Embodiments

[0027] In order to better understand the above-mentioned objects, features, and advantages of the present disclosure, the following further describes the solutions of the present disclosure. It should be noted that, without conflict, the embodiments of the present disclosure and the features in the embodiments can be combined with each other.

[0028] In the following description, many specific details are set forth to provide a thorough understanding of the present disclosure, but the present disclosure may be practiced in other ways different from those described herein; obviously, the embodiments in the specification are only a part of the embodiments of the present disclosure, rather than all of the embodiments.

[0029] It should be noted that, in this document, relational terms such as "first" and "second" are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article, or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the existence of additional identical elements in the process, method, article, or device comprising the element.

[0030] To solve the problems existing in the related art, embodiments of the present application provide a motor control method, device, and vehicle.

[0031] First, the motor control method provided by the embodiments of the present application will be introduced below. As Figure 1 shown, this method can be applied to a vehicle, and the method specifically includes the following steps:

[0032] S100, obtaining the target control operating condition of the motor of the vehicle; wherein, the target control operating condition includes a first control operating condition and a second control operating condition; in the first control operating condition, controlling the motor to enter a second control mode from a first control mode, and one of the first control mode and the second control mode is a DMD control mode, and the other is a non-DMD control mode; in the second control operating condition, controlling the motor to be in the DMD control mode.

[0033] Optionally, in the embodiments of the present application, the target control operating condition is a control scenario for the vehicle motor. The target control operating condition may include a first control operating condition for controlling the motor to switch between different control modes, and a second control operating condition for controlling the motor to maintain operation in the DMD control mode. It should be noted that the two control operating conditions mentioned here are only for illustrative purposes, and there may be other control operating conditions, such as a climbing control operating condition when the vehicle is on a climbing section, etc.

[0034] Optionally, the first control mode and the second control mode represent two different operating modes of the motor. One of these two modes is the DMD control mode, and the other is the non-DMD control mode. The function of the first control condition is to control the motor to switch from the first control mode to the second control mode. For example, it can be switched from the DMD control mode to the non-DMD control mode, or vice versa.

[0035] The DMD control mode aims to improve the operating efficiency of the motor. The DMD control mode generates pulsed torque to keep the torque in the high-efficiency region of the motor within a specific period and duty cycle, while the torque is 0 Nm for the rest of the period, and at the same time ensures that the effective torque within the period can meet the driver's requirements.

[0036] The non-DMD control mode refers to other motor control modes other than the DMD control mode. For example, the speed control mode or the position control mode. In the speed control mode, the main goal of the motor is to maintain or reach a specific rotational speed. For example, in the cruise control scenario of an electric vehicle, the vehicle needs to maintain a stable driving speed, and at this time the motor operates in the speed control mode. The position control mode is mainly used to precisely control the position of the motor.

[0037] Optionally, in a feasible implementation manner of the present application, a series of rules and algorithms can be preset in the vehicle control system to comprehensively determine the target control condition of the motor according to the current state of the motor, the historical operation data of the vehicle, etc. For example, a time threshold and a torque change threshold are set based on the historical operation data of the vehicle. When the torque of the motor changes by more than a certain threshold within a period of time, it is determined that a control mode switch is required, and the target control condition at this time is the first control condition.

[0038] In some implementation manners, the target control condition can be determined by analyzing the driver's operation. When the driver deeply steps on the accelerator pedal, it indicates that there is an acceleration requirement, and the motor needs to be controlled to switch from the DMD control mode to the non-DMD control mode to provide greater power output. At this time, it is determined as the first control condition. On the contrary, when the driver gently steps on the accelerator and maintains a stable vehicle speed, the motor needs to be maintained in the DMD control mode, and at this time it is determined as the second control condition.

[0039] S200, determining target parameters corresponding to the target control condition according to the rotational speed of the motor; wherein, when the target control condition is the first control condition, the target parameters include at least one of a delayed entry time and a transition torque amplitude change slope, the delayed entry time being the delayed entry time for the motor to enter the second control mode from the first control mode, and the transition torque amplitude change slope being the transition torque amplitude change slope for the motor to enter the second control mode from the first control mode; wherein, when the target control condition is the second control condition, the target parameters are operating parameters of the DMD control mode.

[0040] Optionally, in an embodiment of the present application, the delayed entry time refers to the time required for the motor to delay from the first control mode to the actual entry into the second control mode. The purpose of setting the delayed entry time is to allow the motor and its related systems to have enough time to adjust and prepare their states, so as to avoid system instability, impact or other abnormal conditions caused by too sudden mode switching. For example, when switching from DMD control mode to non-DMD control mode, appropriate delay can make the motor's torque, speed and other parameters transition smoothly, ensuring the vehicle's driving stability and comfort.

[0041] The transition torque amplitude change slope represents the change slope of the transition torque amplitude over time when the motor enters the second control mode from the first control mode. This slope reflects the speed of torque change. The appropriate transition torque amplitude change slope can ensure that during the mode switching process, the torque change of the motor will not be too drastic to cause vehicle jitter, motor overload and other problems, nor will it be too slow to make the mode switching time too long, affecting the vehicle's response performance. For example, when switching from non-DMD control mode to DMD control mode, by reasonably setting the transition torque amplitude change slope, the motor's torque can smoothly transition from one state to another.

[0042] The operating parameters of the DMD control mode are used to accurately control the operating state of the motor under the DMD control mode to achieve the purpose of improving the working efficiency of the motor. The operating parameters can include the frequency, amplitude, and duty cycle of the pulse torque. The frequency of the pulse torque determines the number of times the pulse appears within a certain period of time; the amplitude indicates the size of the pulse torque, which directly affects the output power of the motor; the duty cycle refers to the proportion of time that the pulse lasts in a cycle. A reasonable duty cycle setting can enable the motor to work efficiently while meeting the driver's demand for vehicle power.

[0043] Optionally, in a feasible implementation manner of the present application, a mapping relationship table between the motor speed and the target parameters can be established in advance through a large number of experiments and tests. For the first control condition, if the target parameters are the delay entry time and the change slope of the transition torque amplitude, record the optimal delay time and the optimal transition torque amplitude slope required for the motor to smoothly transition from the first control mode to the second control mode at different motor speeds during the experiment, and organize these data into a mapping table. In practical applications, after obtaining the current motor speed, directly look up the corresponding delay entry time and the change slope of the transition torque amplitude from the mapping table. For the second control condition, a mapping table between the motor speed and the operating parameters (such as frequency and amplitude) of the DMD control mode can also be established, and the operating parameters can be quickly determined according to the motor speed.

[0044] In other implementation manners, by constructing a mathematical model of the motor operation, this model comprehensively considers factors such as the physical characteristics and load characteristics of the motor. For the first control condition, according to the motor speed and the description of the dynamic process of the motor transitioning from one control mode to another in the model, use mathematical formulas to calculate the delay entry time and the change slope of the transition torque amplitude. For example, in combination with parameters such as the moment of inertia and electromagnetic torque of the motor, calculate the appropriate transition time and torque change slope through the dynamic equation. For the second control condition, calculate the optimal operating parameters based on the relationship between the motor speed and the operating parameters of the DMD control mode in the mathematical model.

[0045] It is also possible to monitor the state and performance indicators of the motor in real time during the motor operation. When the target control condition is determined, first give a set of target parameters according to experience or initial settings. Then, continuously monitor the response of the motor during the operation, such as the stability of the speed and the output of the torque. If it is found that the operating state of the motor does not meet the expectations, adjust the target parameters in real time according to the feedback information. For example, in the first control condition, if it is found that the speed fluctuates too much during the transition process of the motor, appropriately adjust the change slope of the transition torque amplitude; in the second control condition, if the motor efficiency does not reach the expectation, adjust the operating parameters of the DMD control mode.

[0046] S300, control the operation of the target control condition according to the target parameters.

[0047] Optionally, in a feasible implementation manner of the present application, when the target control condition is the first control condition, that is, controlling the motor to enter the second control mode from the first control mode, if the target parameter includes the delay entry time, start timing after detecting that the mode switching condition is met. After the delay entry time has passed, trigger the switching action of the motor from the first control mode to the second control mode. For example, if the delay entry time is 2 seconds, after determining that the mode can be switched, wait for 2 seconds before performing the actual switch, allowing sufficient time for the motor and related systems to prepare and ensuring a smooth switch.

[0048] If the target parameter includes the slope of the transitional torque amplitude change, during the mode switching process, the torque output of the motor will be adjusted according to this slope. For example, when switching from a non-DMD control mode to a DMD control mode, the torque of the motor is gradually changed according to the slope of the transitional torque amplitude change, avoiding torque mutations that may impact the motor and the vehicle, and ensuring the stability and comfort of the vehicle during the switching process.

[0049] When the target control condition is the second control condition, that is, when the motor is in the DMD control mode, the motor is precisely controlled according to the operating parameters of the DMD control mode.

[0050] During the entire control process, the vehicle's control system continuously monitors the operating state of the motor, such as speed, torque, etc., and compares it with the target parameters. If a deviation is found, it will be adjusted in a timely manner to ensure that the target control condition operates stably as expected, improving the working efficiency of the motor and the overall performance of the vehicle.

[0051] In a motor control method provided by an embodiment of the present application, when the target control condition is the first control condition, that is, when the motor switches from one control mode to another control mode (one of them is the DMD control mode and the other is the non-DMD control mode), at least one of the delay entry time and the slope of the transitional torque amplitude change is determined based on the speed of the motor. Among them, the delay entry time can ensure that when the motor switches modes, all components of the motor have sufficient time to coordinate their work, reducing vehicle jitter caused by the impact of instantaneous switching. The slope of the transitional torque amplitude change can make the motor torque change smoothly, preventing or reducing vehicle jitter caused by torque mutations when the motor switches modes. If the target control condition is the second control condition, that is, the motor is in the DMD control mode, the operating parameters in the DMD control mode are determined based on the motor speed, so that the pulse torque generated by the DMD control mode matches the operating state of the motor, improving the stability during vehicle driving. Finally, the target control condition is controlled to operate according to the determined target parameters, enabling the motor to effectively reduce the negative impact of the pulse torque generated by the DMD control mode during different control mode conversions and DMD control mode operations, avoiding or reducing vehicle jitter, and thus improving the driving stability of the vehicle.

[0052] In one embodiment, the target control condition is the first control condition, the first control mode is the non-DMD control mode, and the second control mode is the DMD control mode;

[0053] Based on the speed of the motor, determine the target parameters corresponding to the target control condition, including:

[0054] Determine the operating cycle of the motor according to the rotational speed of the motor; determine the delay entry time according to the phase difference between the control cycle of the DMD control mode and the operating cycle, and the start-up time of the DMD control mode; the phase difference is used to characterize the time relationship for collaborative work between the DMD control mode and the motor.

[0055] Determine the first transition time for the DMD control mode to transition from the stop loading state to the torque loading state according to the motor speed of the motor; determine the change slope of the transition torque amplitude according to the initial torque and the target torque corresponding to the first control condition, and the first transition time.

[0056] Optionally, in the embodiment of the present application, the phase difference is used to characterize the time relationship for collaborative work between the DMD control mode and the motor. The phase difference reflects the relative position in time between the work process driven by the motor and the DMD operation. For example, the motor drives a component to perform a periodic motion, and the pulse torque loading in the DMD control mode also has its own periodicity. To make the two cooperate to achieve the best effect, their periods need to have a specific time difference. Assume that there is an ideal phase difference (i.e., time difference) Δt between the work process driven by the motor and the DMD operation, and this time difference is determined according to the specific functional requirements of the system. If it is most effective for the DMD to start working when the motor rotates to the mid-position, and the rotation period of the motor is set as T, then the phase difference Δt = T / 2.

[0057] The start-up time refers to the time from the start of the DMD control mode to the normal output of the preset pulse torque.

[0058] In the DMD control mode, the stop loading state refers to the state where the DMD does not apply additional pulse torque to the motor, and at this time the motor operates only relying on its own power or other conventional control methods. The torque loading state is opposite to the stop loading state and is the state where the DMD applies pulse torque to the motor in the DMD control mode. In this state, the DMD outputs pulse torque to the motor according to preset parameters (such as amplitude, frequency, etc.) to make the torque of the motor work in the high-efficiency area, so as to improve the working efficiency of the motor.

[0059] The initial torque refers to the torque value at the start of the first control condition, that is, when the motor is in the non-DMD control mode. The target torque is the torque value that the motor needs to reach after entering the DMD control mode. After determining the initial torque and the target torque, combined with the first transition time, the change slope of the transition torque amplitude can be calculated, so as to realize the reasonable change of the torque during the smooth transition of the motor from the non-DMD control mode to the DMD control mode.

[0060] Optionally, in a specific implementation manner of this application, on the one hand, the rotational speed of the motor can be obtained, usually in revolutions per minute (RPM). Calculate the time required for the motor to rotate one circle based on the rotational speed, that is, the operating period T, and the calculation formula is T = 60 / RPM (unit: seconds). For example, if the motor rotational speed is 3000 RPM, then its operating period T = 60 / 3000 = 0.02 seconds.

[0061] Determine the delay entry time according to the phase difference between the control period and the operating period of the DMD control mode, and the startup time of the DMD control mode. Specifically, assume that there is an ideal phase difference (i.e., time difference) Δt between the workflow driven by the motor and the DMD operation. For example, if the DMD works best when the motor rotates to the halfway position, then Δt = T / 2.

[0062] The DMD control mode has its own startup time t_DMD, which is the time from when the DMD receives the startup signal to being able to normally output the preset pulse torque. Considering the phase difference and the startup time comprehensively, the delay entry time t_delay can be set as t_delay = Δt - t_DMD. Such a setting enables the DMD to start working exactly when the motor runs to the appropriate position and itself is ready to work.

[0063] During the actual operation stage, since the motor load will change in real time, different loads during vehicle driving and road condition changes will change the motor load, which will cause fluctuations in the motor rotational speed and changes in the operating period, affecting the coordinated work between the DMD control mode and the motor. At the same time, due to individual differences in the DMD control mode, parameters such as the startup time are not exactly the same. Therefore, it is necessary to continuously monitor data such as the motor rotational speed and the operating period, observe the startup and operation effects of the DMD control mode, continuously adjust the delay entry time, compare the stability of the motor, torque changes, etc. under different parameters, and gradually determine the delay entry time that is most suitable for the current working conditions to ensure the stable coordination between the motor and the DMD control mode.

[0064] On the other hand, according to the rotational speed of the motor, the first transition time for the DMD control mode to transition from the stop loading state to the torque loading state can be determined. Specifically, when the rotational speed of the motor is different, the response speed and process of the DMD control mode to transition from stop loading to starting to load torque are also different. The time data required for the DMD to complete the transition from the stop loading state to the torque loading state under different motor rotational speeds can be collected through experiments.

[0065] Based on these experimental data, establish a mapping relationship between the motor rotational speed and the first transition time, for example, in the form of a table or a function. In actual applications, find the corresponding first transition time from the mapping relationship according to the current motor rotational speed.

[0066] In actual situations, factors such as the load characteristics of the motor and the performance of the DMD control mode also need to be considered for their influence on the first transition time, and appropriate adjustments should be made when necessary. For example, when the load increases, the moment of inertia of the motor increases, and the process from the stop loading to the torque loading state will be hindered, and the first transition time will be correspondingly extended; on the contrary, the transition time may be shortened under light load. The performance of the DMD control mode cannot be ignored either. For different models or batches of DMDs, there are differences in their hardware performance and control algorithms, resulting in different transition times at the same motor speed. Therefore, during the actual operation process, it is necessary to continuously monitor the vehicle state. Once it is found that the motor runs unstably or the torque output is abnormal, it is necessary to consider whether the setting of the first transition time is unreasonable. Combining the changes in the motor load and the performance characteristics of the DMD, appropriately adjust the first transition time to ensure the perfect adaptation of the DMD control mode to the motor operation and guarantee the efficient and stable operation of the entire vehicle.

[0067] After calculating the first transition time, the change slope of the transition torque amplitude can be determined according to the initial torque and the target torque corresponding to the first control condition, as well as the first transition time. Specifically, determine the speed-torque characteristic curve of the motor, master the torque output ability of the motor at different speeds, as well as the torque requirements of the DMD control mode in different working states and the tolerance range for the change slope of the torque.

[0068] Clarify the initial torque \(T_{i}\) and the target torque \(T_{f}\) under the first control condition. These two torque values respectively correspond to the torque of the motor in the non-DMD control mode and the torque that needs to be reached after entering the DMD control mode. Calculate the change slope of the transition torque amplitude according to the formula \(k=(T_{f}-T_{i}) / t\), where \(t\) is the first transition time and \(k\) is the change slope of the transition torque amplitude.

[0069] In the practical application of the change slope of the transition torque amplitude, factors such as the inertia and friction of the motor system will significantly affect the change of the torque, and thus affect the transition process of the DMD. Therefore, it is also very crucial to optimize the change slope of the transition torque amplitude. To optimize the change slope of the transition torque amplitude, in practical applications, an initial change slope of the transition torque amplitude can be set according to theoretical calculations first, and then during the actual operation stage, observe the transition process of the DMD driven by the motor, and detect whether the motor speed is stable, whether there are abnormal vibrations or noises. If it is found that the speed fluctuates greatly, it may be that the slope is too large and needs to be reduced; if the transition time is too long, it may be that the slope is too small and needs to be appropriately increased. Through repeated adjustments and comprehensively considering the influence of system inertia and friction, finally determine a change slope of the transition torque amplitude that can enable the DMD to complete the transition process smoothly and efficiently under the drive of the motor.

[0070] In these optionally implemented embodiments, determining the delay entry time based on the phase difference and start-up time can make the DMD control mode work more in harmony with the motor. Combining the initial torque, target torque, and the first transition time to calculate the slope of the transition torque amplitude change ensures that the torque changes smoothly when the motor switches between different control modes, reducing shock and improving the running stability and efficiency of the motor.

[0071] In one embodiment, the target control condition is the first control condition, the first control mode is the DMD control mode, and the second control mode is a non-DMD control mode;

[0072] According to the rotational speed of the motor, determine the target parameters corresponding to the target control condition, including:

[0073] According to the rotational speed of the motor and the ideal exit time point of the DMD control mode in the motor operation cycle, determine the exit time of the DMD control mode; according to the exit time and the second transition time of the DMD control mode from the torque loading state to the stop loading state, determine the delay entry time;

[0074] According to the rotational speed of the motor and the target information, determine the slope of the transition torque amplitude change; the target information includes at least one of the second control mode, the load type of the motor, and the inertia parameter of the motor.

[0075] Optionally, in the embodiments of the present application, the load type of the motor refers to the nature and characteristics of the load driven by the motor, such as a constant torque load, a constant power load, or a pump load, etc. Different load types have different requirements for the torque, rotational speed, etc. of the motor, which will directly affect the determination of the slope of the transition torque amplitude change.

[0076] The inertia parameter of the motor mainly involves the moment of inertia of the motor and its connected mechanical components, etc., reflecting the ability of the motor to resist changes in rotational speed. The larger the inertia parameter, the slower the rotational speed adjustment of the motor when the torque changes. This factor must be considered when determining the slope of the transition torque amplitude change to ensure the smoothness and accuracy of control.

[0077] Optionally, in a specific implementation manner of the present application, first obtain the rotational speed of the motor. Determine the optimal exit time of the DMD control mode in the motor operation cycle, that is, the ideal exit time point, based on the functional requirements of the system. For example, if the DMD control mode is used for light modulation in a specific stage during the rotation of the motor, then it may be expected that the DMD control mode stops working when the motor rotates to a specific angle or after a specific number of turns. For example, when the motor is running at a stable rotational speed, the exit time can be obtained by calculating the time required for the motor to rotate from the current position to the ideal exit position.

[0078] After obtaining the exit time of the DMD control mode, it is also necessary to consider the second transition time of the DMD control mode from the torque loading state to the stop loading state. This transition time reflects the duration required for the DMD control mode to stop applying torque. Subtracting the exit time from the second transition time can determine the delayed entry time. The delayed entry time can ensure that the DMD control mode starts to stop loading torque at an appropriate time and smoothly transitions to the stop loading state, preparing for entering the non-DMD control mode.

[0079] When determining the change slope of the transition torque amplitude, for the case of only using one target information parameter, for example, determining the change slope of the transition torque amplitude only based on the second control mode, different second control modes have different requirements for torque changes. Through pre-experiments and data analysis, a correspondence table between the second control mode and the change slope of the transition torque amplitude is established, and the corresponding change slope of the transition torque amplitude is found from the table according to the current second control mode.

[0080] For example, determining the change slope of the transition torque amplitude only based on the load type of the motor, different load types have different torque requirements. By experimentally measuring the torque changes of the motor under different load types, appropriate slope values are determined.

[0081] When considering multiple target information parameters simultaneously, it is necessary to comprehensively analyze the influence of each parameter on the change slope of the transition torque amplitude. A multi-factor analysis method can be used to establish a mathematical model containing multiple parameters. For example, by combining the second control mode, the load type of the motor, and the inertia parameter of the motor, a function expression for the change slope of the transition torque amplitude is fitted through experimental data. In practical applications, the specific values of each parameter are substituted into the function expression to calculate the change slope of the transition torque amplitude.

[0082] In these optional embodiments, determining the exit time based on the motor speed and the ideal exit time point can enable the DMD mode to exit at the most appropriate time, avoiding the impact on the motor performance caused by premature or late exit. Combining the exit time with the second transition time to determine the delayed entry time can ensure a smooth transition of the DMD from torque loading to stop loading, reducing the impact on the motor. Determining the change slope of the transition torque amplitude based on the motor speed and target information, and comprehensively considering various factors, can make the torque change fit the actual working conditions, achieve a smooth switch between modes, improve the operating stability and efficiency of the motor, and ensure the smooth operation of the vehicle.

[0083] In one embodiment, determining the delayed entry time according to the exit time and the second transition time of the DMD control mode from the torque loading state to the stop loading state includes:

[0084] Determining the difference between the exit time and the second transition time as the initial delay time;

[0085] Adjust the initial delay time according to the first adjustment strategy corresponding to the load state driven by the motor to obtain the delay entry time.

[0086] Optionally, in a specific implementation manner of the present application, after obtaining the exit time t_{ideal} and the second transition time (after t_{DMD-stop}), calculate the difference between the two, that is, the initial delay time t_{initial}=t_{ideal}-t_{DMD-stop}.

[0087] Since the load states driven by the motor are different, the operating characteristics of the motor will vary under different load states. For different load states, a first adjustment strategy is formulated in advance. For example, when the load is heavy, the response speed of the motor may slow down, and at this time, the initial delay time needs to be appropriately increased; when the load is light, the motor responds quickly, and the initial delay time can be appropriately reduced. Adjust the initial delay time according to the corresponding first adjustment strategy, and finally obtain the delay entry time t_{target}.

[0088] In these optional embodiments, the initial delay time is optimized according to the first adjustment strategy corresponding to the motor load state, fully considering the impact of load changes on the operation of the motor. Ensure the stable operation of the system, reduce the impact between the motor and the DMD control mode, and improve the overall operation efficiency of the motor.

[0089] In an embodiment, according to the rotational speed of the motor and the target information, determine the slope of the transition torque amplitude change, including:

[0090] Determine the initial torque corresponding to the first control condition according to the rotational speed of the motor;

[0091] Determine the target torque corresponding to the first control condition according to the second control mode;

[0092] Determine the torque correction amount according to the load type and the inertia parameter;

[0093] Based on the torque correction amount, correct the initial transition torque amplitude slope determined based on the initial torque and the target torque to obtain the slope of the transition torque amplitude change.

[0094] Optionally, in a specific implementation manner of the present application, the rotational speed of the motor is closely related to the torque. By querying the torque-speed characteristic curve of the motor and combining the currently obtained rotational speed of the motor, the initial torque in the first control condition, that is, the DMD control mode, can be determined.

[0095] Since the second control mode is a non-DMD control mode, different non-DMD control modes have different torque requirements. For example, when entering the constant speed control mode, the target torque needs to meet the requirement of maintaining this constant speed; if entering the position control mode, the target torque should be determined according to the target position and motion planning. According to the specific second control mode and in combination with the actual requirements of the motor operation, the target torque corresponding to the first control condition can be determined.

[0096] The load types driven by the motor are diverse, such as constant torque loads, constant power loads, etc. Different load types have significant differences in torque requirements. At the same time, the inertia parameter of the motor, that is, the moment of inertia, also affects the torque change. For a motor with a large inertia, the torque change needs to be smoother to avoid impacts. Considering the load type and inertia parameter comprehensively, the corresponding torque correction amount is determined through theoretical calculations or relevant empirical data.

[0097] Based on the initial torque and the target torque, an initial transition torque amplitude slope can be calculated first. Then, based on the torque correction amount determined previously, this initial slope is adjusted. If the torque correction amount indicates that a smoother torque change is required, the initial slope is correspondingly reduced; conversely, if a faster torque change is needed, the initial slope is appropriately increased.

[0098] It should be noted that in practical applications, first calculate a preliminary transition torque amplitude change slope according to the above calculations, and then observe the operating state of the motor during the process of switching from the DMD control mode to the non-DMD control mode, such as whether the rotational speed is stable, whether there are abnormal vibrations or noises, etc. Further optimize and adjust the initial transition torque amplitude change slope to ensure that the motor can complete the control mode switch smoothly and efficiently.

[0099] In these alternative embodiments, the initial torque is determined based on the motor speed, and the target torque is determined in combination with the second control mode, providing accurate starting and ending points of torque for the transition. The torque correction amount is determined considering the load type and inertia parameter, making the torque change conform to the actual working conditions and avoiding impacts or instabilities caused by load and inertia problems. The initial transition torque amplitude slope is corrected to ensure that the rotational speed of the motor is stable and the torque changes smoothly during the switching process, improving the stability and efficiency of the motor operation.

[0100] In one embodiment, the target control condition is the second control condition; the target parameters include at least one of frequency, amplitude, torque loading slope, and target torque step value;

[0101] According to the rotational speed of the motor, the target parameters corresponding to the target control condition are determined, including:

[0102] According to the rotational speed of the motor and the matching degree between the frequency of the DMD control mode and the operating cycle of the motor, the initial frequency is determined;

[0103] Determine an initial amplitude corresponding to the rotational speed of the motor according to a first correspondence between the rotational speed of the motor and the amplitude of the DMD control mode;

[0104] Determine a torque loading slope according to the change rate of the fluctuation amplitude of the rotational speed fluctuation of the motor;

[0105] Determine a target torque step value according to a second correspondence between the fluctuation amplitude and the torque step value of the DMD control mode, where the target torque step value is used to increase the current torque of the motor.

[0106] Optionally, in the embodiments of the present application, rotational speed fluctuation refers to a phenomenon that when the DMD control mode outputs torque in a pulse manner, due to the frequent alternation of the torque value between the torque value in the high-efficiency region and zero, the rotational speed of the motor cannot be maintained stable, but fluctuates up and down around a certain average rotational speed value. This large and rapid change in torque breaks the stable state of the motor rotational speed and causes rotational speed fluctuation. For example, when the torque instantaneously drops from the high-efficiency region value to zero, the rotational speed of the motor will decrease due to the lack of power; when the torque instantaneously returns to the high-efficiency region value again, the rotational speed of the motor will rise rapidly, and this repeated process causes the rotational speed to fluctuate within a certain range. This rotational speed fluctuation will further be transmitted to the entire vehicle, resulting in vehicle jitter and affecting the ride comfort and stability of the vehicle.

[0107] The fluctuation amplitude of the rotational speed fluctuation is an index to measure the degree of rotational speed fluctuation, specifically referring to the absolute value of the maximum difference between the motor rotational speed and its average rotational speed during the fluctuation process. Assume the average rotational speed of the motor is 1500 revolutions per minute, and at a certain moment the rotational speed reaches 1550 revolutions per minute, and at another moment it drops to 1450 revolutions per minute. Then the fluctuation amplitude of the rotational speed fluctuation at this time is 50 revolutions per minute. The larger the fluctuation amplitude, the higher the instability degree of the motor rotational speed.

[0108] The torque loading slope refers to the rate at which the motor torque increases with time in the DMD control mode. It reflects the speed at which the motor torque increases from one value to another. A larger torque loading slope means that the torque increases rapidly, and the motor can quickly output a large torque, but it may cause a large change in the motor rotational speed or generate an impact; a smaller torque loading slope indicates that the torque increases relatively smoothly, and the motor operates relatively stably, but the response speed may be slower.

[0109] Optionally, in a specific implementation manner of this application, first, the rotational speed of the motor is determined, and the time for the motor to rotate one circle is calculated through the formula T = 60 / RPM (unit: second). The frequency of the DMD control mode needs to match the operating cycle of the motor. If it is desired that the DMD control mode performs n pulse operations during each rotation of the motor, then the frequency f = n / T. At the same time, the response speed of the motor system needs to be fully considered because if the frequency is too high, the DMD control mode itself and the entire motor system may not be able to respond in time, resulting in control failure; if the frequency is too low, it may not meet the performance requirements of the motor system. Therefore, on the basis of meeting the matching of the motor operating cycle, the frequency is adjusted according to the actual response ability of the motor system to determine the initial frequency.

[0110] There is a corresponding relationship between the motor rotational speed and the amplitude of the DMD control mode, that is, the first corresponding relationship. As the motor rotational speed increases, for the DMD control mode to keep up with the movement rhythm of the motor, a larger amplitude is required to achieve rapid state conversion. The specific corresponding relationship between the motor rotational speed and the amplitude required by the DMD can be established through experiments or theoretical analysis methods such as using dynamic equations. Based on this first corresponding relationship and combined with the current rotational speed of the motor, the corresponding initial amplitude can be determined.

[0111] The rate of change of the amplitude of the motor rotational speed fluctuation (i.e., the speed of the rotational speed fluctuation) will affect the torque loading slope. If the motor rotational speed fluctuates rapidly, it means that the slope of the rotational speed fluctuation is large. At this time, the DMD pulse torque loading slope also needs to be increased accordingly to quickly adapt to the change in rotational speed. The approximate range of the torque loading slope can be determined by first calculating the slope of the motor rotational speed fluctuation. At the same time, it needs to be optimized in combination with the response characteristics of the motor system because if the loading slope is too large, it will cause an overshoot phenomenon in the motor system; while too small a torque loading slope may not be able to keep up with the fluctuation of the motor rotational speed in time. By observing the response of the motor system, such as the motion accuracy and stability of the DMD control mode, the torque loading slope is gradually adjusted to find a suitable value so that the motor system can operate smoothly when the motor rotational speed fluctuates.

[0112] In other implementation manners, in addition to frequency and amplitude, the operating parameters may also include the phase and the proportional gain (kp) value in damping.

[0113] The purpose of phase setting is to achieve the best synergy in time between the pulse torque control of the DMD control mode and the rotational motion of the motor. By observing the data of the motor's rotational position sensor (such as an encoder), it is possible to determine at what position the motor rotates when it is most appropriate for the DMD control mode to apply pulse torque. At the same time, factors such as signal transmission delay and mechanical transmission delay existing in the motor system need to be considered. When actually setting the phase, the application time of the pulse torque of the DMD control mode is appropriately advanced or postponed according to these delays to ensure the precise cooperation between the motor and the DMD control mode.

[0114] Regarding the kp value in damping, it is mainly used to adjust the response speed and stability of the control system of the DMD control mode. In the control system of the DMD control mode, a larger kp value will make the system respond more quickly to errors, but will cause the system to be unstable; a smaller kp value will make the system more stable, but the response speed may be slower. When the motor speed is high, the dynamic characteristics of the system change faster, and a larger kp value is required to quickly correct the motion deviation of the DMD control mode to keep up with the motion of the motor. However, it needs to be adjusted in combination with the damping characteristics of the system (such as mechanical damping, electrical damping, etc.). In practical applications, gradually increase or decrease the kp value and observe the response of the system, such as the motion accuracy and stability of the DMD control mode, until a suitable value is found to ensure that the system can maintain good performance at different motor speeds.

[0115] Optionally, in another implementation manner of this application, the motor speed sensor can be used to obtain the motor speed in real time, and focus on the speed fluctuation situation at the moment when the speed crosses zero. When it is detected that the motor speed is approaching zero and about to reverse, start the torque step adjustment mechanism. Through experiments or theoretical analysis, establish a second corresponding relationship between the speed fluctuation amplitude and the required torque step value. For example, under specific motor and load conditions, after multiple tests, it is found that when the fluctuation amplitude before and after the speed crosses zero reaches a certain level, increasing the torque step by a specific value can effectively suppress the speed fluctuation.

[0116] After the motor control system receives the signal to increase the torque step, it quickly adjusts the motor output torque according to the pre-determined torque step value. At the moment when the speed crosses zero, instantly increase the torque to the set step value and maintain it for a period of time (the length of this time also needs to be determined through experiments, such as 0.1 seconds), and then gradually adjust the torque according to the actual operating conditions to make it smoothly transition to the normal operating state.

[0117] It should be noted that during the execution of the torque step, the motor speed fluctuation and the vehicle body jitter situation can be continuously monitored. If it is found that the suppression effect is not good, such as the speed fluctuation is still large or the vehicle body jitter is not significantly improved, the parameters such as the torque step value and the action time are adjusted and optimized in real time according to the actual situation until the purpose of reducing the vehicle body jitter is achieved.

[0118] In these optionally implemented embodiments, determining the initial frequency based on the matching degree of the motor speed and frequency can make the DMD control mode fit the motor operation cycle, ensure the stable operation of the motor, and avoid control failure caused by frequency mismatch. Determining the initial amplitude through the first correspondence enables the amplitude to be reasonably adjusted with the motor speed, allowing the DMD control mode to effectively function at different speeds. Determining the torque loading slope according to the rate of change of the amplitude of the speed fluctuation can make the torque loading better adapt to the speed change, reduce the speed fluctuation, and improve the smoothness of the motor operation. Overall, the performance and efficiency of the motor are improved.

[0119] In one embodiment,

[0120] The target parameters include frequency and amplitude;

[0121] Controlling the operation of the target control condition according to the target parameters includes:

[0122] Determining the target frequency based on the limitation situation of the target system and the fluctuation period and amplitude of the speed fluctuation of the motor; the target system includes the motor and the DMD control mode;

[0123] Determining the target amplitude based on the load characteristics and inertia parameters of the DMD control mode, the amplitude of the fluctuation, and the third correspondence; the third correspondence is the correspondence between the amplitude of the fluctuation and the amplitude of the DMD control mode;

[0124] Adjusting the initial frequency to the target frequency according to the first preset adjustment step;

[0125] Adjusting the initial amplitude to the target amplitude according to the second preset adjustment step.

[0126] Optionally, in the embodiments of the present application, the target system is an overall system including a motor and a DMD control mode.

[0127] The fluctuation period of the speed fluctuation refers to the time required to complete one full fluctuation when the motor speed fluctuation shows periodic changes.

[0128] The limitation situation is used to describe the degree of limitation of the DMD control mode frequency by the dynamic response ability of the target system. The motor and the DMD control mode in the target system each have their own response speeds and working capabilities. If the frequency of the DMD control mode is too high and exceeds the dynamic response ability of the target system, the target system may not be able to respond in time, resulting in a deterioration of the control effect and even instability. Therefore, the limitation situation provides a range for determining the target frequency to ensure that the frequency of the DMD control mode is within the range where the target system can effectively respond.

[0129] The load characteristics refer to the characteristics presented by the load driven by the motor under the DMD control mode, which may include the load type and the load change situation. The inertia parameters of the DMD control mode may include the moment of inertia of the DMD control mode and the moment of inertia of the load it drives.

[0130] Optionally, in a specific implementation manner of this application, first, clarify the fluctuation period and fluctuation amplitude of the motor speed fluctuation. If the motor speed fluctuation amplitude is large and the fluctuation period is T_w (in seconds), to make the DMD control mode better adapt to this fluctuation, the initial target frequency of the pulse torque loading of the DMD control mode can be set to a value related to the fluctuation period. For example, the initial target frequency can be set to an integer multiple of f = 1 / T_w, so that the pulse torque loading of the DMD control mode can be more matched with the motor speed fluctuation in time and the system adaptability can be improved.

[0131] The target system includes the motor and the DMD control mode, and its dynamic response ability will limit the frequency of the DMD control mode. If the frequency is too high, the target system cannot respond to the pulse torque loading in time, resulting in a poor control effect. The highest frequency that the target system can effectively respond to can be determined through experiments or by checking technical parameters, which is the limitation of the target system. Based on this limitation, combined with the initial target frequency, the fluctuation period and fluctuation amplitude of the motor speed fluctuation, the final target frequency is determined.

[0132] Specifically, a model considering multiple factors can be constructed. This model will take the limitation of the target system as a key constraint condition. At the same time, the model also incorporates the fluctuation period and fluctuation amplitude of the motor speed fluctuation. Based on this model, through comprehensive consideration and dynamic adjustment of the initial target frequency, fully weighing factors such as the target system limitation, fluctuation period and amplitude, the target frequency that can make the DMD control mode better adapt to the motor speed fluctuation is finally determined, improving the system adaptability and control effect.

[0133] After the target frequency is determined, the initial frequency is gradually adjusted to the target frequency according to the first preset adjustment step size. The first preset adjustment step size is determined according to the stability of the target system. If the target system has good stability, the adjustment step size can be appropriately increased to speed up the adjustment speed; if the stability is poor, the step size is reduced to avoid excessive adjustment amplitude affecting the system stability.

[0134] In another embodiment, when the amplitude of the motor speed fluctuation changes, the amplitude required for the DMD control mode will also change accordingly. A third corresponding relationship can be established through experiments or theoretical modeling, that is, the corresponding relationship between the amplitude of the motor speed fluctuation and the amplitude of the DMD control mode. For example, through experiments, it is obtained that for each certain value of motor speed fluctuation, the specific value by which the amplitude of the DMD pulse torque needs to increase or decrease. In this way, the initial target amplitude of the corresponding DMD control mode can be calculated based on the actually measured amplitude of the motor speed fluctuation.

[0135] When determining the final target amplitude, the initial target amplitude obtained according to the third corresponding relationship is the basis. Considering the load characteristics and inertia parameters, this initial target amplitude will be adjusted. If the load is large, then on the basis of the initial target amplitude, the amplitude needs to be further increased to ensure that the load can be driven. When the inertia is large, when the motor speed fluctuates, due to the inertia effect, it is more difficult to change the motion state, and the amplitude can also be increased on the basis of the initial target amplitude to maintain the normal operation of the DMD control mode.

[0136] Therefore, combining the amplitude of the motor speed fluctuation and the initial target amplitude determined by the third corresponding relationship, and then adjusting the initial target amplitude according to the load characteristics and inertia parameters, the final target amplitude suitable for the actual working conditions is finally determined. In this way, the amplitude is initially determined by using the third corresponding relationship, and the amplitude is optimized by combining the actual factors to ensure that the DMD control mode can operate effectively under different conditions.

[0137] After determining the target frequency, the initial amplitude is gradually adjusted to the target amplitude according to the second preset adjustment step. The second preset adjustment step is also determined according to the stability of the target system to ensure that the DMD control mode can operate stably and effectively under different working conditions.

[0138] In these alternative embodiments, the target frequency is determined based on the motor speed fluctuation and the target system limit to ensure that the DMD pulse torque loading is adapted to the motor speed fluctuation, avoiding system response lag caused by too high frequency. Also, through the preset step adjustment, the system stability and adjustment efficiency are taken into account. The target amplitude is determined considering the load characteristics, inertia parameters and the amplitude of the speed fluctuation, so that the DMD can effectively overcome the influence of the load and inertia and maintain stable operation. The two steps cooperate to enable the DMD control mode to flexibly adapt to the changes in the motor operating state, improving the overall stability and control accuracy of the vehicle.

[0139] In one embodiment, obtaining the target control working conditions of the motor of the vehicle includes:

[0140] When the target conditions are met, determining the target control working conditions as the first control working conditions;

[0141] Wherein, when the first control mode is a non-DMD control mode and the second control mode is a DMD control mode, the target condition is that the efficiency of the motor is within a first efficiency range, or the parameters of the motor are within a first parameter range, and the first efficiency range corresponds to the first parameter range;

[0142] When the first control mode is a DMD control mode and the second control mode is a non-DMD control mode, the target condition is that the efficiency of the motor is within a second efficiency range, or the parameters of the motor are within a second parameter range; the second efficiency range is greater than the first efficiency range, and the second efficiency range corresponds to the second parameter range.

[0143] Optionally, in a specific implementation manner of the present application, when the first control mode is a non-DMD control mode and the second control mode is a DMD control mode, it is necessary to determine whether the target condition for entering the DMD control mode is satisfied. From the perspective of efficiency, the efficiency of the motor is monitored in real time. Through the sensors and algorithms in the motor control system, the input power and output power data during the operation of the motor are continuously collected, and the real-time efficiency of the motor is calculated. The efficiency value is compared with the preset first efficiency range. If the motor efficiency is within this range, it indicates that switching to the DMD control mode may improve the overall efficiency under the current motor operating state.

[0144] In addition to efficiency judgment, the parameters of the motor are also monitored. The parameters of the motor include speed, torque, etc. These parameter values are obtained in real time through sensors and compared with the first parameter range. The first parameter range is obtained based on a large number of experiments and theoretical analyses. Within this first parameter range, the DMD control mode can exhibit the best performance. As long as the efficiency of the motor is within the first efficiency range or the parameters of the motor are within the first parameter range, it can be determined that the target control condition is the first control condition, that is, enter the DMD control mode.

[0145] When the first control mode is a DMD control mode and the second control mode is a non-DMD control mode, it is necessary to determine whether the target condition for exiting the DMD control mode is satisfied. The judgment is also made from two aspects: efficiency and parameters. The second efficiency range is greater than the first efficiency range. When the motor efficiency is within the second efficiency range, it means that in the current state, the non-DMD control mode may be more conducive to improving the efficiency of the motor and reducing energy loss. From the perspective of parameters, when the parameters of the motor are within the second parameter range, the non-DMD control mode can better meet the operating requirements of the motor. For example, in high-load and high-speed operating conditions, the non-DMD control mode may have better stability and power output capabilities. As long as one of the two conditions that the efficiency of the motor is within the second efficiency range or the parameters of the motor are within the second parameter range is satisfied, it is determined that the target control condition is the first control condition, that is, exit the DMD control mode.

[0146] In these optionally implemented embodiments, by monitoring and judging the motor efficiency and parameters in real time, the timing of entering and exiting the DMD control mode can be accurately determined, so as to achieve the efficient operation of the motor while meeting the drivability requirements.

[0147] It should be noted that the various optional implementation manners introduced in the embodiments of the present application can be combined with each other or implemented separately without conflict, and the embodiments of the present application do not limit this.

[0148] To facilitate the understanding of the motor control method provided in the above embodiments, the above motor control method will be described below with a specific scenario embodiment.

[0149] As Figure 2 shown, in a complete embodiment, the motor control method may include the following steps:

[0150] S1, judging the condition for entering the DMD control mode (that is, when the target condition is met, determining that the target control condition is the first control condition);

[0151] S2, setting the delay entry time for entering the DMD control mode according to the rotational speed of the motor (that is, the delay entry time).

[0152] 1) Assume that there is an ideal phase difference (i.e., time difference) Delta t between the work process driven by the motor and the DMD operation, and this time difference is determined according to the specific functional requirements of the system. For example, if the DMD works best when the motor rotates to the mid-position, then Delta t = T / 2;

[0153] 2) Considering the start-up time t_{DMD} of the DMD itself (i.e., the start-up time), the DMD delay entry time t_{delay} (i.e., the delay entry time) can be set as t_{delay} = Delta t - t_{DMD}. In this way, the DMD can start working exactly when the motor runs to the appropriate position and it is also ready to work.

[0154] 3) In actual operation, these parameters may need to be adjusted through experiments and tests because factors such as the load change of the motor and the individual differences of the DMD will affect the final settings.

[0155] S3, setting the transition torque amplitude slope for entering the DMD control mode according to the rotational speed of the motor.

[0156] 1) Understand the basic characteristics of the motor and DMD: First, be clear about the speed-torque characteristic curve of the motor. Generally speaking, the torque that the motor can output at different speeds is different, and the motor has parameters such as its rated speed and rated torque. For DMD, it is necessary to know the torque support required in different working states (such as starting, stable operation, etc.), and the range it can withstand for the torque change slope.

[0157] 2) Determine the relationship between the motor speed and the operation of DMD: Analyze the time relationship between the motor speed and the transition process of DMD. Assume the motor speed is n (unit: revolutions per minute, rpm), and the time T required for the motor to rotate one circle can be calculated as T = 60 / n (unit: seconds). If the transition process of DMD needs to be completed within the time when the motor rotates a certain angle (or several circles), the torque amplitude slope can be planned according to this time.

[0158] 3) Consider the torque requirement for DMD transition: Determine the torque change range of DMD during the transition process, that is, from the initial torque Ti to the final torque Tf. This torque change is to enable DMD to smoothly transition from one state to another, such as from the stationary state to the stable operation state.

[0159] 4) Calculate the transition torque amplitude slope: The transition torque amplitude slope k = (Tf - Ti) / t, where t is the DMD transition time (i.e., the first transition time) determined according to the motor speed.

[0160] 5) In practical applications, it may also be necessary to consider the influence of factors such as the inertia and friction of the system on the torque, and multiple adjustments need to be made through experiments to optimize the setting of the transition torque amplitude slope to ensure that DMD can smoothly and efficiently complete the transition process under the drive of the motor.

[0161] S4. Set the frequency, amplitude, phase, and kp value of damping of the DMD control mode according to the speed of the motor.

[0162] 1) Frequency setting: Analyze the relationship between the motor speed and the working cycle of DMD: First, determine the motor speed (measured in revolutions per minute RPM). Calculate the time T for the motor to rotate one circle as T = 60 / RPM (unit: seconds). The frequency of the DMD pulse torque control should match the motion cycle of the motor. For example, if it is desired that DMD performs n pulse operations during one rotation of the motor, then the frequency f = n / T.

[0163] Consider the system response speed: At the same time, consider the response ability of DMD itself and the entire motor system to the pulse frequency. If the frequency is too high, the motor system may not be able to respond in time, resulting in control failure; if the frequency is too low, it may not meet the performance requirements of the system.

[0164] 2) Amplitude setting: Determine the relationship between torque demand and motor speed: The torque amplitude required by the DMD is different at different motor speeds. Generally speaking, as the motor speed increases, the DMD needs a larger torque amplitude to achieve a rapid state transition in order to keep up with the movement rhythm of the motor. The relationship between the motor speed and the torque amplitude required by the DMD can be established through experiments or theoretical analysis (such as dynamic equations) to determine the amplitude.

[0165] 3) Phase setting: Analyze the cooperative working sequence of the motor and the DMD: The phase setting is mainly to achieve the best cooperative effect in time between the pulse torque control of the DMD and the rotational movement of the motor. By observing the data of the motor rotation position sensor (such as an encoder), determine the most suitable position for the DMD to apply the pulse torque when the motor rotates to a certain position. For example, if the DMD starts to work when the motor rotates to a certain specific angle and can achieve the best optical effect or mechanical matching effect, then set the phase of the DMD pulse torque control to the moment when the motor reaches this angle. Consider system delay and lead: Consider the delay factors existing in the system, such as signal transmission delay, mechanical transmission delay, etc. When actually setting the phase, it may be necessary to appropriately advance or delay the application time of the DMD pulse torque according to these delays to ensure that the motor and the DMD can work precisely in coordination.

[0166] 4) Setting the k_p value in damping: Understand the role of k_p in the motor control system: k_p (proportional gain) is mainly used to adjust the response speed and stability of the control system. In the DMD pulse torque control system, a larger k_p value will make the system respond more quickly to errors, but may lead to system instability; a smaller k_p value will make the system more stable, but the response speed may be slower. In addition, adjust k_p according to the motor speed and the characteristics of the motor system: When the motor speed is high, the dynamic characteristics of the system change faster, and a larger k_p value may be required to quickly correct the movement deviation of the DMD to keep up with the movement of the motor. However, at the same time, it is necessary to adjust in combination with the damping characteristics of the system (such as mechanical damping, electrical damping, etc.). Through experiments, gradually increase or decrease the k_p value and observe the response of the system, such as the movement accuracy and stability of the DMD, until a suitable value is found so that the system can maintain good performance at different motor speeds.

[0167] S5. Change the frequency, amplitude, and torque loading slope of the DMD control mode according to the rotational speed fluctuation value of the motor.

[0168] 1) Frequency adjustment: Analyze the relationship between the rotational speed fluctuation period and frequency: First, determine the period of the motor rotational speed fluctuation. If the amplitude of the motor rotational speed fluctuation is large and the fluctuation period is \(T_w\) (in seconds), to better adapt to this fluctuation, the frequency of the DMD can be set to an integer multiple of \(f = 1 / T_w\). For example, if the fluctuation period is 0.5 seconds, then the frequency can be 2 Hz, 4 Hz, etc. This can make the pulse torque loading of the DMD better match the motor rotational speed fluctuation in time and enhance the adaptability of the system.

[0169] At the same time, consider the limitation of the dynamic response ability of the system (the overall system composed of the DMD and the motor) on the frequency. If the frequency is too high, the system may not be able to respond to the pulse torque loading in time, resulting in poor control effects. The maximum frequency that the system can effectively respond to can be determined through experiments or by checking the technical parameters of the system.

[0170] 2) Amplitude adjustment: Establish the relationship based on the rotational speed fluctuation amplitude: When the amplitude of the motor rotational speed fluctuation increases, the amplitude of the pulse torque required by the DMD usually needs to increase accordingly. The relationship between the motor rotational speed fluctuation amplitude \(\Delta n\) and the DMD pulse torque amplitude \(T_m\) can be established through experiments or theoretical modeling. For example, assume that through experiments, it is found that for every 100 rpm fluctuation in the motor rotational speed, the DMD pulse torque amplitude needs to increase by 10 N·m. Then, the required DMD pulse torque amplitude can be calculated based on the actually measured motor rotational speed fluctuation amplitude.

[0171] When determining the pulse torque amplitude, also consider the load and inertia of the system. If the system load is large or the inertia is large, a larger pulse torque amplitude is required to overcome the influence of the motor rotational speed fluctuation on the DMD operation. For example, when the mass of the components connected to the DMD is large, even if the amplitude of the motor rotational speed fluctuation is small, a larger pulse torque amplitude may be required to maintain the normal operation of the DMD.

[0172] 3) Torque loading slope adjustment: Analyze the relationship between the rotational speed fluctuation rate and the loading slope: The rate of change of the motor rotational speed fluctuation amplitude (i.e., how fast the fluctuation is) affects the torque loading slope. If the motor rotational speed fluctuates rapidly, it means that the slope of the fluctuation (the derivative of the rotational speed with respect to time) is large. At this time, the DMD pulse torque loading slope also needs to increase accordingly to quickly adapt to the change in rotational speed. The approximate range of the torque loading slope can be determined by calculating the slope of the motor rotational speed fluctuation.

[0173] Meanwhile, the torque loading slope should be optimized in combination with the response characteristics of the system. If the loading slope is too large, it may cause overshoot in the system (i.e., the motion state of the DMD exceeds the expectation), while too small a loading slope may not be able to keep up with the fluctuations in the motor speed in a timely manner. Through experimental tests, gradually adjust the torque loading slope and observe the system's response, such as the motion accuracy and stability of the DMD, to find a suitable value that enables the system to operate smoothly when the motor speed fluctuates.

[0174] S6, judge the conditions for exiting the DMD control mode (i.e., when the target conditions are met, determine that the target control condition is the first control condition).

[0175] S7, set the delay time for exiting the DMD control mode according to the motor speed.

[0176] 1) Understand the basic characteristics of the motor and the DMD

[0177] First, it is necessary to clarify the speed-time relationship of the motor. If the motor speed is n (in revolutions per minute, rpm), then the time T required for the motor to make one revolution is T = 60 / n (in seconds). For the DMD, it is necessary to know its operating characteristics under pulsed torque loading, including the response time to torque changes during the transition from the normal operating state to the stop state.

[0178] 2) Determine the ideal time point for the DMD to stop working

[0179] According to the functional requirements of the motor system, determine the optimal exit time of the DMD during the motor operation cycle. For example, if the DMD is used for optical modulation during a specific stage of the motor rotation, it may be desired that the DMD stops working when the motor rotates to a specific angle or after a specific number of revolutions. Assume that the motor rotation time corresponding to this ideal exit position is t_{ideal} (i.e., the exit time).

[0180] 3.) Consider the transition process time of the DMD

[0181] The DMD requires a certain transition time t_{DMD-stop} (i.e., the second transition time) from the pulsed torque loading state to the fully stopped state, which includes processes such as the internal mechanical structure of the DMD stopping moving and the electrical signals stabilizing. This transition time can be determined through experiments or by checking the technical parameters of the DMD.

[0182] 4) Calculate the exit delay time

[0183] The delay time \(t_{delay}\) for exiting the DMD can be calculated by the formula \(t_{delay}=t_{ideal} - t_{DMD - stop}\). This ensures that after the motor runs to the ideal exit position and undergoes the necessary transition time of its own, the DMD stops working exactly, thus achieving the smooth operation of the system.

[0184] 5) In practical applications, it may be necessary to consider the influence of factors such as motor load changes and individual differences of the DMD on the delay time, and it may be necessary to optimize the setting of this delay time through multiple experiments.

[0185] S8. Set the transition torque amplitude slope for exiting the DMD control mode according to the rotational speed of the motor.

[0186] 1) Determine the transition target

[0187] Clarify the control mode (i.e., the second control mode) that the motor will enter after exiting the DMD control, such as entering the speed control mode or the position control mode. Different target modes have different requirements for the transition torque amplitude slope. If entering speed control, consider the difference between the target speed and the current speed; if entering position control, consider the speed profile corresponding to the target position.

[0188] 2) Consider the system inertia and load characteristics

[0189] Understand the inertia parameters (such as the moment of inertia) of the motor system. The greater the inertia, the gentler the transition torque amplitude slope may need to be to avoid excessive impact. For large-inertia loads, sudden torque changes may cause large fluctuations in the motor speed or even loss of step.

[0190] The type of load (such as friction characteristics, elastic characteristics, etc.) is also crucial. If there is a large frictional force in the load, the transition torque amplitude slope should be able to overcome the static friction and provide sufficient power for the smooth transition of the motor.

[0191] 3) Combine with the motor performance curve

[0192] View the torque - speed characteristic curve of the motor. At different rotational speeds, the torque that the motor can provide is limited. Set a reasonable transition torque amplitude slope according to the curve to ensure that the motor does not show abnormalities due to overloading or underloading.

[0193] 4) Experiment and debugging

[0194] First, set an initial transition torque amplitude slope based on theoretical calculations and experience and test it in the actual system. Observe whether the transition process of the motor speed is smooth, whether there are problems such as overshoot, oscillation, or too long transition time.

[0195] Adjust according to the test results. If overshoot occurs, the slope can be decreased; if the settling time is too long, the slope can be appropriately increased, but attention should be paid to avoiding causing instability in the motor system.

[0196] The specific setting method will also vary due to factors such as the hardware and software implementation methods of the motor control system, and the details of the control algorithm.

[0197] Figure 3 The structural schematic diagram of the motor control device provided by another embodiment of the present application is shown. For the sake of convenience of description, only the parts related to the embodiments of the present application are shown.

[0198] Refer to Figure 3 , the motor control device may include:

[0199] An acquisition module 301, configured to acquire the target control working condition of the motor of the vehicle; wherein, the target control working condition includes a first control working condition and a second control working condition; in the first control working condition, controlling the motor to enter a second control mode from a first control mode, one of the first control mode and the second control mode is a DMD control mode, and the other is a non-DMD control mode; in the second control working condition, controlling the motor to be in the DMD control mode;

[0200] A determination module 302, configured to determine the target parameter corresponding to the target control working condition according to the rotation speed of the motor; wherein, in the first control working condition, the target parameter includes at least one of the delay entry time for the motor to enter the second control mode from the first control mode and the change slope of the transition torque amplitude; in the second control working condition, the target parameter includes the operating parameter of the DMD control mode;

[0201] A control module 303, configured to control the operation of the target control working condition according to the target parameter.

[0202] It should be noted that the information interaction, execution process, etc. between the above-mentioned device / units are based on the same concept as the method embodiment of the present application, and are the devices corresponding to the above-mentioned method. All implementation manners in the above-mentioned method embodiment are applicable to the embodiment of this device. For its specific functions and the technical effects brought, please refer to the method embodiment part specifically, and will not be elaborated here.

[0203] Those skilled in the art can clearly understand that, for the convenience and brevity of description, only the above-mentioned division of each functional unit and module is used as an example. In actual applications, the above-mentioned functions can be allocated to different functional units and modules according to needs, that is, the internal structure of the device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiment can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit. The above-mentioned integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of this application. The specific working process of the units and modules in the above system can refer to the corresponding process in the foregoing method embodiment and will not be elaborated herein.

[0204] Figure 4 The schematic diagram of the hardware structure of the electronic device provided by the embodiment of the present application is shown.

[0205] The device may include a processor 401 and a memory 402 storing program instructions.

[0206] When the processor 401 executes the program, it implements the steps in any of the foregoing method embodiments.

[0207] Exemplarily, the program can be divided into one or more modules / units. One or more modules / units are stored in the memory 402 and executed by the processor 401 to complete the present application. One or more modules / units can be a series of program instruction segments capable of completing specific functions, and the instruction segments are used to describe the execution process of the program in the device.

[0208] Specifically, the above-mentioned processor 401 may include a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0209] The memory 402 may include a mass storage for data or instructions. By way of example and not limitation, the memory 402 may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disc, a magneto-optical disc, magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory 402 may include removable or non-removable (or fixed) media. Where appropriate, the memory 402 may be internal or external to the integrated gateway disaster recovery device. In a particular embodiment, the memory 402 is a non-volatile solid-state memory.

[0210] The memory may include a read-only memory (ROM), a random access memory (RAM), a magnetic disk storage media device, an optical storage media device, a flash memory device, an electrical, optical, or other physical / tangible memory storage device. Thus, in general, the memory includes one or more tangible (non-transitory) readable storage media (e.g., memory devices) encoded with software including computer-executable instructions, and when the software is executed (e.g., by one or more processors), it is operable to perform the operations described with reference to the method according to an aspect of the present disclosure.

[0211] The processor 401 reads and executes the program instructions stored in the memory 402 to implement any of the methods in the above embodiments.

[0212] In one example, the electronic device may further include a communication interface 403 and a bus 410. Among them, the processor 401, the memory 402, and the communication interface 403 are connected through the bus 410 to complete communication with each other.

[0213] The communication interface 403 is mainly used to implement communication between the various modules, devices, units, and / or devices in the embodiments of the present application.

[0214] The bus 410 includes hardware, software, or both, and couples the components of the online data flow metering device to each other. By way of example and not limitation, the bus may include an Accelerated Graphics Port (AGP) or other graphics bus, an Enhanced Industry Standard Architecture (EISA) bus, a Front Side Bus (FSB), a HyperTransport (HT) interconnect, an Industry Standard Architecture (ISA) bus, an InfiniBand interconnect, a Low Pin Count (LPC) bus, a memory bus, a MicroChannel Architecture (MCA) bus, a Peripheral Component Interconnect (PCI) bus, a PCI-Express (PCI-X) bus, a Serial Advanced Technology Attachment (SATA) bus, a Video Electronics Standards Association Local (VLB) bus, or other suitable buses, or a combination of two or more of these. Where appropriate, the bus 410 may include one or more buses. Although the embodiments of the present application describe and illustrate specific buses, the present application contemplates any suitable bus or interconnect.

[0215] In addition, in combination with the methods in the above embodiments, the embodiments of the present application may be implemented by providing a storage medium. Program instructions are stored on the storage medium; when the program instructions are executed by a processor, any one of the methods in the above embodiments is implemented.

[0216] The embodiments of the present application further provide a chip, which includes a processor and a communication interface. The communication interface is coupled to the processor. The processor is configured to run programs or instructions to implement each process of the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be described in detail here.

[0217] It should be understood that the chip mentioned in the embodiments of the present application may also be referred to as a system-on-chip, system chip, chip system, or system-on-chip.

[0218] The embodiments of the present application provide a computer program product. The program product is stored in a storage medium. The program product is executed by at least one processor to implement each process of the above method embodiments, and can achieve the same technical effects. To avoid repetition, it will not be described in detail here.

[0219] It should be clear that the present application is not limited to the specific configurations and processes described above and illustrated in the figures. For the sake of brevity, detailed descriptions of known methods are omitted here. In the above embodiments, several specific steps are described and illustrated as examples. However, the method process of the present application is not limited to the specific steps described and illustrated. Those skilled in the art can make various changes, modifications, and additions, or change the order between steps after understanding the spirit of the present application.

[0220] The functional modules shown in the above structural block diagram can be implemented as hardware, software, firmware, or a combination thereof. When implemented in hardware, it can be, for example, an electronic circuit, an application-specific integrated circuit (ASIC), appropriate firmware, a plug-in, a functional card, and so on. When implemented in software, the elements of the present application are programs or code segments used to perform the required tasks. The program or code segment can be stored in a machine-readable medium or transmitted via a data signal carried in a carrier wave over a transmission medium or a communication link. "Machine-readable medium" can include any medium capable of storing or transmitting information. Examples of machine-readable media include electronic circuits, semiconductor memory devices, ROM, flash memory, erasable ROM (EROM), floppy disks, CD-ROMs, optical discs, hard disks, fiber optic media, radio frequency (RF) links, and so on. The code segment can be downloaded via a computer network such as the Internet, an intranet, and so on.

[0221] It should also be noted that in the exemplary embodiments mentioned in the present application, some methods or systems are described based on a series of steps or devices. However, the present application is not limited to the order of the above steps. That is to say, the steps can be executed in the order mentioned in the embodiments, can be different from the order in the embodiments, or several steps can be executed simultaneously.

[0222] As described above with reference to the flowcharts and / or block diagrams of methods, apparatuses (systems), and program products according to embodiments of the present disclosure. It should be understood that each block in the flowchart and / or block diagram, and the combination of blocks in the flowchart and / or block diagram, can be implemented by computer program instructions. These program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing device to generate a machine such that the instructions executed by the processor of the computer or other programmable data processing device enable the implementation of the functions / actions specified in one or more blocks of the flowchart and / or block diagram. Such a processor can be, but is not limited to, a general-purpose processor, a special-purpose processor, a special application processor, or a field-programmable logic circuit. It can also be understood that each block in the block diagram and / or flowchart, and the combination of blocks in the block diagram and / or flowchart, can also be implemented by dedicated hardware that performs the specified functions or actions, or can be implemented by a combination of dedicated hardware and computer instructions.

[0223] The above is only the specific implementation manner of the present application. Those skilled in the art can clearly understand that for the convenience and brevity of description, the specific working processes of the above-described systems, modules, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein. It should be understood that the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed in the present application can easily think of various equivalent modifications or substitutions, and these modifications or substitutions should all be covered within the protection scope of the present application.

Claims

1. A motor control method, characterized in that: Applied to a vehicle, the method comprises: Acquire a target control condition of the motor of the vehicle; wherein the target control condition includes a first control condition and a second control condition; under the first control condition, control the motor to enter a second control mode from a first control mode, one of the first control mode and the second control mode being a DMD control mode and the other being a non-DMD control mode; under the second control condition, control the motor to be in a DMD control mode; Determine the target parameter corresponding to the target control condition according to the rotation speed of the motor; wherein, under the first control condition, the target parameter includes at least one of the delayed entry time and the transition torque amplitude change slope of the motor entering the second control mode from the first control mode; under the second control condition, the target parameter includes the operating parameter of the DMD control mode; According to the target parameters, the operation of the target control condition is controlled.

2. The motor control method according to claim 1, characterized in that: The target control condition is the first control condition, the first control mode is a non-DMD control mode, and the second control mode is a DMD control mode; Determining the target parameter corresponding to the target control condition according to the rotation speed of the motor includes: Determine the operation cycle of the motor according to the rotation speed of the motor; determine the delayed entry time according to the phase difference between the control cycle of the DMD control mode and the operation cycle, and the startup time of the DMD control mode; According to the motor speed of the motor, the first transition time of the DMD control mode from the stop loading state to the torque loading state is determined; according to the initial torque and target torque corresponding to the first control condition, and the first transition time, the transition torque amplitude change slope is determined.

3. The motor control method according to claim 1, characterized in that: The target control condition is the first control condition, the first control mode is a DMD control mode, and the second control mode is a non-DMD control mode; Determining the target parameter corresponding to the target control condition according to the rotation speed of the motor includes: Determining the exit time of the DMD control mode according to the rotation speed of the motor and the ideal exit time point of the DMD control mode in the motor operation cycle; Determining the delayed entry time according to the exit time and a second transition time of the DMD control mode from a torque loading state to a stop loading state; The transition torque amplitude change slope is determined according to the rotation speed and target information of the motor; the target information includes at least one of the second control mode, the load type of the motor and the inertia parameter of the motor.

4. The motor control method according to claim 3, characterized in that: The step of determining the delayed entry time according to the exit time and a second transition time of the DMD control mode from a torque loading state to a stop loading state comprises: Determine the difference between the exit time and the second transition time as the initial delay time; According to a first adjustment strategy corresponding to the load state of the motor drive, the initial delay time is adjusted to obtain the delayed entry time.

5. The motor control method according to claim 3, characterized in that: Determining the transition torque amplitude change slope according to the rotation speed and target information of the motor includes: Determining an initial torque corresponding to the first control condition according to the rotation speed of the motor; determining, according to the second control mode, a target torque corresponding to the first control condition; Determining a torque correction amount according to the load type and the inertia parameter; Based on the torque correction amount, the initial transition torque amplitude slope determined based on the initial torque and the target torque is corrected to obtain the transition torque amplitude change slope.

6. The motor control method according to claim 1, characterized in that: The target control condition is the second control condition; the target parameter includes at least one of frequency, amplitude, torque loading slope and target torque step value; Determining the target parameter corresponding to the target control condition according to the rotation speed of the motor includes: Determining an initial frequency according to the rotation speed of the motor and the matching degree between the frequency of the DMD control mode and the operation cycle of the motor; Determining an initial amplitude corresponding to the rotation speed of the motor according to a first corresponding relationship between the rotation speed of the motor and the amplitude of the DMD control mode; Determining the torque loading slope according to the rate of change of the fluctuation amplitude of the speed fluctuation of the motor; The target torque step value is determined according to a second corresponding relationship between the fluctuation amplitude and the torque step value of the DMD control mode, and the target torque step value is used to increase the current torque of the motor.

7. The motor control method according to claim 6, characterized in that: The target parameters include frequency and amplitude; The step of controlling the operation of the target control condition according to the target parameter comprises: Determining a target frequency based on the limitation of a target system and the fluctuation period and fluctuation amplitude of the speed fluctuation of the motor; the target system includes the motor and the DMD control mode; Determining a target amplitude based on the load characteristics and inertia parameters of the DMD control mode, the fluctuation amplitude and a third corresponding relationship; the third corresponding relationship is a corresponding relationship between the fluctuation amplitude and the amplitude of the DMD control mode; Adjusting the initial frequency to the target frequency according to a first preset adjustment step; The initial amplitude is adjusted to the target amplitude according to a second preset adjustment step.

8. The motor control method according to claim 1, characterized in that: The obtaining of a target control condition of a motor of the vehicle includes: When the target condition is met, determining the target control operating condition to be the first control operating condition; Wherein, when the first control mode is a non-DMD control mode and the second control mode is a DMD control mode, the target condition is: the efficiency of the motor is in a first efficiency range, or the parameter of the motor is in a first parameter range; When the first control mode is the DMD control mode and the second control mode is the non-DMD control mode, the target condition is that the efficiency of the motor is within a second efficiency range, or the parameters of the motor are within a second parameter range; and the second efficiency range is greater than the first efficiency range.

9. An electronic device, characterized in that: The device comprises: a processor and a memory storing computer program instructions; When the processor executes the computer program instructions, the motor control method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: Comprising the electronic device as claimed in claim 9.

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