Torque monitoring method, power control system, vehicle, medium and computer product

Abstract

The invention discloses a torque monitoring method, a power control system, a vehicle, a medium and a computer product, relates to the technical field of vehicles, is applied to the vehicle comprising a plurality of motors, and specifically comprises the following steps: determining a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to a target motor; determining a functional torque estimation result and a verification torque estimation result corresponding to the target motor according to the plurality of motor position signals and the plurality of three-phase phase current signals; determining the function torque estimation result or the verification torque estimation result as an arbitration torque estimation result, and calculating a first torque difference value between the arbitration torque estimation result and a motor request torque corresponding to the target motor; and a motor control strategy corresponding to the target motor is determined according to the first torque difference value, and the motor control strategy is a torque execution strategy or a torque cut-off strategy. According to the invention, the technical effect that the power control system can monitor the torque of the motor is achieved.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a torque monitoring method, a power control system, a vehicle, a storage medium, and a computer program product. Background Art

[0002] With the continuous development of the automotive industry, new energy vehicles have become the core direction of market technology iteration. In order to enable vehicles to have an efficient and flexible drive architecture, two or more motors are usually configured in new energy vehicles, so as to better meet the user's requirements for vehicle performance and driving range.

[0003] In order to ensure the safety of vehicles, technicians usually set up a power control system to perform real-time torque monitoring operations on multiple motors through the power control system. In the related art, the power control system usually uses a single torque estimation algorithm to estimate the torque of the motor to obtain a torque estimation result, and then monitors the operating state of the motor according to the torque estimation result.

[0004] However, once the torque estimation algorithm has a parameter calibration deviation, it will cause the power control system to obtain an incorrect torque estimation result, and further cause the power control system to incorrectly adjust the motor torque, increasing the safety hazard during vehicle driving. Summary of the Invention

[0005] The main purpose of the present application is to provide a torque monitoring method, a power system, a vehicle, a storage medium, and a computer program product, aiming to solve the technical problem that the power control system in the related art is prone to incorrectly adjust the motor torque.

[0006] To achieve the above object, the present application proposes a torque monitoring method. The torque monitoring method is applied to a vehicle, and the vehicle includes a plurality of motors. The torque monitoring method includes:

[0007] Determine a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor;

[0008] According to the plurality of motor position signals and the plurality of three-phase phase current signals, determine a functional torque estimation result and a calibration torque estimation result corresponding to the target motor;

[0009] Based on the functional torque estimation result and the calibration torque estimation result, determine an arbitration torque estimation result, and determine a first torque difference corresponding to the arbitration torque estimation result, where the arbitration torque estimation result is the functional torque estimation result or the calibration torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor;

[0010] Determine the motor control strategy corresponding to the target motor according to the first torque difference, where the motor control strategy is a torque execution strategy or a torque cut-off strategy.

[0011] In one embodiment, the motor position signal includes a functional position signal and a verification position signal. The step of determining multiple motor position signals corresponding to the target motor includes:

[0012] Determine the target torque calculation layer corresponding to the target motor, where the target torque calculation layer is a functional torque calculation layer or a verification torque calculation layer;

[0013] When it is determined that the target torque calculation layer is the functional torque calculation layer, obtain the first sine position signal and the first cosine position signal corresponding to the target motor through multiple preset information acquisition channels corresponding to the functional matrix calculation module;

[0014] Determine the functional position signal corresponding to the target motor based on the first sine position signal and the first cosine position signal.

[0015] In one embodiment, after the step of determining the target torque calculation layer corresponding to the target motor, the method further includes:

[0016] When it is determined that the target torque calculation layer is the verification torque calculation layer, obtain the second sine position signal and the second cosine position signal corresponding to the target motor through a single preset information acquisition channel corresponding to the verification torque calculation layer;

[0017] Determine the verification position signal corresponding to the target motor based on the second sine position signal and the second cosine position signal.

[0018] In one embodiment, the step of determining the functional torque estimation result and the verification torque estimation result corresponding to the target motor according to the multiple motor position signals and the multiple three-phase phase current signals includes:

[0019] Determine the first direct-axis current and the first quadrature-axis current corresponding to the target motor according to the functional position signal and the multiple three-phase phase current signals;

[0020] Perform torque calculation based on the first direct-axis current and the first quadrature-axis current to determine the functional torque estimation result corresponding to the target motor.

[0021] In one embodiment, the step of determining the functional torque estimation result and the verification torque estimation result corresponding to the target motor according to the multiple motor position signals and the multiple three-phase phase current signals further includes:

[0022] Determine a second direct-axis current and a second quadrature-axis current corresponding to the target motor according to the verification position signal and the plurality of three-phase phase current signals;

[0023] Query a preset torque table based on the second direct-axis current and the second quadrature-axis current to determine a verification torque estimation result corresponding to the target motor.

[0024] In one embodiment, the step of determining an arbitration torque estimation result based on the functional torque estimation result and the verification torque estimation result includes:

[0025] Determine a second torque difference generated between the functional torque estimation result and the verification torque estimation result;

[0026] When it is detected that the second torque difference is less than a preset difference threshold, determine the functional torque estimation result as the arbitration torque estimation result;

[0027] When it is detected that the second torque difference is greater than or equal to the preset difference threshold, determine a first torque estimation result, where the first torque estimation result is the torque estimation result with the largest value among the functional torque estimation result and the verification torque estimation result;

[0028] Determine a torque capability range corresponding to the target motor, and when it is detected that the first torque estimation result is within the torque capability range, determine the first torque estimation result as the arbitration torque estimation result.

[0029] In one embodiment, after the step of determining the torque capability range corresponding to the target motor, the method further includes:

[0030] When it is detected that the first torque estimation result is not within the torque capability range, determine a second torque estimation result, where the second torque estimation result is the torque estimation result with the smaller value among the functional torque estimation result and the verification torque estimation result;

[0031] Determine the second torque estimation result as the arbitration torque estimation result.

[0032] In one embodiment, the step of determining a motor control strategy corresponding to the target motor according to the first torque difference includes:

[0033] When it is detected that the target torque difference is less than or equal to a preset difference threshold, determine the torque execution strategy as the motor control strategy corresponding to the target motor;

[0034] When it is detected that the target torque difference is greater than the preset difference threshold, determine that the torque cut-off strategy is the motor control strategy.

[0035] In addition, to achieve the above object, the present application further provides a power control system, the system includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, the computer program is configured to implement the steps of the torque monitoring method as described above.

[0036] In addition, to achieve the above object, the present application further provides a vehicle, the vehicle includes the power control system as described above.

[0037] In addition, to achieve the above object, the present application further provides a storage medium, the storage medium is a computer-readable storage medium, a computer program is stored on the storage medium, and when the computer program is executed by a processor, it implements the steps of the torque monitoring method as described above.

[0038] In addition, to achieve the above object, the present application further provides a computer program product, the computer program product includes a computer program, and when the computer program is executed by a processor, it implements the steps of the torque monitoring method as described above.

[0039] The torque monitoring method provided by the embodiments of the present application is applied to a vehicle, the vehicle includes a plurality of motors, by determining a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to a target motor; according to the plurality of motor position signals and the plurality of three-phase phase current signals, determining a functional torque estimation result and a calibration torque estimation result corresponding to the target motor; determining an arbitration torque estimation result based on the functional torque estimation result and the calibration torque estimation result, and determining a first torque difference corresponding to the arbitration torque estimation result, wherein the arbitration torque estimation result is the functional torque estimation result or the calibration torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor; determining the motor control strategy corresponding to the target motor according to the first torque difference, wherein the motor control strategy is a torque execution strategy or a torque cut-off strategy.

[0040] In this embodiment, when the power control system is running, it first detects multiple motors in the vehicle to determine the target motor to be monitored, and determines multiple motor position signals and multiple three-phase phase current signals corresponding to the target motor. Then, the power control system calculates the multiple motor position signals and multiple three-phase phase current signals through a heterogeneous algorithm to determine the functional torque estimation result and the verification torque estimation result corresponding to the target motor. After that, the power control system screens the functional torque estimation result and the verification torque estimation result to determine that the arbitration torque estimation result used to determine the motor control strategy is the functional torque estimation result or the verification torque estimation result. At the same time, the power control system obtains the motor requested torque corresponding to the target motor, and calculates the first torque difference based on the arbitration torque estimation result and the motor requested torque. Finally, the power control system screens the preset torque execution strategy and torque cut-off strategy based on the first torque difference to determine the motor control strategy for controlling the target motor.

[0041] In this way, the present application solves the technical problem that the power control system in the related art is prone to incorrect adjustment of the motor torque. That is, the present application calculates multiple motor position signals and multiple three-phase phase current signals respectively through a heterogeneous algorithm to obtain the functional torque estimation result and the verification torque estimation result when the motor is running, and screens out the arbitration torque estimation result used to judge whether there is excessive torque in the target motor through the verification torque estimation result and the functional torque estimation result. Furthermore, the motor control strategy for controlling the target motor is determined according to the arbitration torque estimation result and the motor requested torque, avoiding the situation that when a single torque estimation algorithm is abnormal, it will cause incorrect adjustment of the motor by the power control, achieving the technical effect that the power control system can monitor the motor torque and reducing the safety hazard during vehicle driving. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying drawings here are incorporated into the specification and form a part of this specification, showing embodiments consistent with the present application, and are used together with the specification to explain the principles of the present application.

[0043] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the following will briefly introduce the accompanying drawings required for use in the description of the embodiments or the prior art. Obviously, for those of ordinary skill in the art, other drawings can also be obtained based on these drawings without creative efforts.

[0044] Figure 1 It is a schematic structural diagram of a power control system related to an embodiment of the torque monitoring method of the present application;

[0045] Figure 2 It is a schematic flow chart provided by Embodiment 1 of the torque monitoring method of the present application;

[0046] Figure 3 This is a schematic diagram of redundant position signal acquisition involved in an embodiment of the torque monitoring method of the present application;

[0047] Figure 4 This is a schematic diagram of heterogeneous algorithm processing involved in an embodiment of the torque monitoring method of the present application;

[0048] Figure 5 This is a schematic diagram of the torque verification process involved in an embodiment of the torque monitoring method of the present application;

[0049] Figure 6 This is a schematic diagram of the device structure of the hardware operating environment involved in the torque monitoring method in the embodiments of the present application.

[0050] The realization of the purpose, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0051] It should be understood that the specific embodiments described herein are only used to explain the technical solutions of the present application and are not used to limit the present application.

[0052] For a better understanding of the technical solutions of the present application, the following will be described in detail in combination with the accompanying drawings of the specification and specific implementation manners.

[0053] In this embodiment, for the convenience of description, the following takes a power control system internally configured with multiple torque control modules, multiple torque monitoring modules and multiple torque calculation modules, or a mobile terminal, a data storage control terminal, a PC and other terminals connected to an electronic control unit supporting the power control system as the execution subject for elaboration.

[0054] Among them, please refer to Figure 1 , Figure 1 This is a schematic diagram of the power control system involved in an embodiment of the torque monitoring method of the present application. As shown in Figure 1 , multiple torque control modules, multiple torque monitoring modules and multiple torque calculation modules are each connected to a matching motor. It can be understood that the torque calculation module is composed of a functional torque calculation layer L1 (i.e., Figure 1 L1 torque estimation 1 and L1 torque estimation 2 in Figure 1It consists of L2 torque estimation 1 and L2 torque estimation 2) in it. In addition, each of the multiple motors is equipped with a motor position sensor and a phase current sensor. Among them, the motor position sensor is used to detect four redundant position signals of sin+, sin-, cos+, and cos- generated by the motor during operation, and send them to the power control system through the DSADC signal sampling channel (Delta-Sigma Analog-to-Digital Converter). Similarly, the three-phase current sensor is connected to the power control system and is used to send the collected phase current signal to the power control system.

[0055] Based on the above power control system, the overall concept of the torque monitoring method of this application is proposed here.

[0056] With the continuous development of the automotive industry, new energy vehicles have become the core direction of market technology iteration. In order to enable the vehicle to have an efficient and flexible drive architecture, new energy vehicles are usually equipped with two or more motors to better meet the user's requirements for vehicle performance and driving range. In order to ensure the safety of the vehicle, technicians usually set up a power control system to perform real-time torque monitoring operations on multiple motors through the power control system. In the related technology, the power control system usually uses a single torque estimation algorithm to estimate the torque of the motor to obtain a torque estimation result, and then monitors the operating state of the motor according to the torque estimation result. However, once the torque estimation algorithm has a parameter calibration deviation, it will cause the power control system to obtain an incorrect torque estimation result, and then cause the power control system to adjust the motor torque incorrectly, increasing the safety hazard during vehicle driving. In addition, in the related technology, the power control system usually also needs to collect signals through multiple hardware sampling channels to obtain various key information during motor operation. However, in the case of configuring multiple motors in the vehicle, if each signal needs to be transmitted through a separate hardware sampling channel, it will lead to redundant paths in the power system, thereby greatly increasing the hardware cost of the vehicle.

[0057] In view of the above phenomena, the present application provides a torque monitoring method, which is applied to a vehicle including multiple motors. The torque monitoring method includes: determining a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to a target motor; determining a functional torque estimation result and a verification torque estimation result corresponding to the target motor according to the plurality of motor position signals and the plurality of three-phase phase current signals; determining an arbitration torque estimation result based on the functional torque estimation result and the verification torque estimation result, and determining a first torque difference corresponding to the arbitration torque estimation result, where the arbitration torque estimation result is the functional torque estimation result or the verification torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor; determining a motor control strategy corresponding to the target motor according to the first torque difference, where the motor control strategy is a torque execution strategy or a torque cut-off strategy.

[0058] In this way, the present application solves the technical problem that the power control system in the related art is prone to mis-regulating the motor torque. That is, the present application calculates the functional torque estimation result and the verification torque estimation result of the motor during operation by separately calculating a plurality of motor position signals and a plurality of three-phase phase current signals based on heterogeneous algorithms, and screens out the arbitration torque estimation result for judging whether there is excessive torque in the target motor through the verification torque estimation result and the functional torque estimation result. Furthermore, the motor control strategy for controlling the target motor is determined according to the arbitration torque estimation result and the motor request torque, avoiding the situation that when a single torque estimation algorithm has an abnormality, it will cause the power control to mis-regulate the motor, achieving the technical effect of enabling the power control system to monitor the motor torque and reducing the safety hazards during vehicle driving.

[0059] Based on the overall concept of the torque monitoring method of the present application, an embodiment of the present application provides a torque monitoring method. Refer to Figure 2 , Figure 2 which is a schematic flowchart of the first embodiment of the torque monitoring method of the present application. In this embodiment, the torque monitoring method is applied to a vehicle including multiple motors. The torque monitoring method includes steps S10 to S40:

[0060] Step S10: Determine a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor;

[0061] It should be noted that the motor position signal is generated during the operation of the motor and can indicate the operating angle of the motor. In addition, the three-phase phase current signal is composed of three phase current signals generated during the operation of the motor.

[0062] In this embodiment, when multiple motors are configured in a vehicle, the power control system first detects the multiple motors during operation to determine the target motor to be monitored, and accesses the multiple motor position sensors and multiple phase current sensors corresponding to the target motor, so as to obtain multiple motor position signals and multiple three-phase current signals generated by the target motor during operation through the multiple motor position sensors and multiple phase current sensors, and inputs the multiple motor position signals and multiple three-phase current signals into the torque calculation module configured in itself.

[0063] Exemplarily, for example, when two motors, namely motor 1 and motor 2, are configured in a vehicle, during operation, if the power control system determines that it is necessary to monitor target motor 1, it first detects motor 1 through motor position sensor 1 and phase current sensors 1-3 connected to target motor 1 to determine multiple motor position signals and multiple three-phase current signals generated by target motor 1 during operation, and inputs the multiple motor position signals and multiple three-phase current signals into the functional torque calculation layer L1 and the verification torque calculation layer L2 for calculating the motor torque of target motor 1.

[0064] In addition, in this embodiment and another embodiment, if the power control system determines that it is necessary to monitor target motor 2, it detects target motor 2 through motor position sensor 2 and phase current sensors 4-6 connected to target motor 2 to determine multiple motor position signals and multiple three-phase current signals generated by target motor 2 during operation, and inputs the multiple motor position signals and multiple three-phase current signals into the functional torque calculation layer L1 and the verification torque calculation layer L2 for calculating the motor torque of target motor 2.

[0065] In this way, the power control system can detect multiple motors in the vehicle, thereby monitoring the operating states of the multiple motors in real time, and further calculating the respective functional torque adjustment parameters and verification torque adjustment parameters corresponding to the multiple motors based on the operating states, so as to verify whether there is an abnormality in the torque adjustment process of the motors according to the respective functional torque adjustment parameters and verification torque adjustment parameters.

[0066] In a feasible implementation manner, the motor position signal includes a functional position signal and a verification position signal. The step of "determining multiple motor position signals corresponding to the target motor" in step S10 may specifically include steps S101 to S103:

[0067] Step S101: Determine the target torque calculation layer corresponding to the target motor, where the target torque calculation layer is a functional torque calculation layer or a verification torque calculation layer;

[0068] Step S102: When it is determined that the target torque calculation layer is the functional torque calculation layer, obtain the first sine position signal and the first cosine position signal corresponding to the target motor through a plurality of preset information acquisition channels corresponding to the functional matrix calculation module;

[0069] Step S103: Determine the functional position signal corresponding to the target motor based on the first sine position signal and the first cosine position signal.

[0070] It should be noted that the preset information acquisition channel is a DSADC signal sampling channel. It can be understood that without controlling the DSADC signal sampling channel, a single DSADC signal sampling channel can only transmit one of the redundant position signals, i.e., the sin signal or the cos signal, generated by the motor. In addition, the functional position signal is the motor position signal used to calculate the functional torque estimation result for adjusting the torque.

[0071] In this embodiment, when the power control system operates, it first detects multiple motors to determine the target motor to be monitored and determines the target torque calculation layer corresponding to the target motor. Then, when it is determined that the target torque calculation layer is the functional torque calculation layer, the power control system obtains the first sine position signal and the first cosine position signal sent by the motor position sensor that matches the target motor acquisition through a plurality of preset information acquisition channels corresponding to the functional torque calculation layer. Finally, the power monitoring system inputs the first sine position signal and the first cosine position signal into the functional torque calculation layer, and the functional torque calculation layer calculates the first sine position signal and the first cosine position signal to determine the functional position signal generated by the target motor during operation.

[0072] Exemplarily, for example, please refer to Figure 3 , Figure 3 is a schematic diagram of redundant position signal acquisition related to an embodiment of the torque monitoring method of the present application. As Figure 3As shown in the figure, when there are two motors, namely motor 1 and motor 2, configured in the vehicle, during the operation of the power control system, if it is determined that motor 1 needs to be monitored, the power control system first detects motor 1 through the motor position sensor 1 and phase current sensors 1 - 3 connected to motor 1 to determine multiple motor position signals and multiple three-phase phase current signals generated by motor 1 during operation. At this time, the power control system determines the target torque calculation layer corresponding to motor 1. Then, when the power control system determines that the target torque calculation layer for torque calculation is the functional torque calculation layer L1, it controls the motor position sensor 1 to send the L1 - P1 - sin sine position signal generated by motor 1 during operation to the functional torque calculation layer L1 through the first DSADC signal sampling channel corresponding to the functional torque calculation layer L1, and sends the L1 - P1 - cos cosine position signal to the functional torque calculation layer L1 through the second DSADC signal sampling channel corresponding to the functional torque calculation layer L1. Finally, the functional torque calculation layer L1 performs amplitude normalization on the L1 - P1 - sin sine position signal and the L1 - P1 - cos cosine position signal to eliminate amplitude deviation, and performs arctangent processing on the normalized L1 - P1 - sin sine position signal and L1 - P1 - cos cosine position signal to determine the functional position signal θ of motor P1 L1-P1 Namely:

[0073]

[0074] In addition, in this embodiment and another embodiment, if the power control system determines that motor 2 needs to be monitored, it detects motor 2 through the motor position sensor 2 and phase current sensors 4 - 6 connected to motor 2 to determine multiple motor position signals and multiple three-phase phase current signals generated by motor 2 during operation. At this time, the power control system determines the target torque calculation layer corresponding to motor 2. Then, when the power control system determines that the target torque calculation layer for torque calculation is the functional torque calculation layer L1, it controls the motor position sensor 2 to send the L1 - P2 - sin sine position signal generated by motor 2 during operation to the functional torque calculation layer L1 through the third DSADC signal sampling channel, and sends the L2 - P2 - cos cosine position signal to the functional torque calculation layer L1 through the fourth DSADC signal sampling channel. Finally, the functional torque calculation layer L1 performs amplitude normalization on the L1 - P2 - sin sine position signal and the L2 - P2 - cos cosine position signal to eliminate amplitude deviation, and performs arctangent processing on the normalized L1 - P2 - sin sine position signal and L1 - P2 - cos cosine position signal to determine the functional position signal θ of motor P2 L1-P2 .

[0075] In this way, the power control system can quickly collect redundant position information through multiple DSADC signal sampling channels connected to each motor, and then ensure that the motor position signal can be quickly calculated based on the redundant position information.

[0076] In a feasible implementation manner, after the above step S101, the torque monitoring method of the present application may further include steps S104 to S105:

[0077] Step S104: When it is determined that the target torque calculation layer is the verification torque calculation layer, obtain the second sine position signal and the second cosine position signal corresponding to the target motor through a single preset information acquisition channel corresponding to the verification torque calculation layer;

[0078] Step S105: Determine the verification position signal corresponding to the target motor based on the second sine position signal and the second cosine position signal.

[0079] It should be noted that the preset information acquisition channel is a DSADC signal sampling channel. It can be understood that when controlling the DSADC signal sampling channel, the sin signal and the cos signal generated by the motor can be sequentially obtained through a single DSADC signal sampling channel.

[0080] In this embodiment, if the power control system determines that the target torque calculation layer for performing the torque calculation operation is the verification torque calculation layer, it controls a single preset information acquisition channel corresponding to the verification torque calculation layer to obtain the second sine position signal and the second cosine position signal sent by the motor position sensor collected by the target motor through the single preset information acquisition channel. Finally, the power monitoring system inputs the second sine position signal and the second cosine position signal into the verification torque calculation layer, and the verification torque calculation layer calculates the second sine position signal and the second cosine position signal to determine the verification position signal generated by the target motor during operation.

[0081] Exemplarily, for example, as Figure 3As shown, if the power control system detects that the target torque calculation layer that needs to perform torque calculation operations is the verification torque calculation layer L2, the power control system controls the fifth DSADC signal sampling channel corresponding to the verification torque calculation layer L2 to collect the L2-P1-sin sine position signal and the L2-P1-cos cosine position signal generated by the target motor 1 during operation through the fifth DSADC signal sampling channel, and inputs the L2-P1-sin sine position signal and the L2-P1-cos cosine position signal into the verification torque calculation layer L2. After that, the verification torque calculation layer L2 performs normalization processing and gain compensation processing on the L2-P1-sin sine position signal and the L2-P1-cos cosine position signal, and then the verification torque calculation layer L2 performs arctangent processing on the processed L2-P1-sin sine position signal and the L2-P1-cos cosine position signal to obtain the verification position signal θ generated by the target motor 1 during operation. L2-P1 。

[0082] In addition, in this embodiment and another embodiment, if the power control system determines that it is necessary to adjust the target motor 2 and detects that the target torque calculation layer for calculating the torque calculation parameters of the target motor 2 is the verification torque calculation layer L2 corresponding to the target motor 2, the power control system controls the sixth DSADC signal sampling channel corresponding to the verification torque calculation layer L2 of the target motor 2 to collect the L2-P2-sin sine position signal and the L2-P2-cos cosine position signal generated by the target motor 2 during operation through the sixth DSADC signal sampling channel, and inputs the L2-P2-sin sine position signal and the L2-P2-cos cosine position signal into the verification torque calculation layer L2. After that, the verification torque calculation layer L2 performs normalization processing and gain compensation processing on the L2-P2-sin sine position signal and the L2-P2-cos cosine position signal, and then the verification torque calculation layer L2 performs arctangent processing on the processed L2-P2-sin sine position signal and the L2-P2-cos cosine position signal to obtain the verification position signal θ generated by the target motor 2 during operation. L2-P2 。

[0083] In this way, by setting a single signal sampling channel between the motor and the verification torque calculation layer, the technical effect of reducing the setting cost of the signal sampling channel can be achieved by taking advantage of the characteristic that the verification torque calculation layer has a relatively low timeliness requirement for data, and at the same time, it can ensure that the verification torque calculation layer calculates the motor position signal based on the received redundant position information.

[0084] Step S20: Determine the functional torque estimation result and the verification torque estimation result corresponding to the target motor according to a plurality of motor position signals and a plurality of three-phase phase current signals;

[0085] In this embodiment, after the torque calculation module obtains a plurality of motor position signals and a plurality of three-phase phase current signals of the target motor, it calculates the motor position signals and the plurality of three-phase phase current signals through the function torque calculation layer configured in itself to determine the function torque estimation result for torque adjustment of the target motor. At the same time, it calculates the motor position signals and the plurality of three-phase phase current signals through the verification torque calculation layer configured in itself to determine the verification torque estimation result for verifying the function torque estimation result, and inputs the function torque estimation result and the verification torque estimation result to the torque monitoring module corresponding to the target motor.

[0086] Exemplarily, for example, after the power control system inputs a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor P1 to the torque calculation module corresponding to the target motor P1, the torque calculation module processes the function position information θ of the target motor P1 L1-P1 and the three-phase phase current signals through the function torque calculation layer L1 configured in itself to calculate the first function torque estimation result T generated during the operation of the target motor P1 q1 ; at the same time, the torque calculation module processes the verification position information θ of the target motor P2 L2-P1 and the three-phase phase current signals through the verification torque calculation layer L2 configured in itself to calculate the first verification torque estimation result generated during the operation of the motor P1. The torque calculation module then inputs the first function torque estimation result T q1 and the first verification torque estimation result to the torque monitoring module 1 corresponding to the target motor P1.

[0087] In addition, in this embodiment and another embodiment, after the power control system inputs a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor P2 to the torque calculation module corresponding to the target motor P2, the torque calculation module processes the function position information θ of the target motor P2 L1-P2 and the three-phase phase current signals through the function torque calculation layer L1 configured in itself to calculate the second function torque estimation result T generated during the operation of the target motor P1 q2 ; at the same time, the torque calculation module processes the verification position information θ of the target motor P2 L2-P2 and the three-phase phase current signals through the verification torque calculation layer L2 configured in itself to calculate the second verification torque estimation result generated during the operation of the motor P2. The torque calculation module then inputs the second function torque estimation result T q2 and the second verification torque estimation result to the torque monitoring module 2 corresponding to the target motor P2.

[0088] In this way, the power control system can calculate the torque estimation results generated by the motor through heterogeneous algorithms in multiple calculation modules to obtain the functional torque estimation results for adjusting the motor and the verification torque estimation results for verifying the motor, and then determine the operating state of the motor according to the functional torque estimation results and the verification torque estimation results, ensuring that the motor torque can be accurately adjusted.

[0089] In a feasible implementation manner, step S20 above may specifically include steps S201 to S202:

[0090] Step S201: Determine a first direct-axis current and a first quadrature-axis current corresponding to the target motor according to the functional position signal and the multiple three-phase phase current signals;

[0091] Step S202: Perform torque calculation based on the first direct-axis current and the first quadrature-axis current to determine a functional torque estimation result corresponding to the target motor.

[0092] In this embodiment, after the torque calculation module obtains multiple motor position signals and multiple three-phase phase current signals of the target motor, the functional torque calculation layer configured in the torque calculation module first calculates the first direct-axis current and the first quadrature-axis current of the target motor according to the functional position signal and the three-phase phase current signal. Then, the functional torque calculation layer performs torque calculation according to the first direct-axis current, the first quadrature-axis current, and the functional position signal to determine a first functional torque estimation result for torque adjustment of the target torque.

[0093] Exemplarily, for example, please refer to Figure 4 , Figure 4 which is a schematic diagram of heterogeneous algorithm processing involved in an embodiment of the torque monitoring method of the present application. As Figure 4 shown, after the power control system inputs multiple motor position signals and multiple three-phase phase current signals corresponding to the target motor P1 into the torque calculation module corresponding to the target motor P1, the torque calculation module processes the functional position information θ L1-P1 of the target motor P1 and the three-phase phase current signal through the functional torque calculation layer L1 configured therein to calculate the first direct-axis current i d and the first quadrature-axis current i q generated during the operation of the target motor P1. Then, the functional torque calculation layer L1 substitutes the first direct-axis current i d and the first quadrature-axis current i q into the torque calculation formula based on magnetic flux and inductance to calculate the torque estimation result, and obtains a first functional torque estimation result T q1 corresponding to the target motor P1:

[0094] where p is the number of pole pairs of the motor, and ψ f is the magnetic flux linkage of the permanent magnet of the motor, and i d is the direct-axis current, and i q is the quadrature-axis current, and L d is the direct-axis inductance, and L q is the quadrature-axis inductance.

[0095] It can be understood that the specific process of calculating the direct-axis current i d and the quadrature-axis current i q based on the phase current signal and the motor angle is the prior art, so it will not be elaborated here. Similarly, the process of obtaining the direct-axis inductance L d and the quadrature-axis inductance L q is also the prior art, so it will not be elaborated here. In addition, the specific values of the magnetic flux linkage ψ f of the permanent magnet of the motor and the number of pole pairs p of the motor can be set by technicians according to the model of the motor, and this application does not limit this.

[0096] In addition, in this embodiment and another embodiment, after the force control system inputs the multiple motor position signals and multiple three-phase phase current signals corresponding to the target motor P2 into the torque calculation module corresponding to the target motor P2, the torque calculation module processes the functional position information θ L1-P2 of the target motor P1 and the three-phase phase current signal through the configured functional torque calculation layer L1 to calculate the third direct-axis current and the third quadrature-axis current generated during the operation of the target motor P2. After that, the functional torque calculation layer L1 substitutes the third direct-axis current and the third quadrature-axis current into the torque calculation formula based on the magnetic flux linkage and the inductance to calculate the torque estimation result, and obtains the second functional torque estimation result T q2 corresponding to the target motor P2.

[0097] In this way, the power control system can calculate the functional torque estimation results for torque adjustment that match each of the multiple motors during operation.

[0098] In a feasible implementation manner, the above step S20 may further include steps S203 to S204:

[0099] Step S203 determines the second direct-axis current and the second quadrature-axis current corresponding to the target motor according to the verification position signal and the multiple three-phase phase current signals;

[0100] Step S204: Query a preset torque table based on the second direct-axis current and the second quadrature-axis current to determine the verification torque estimation result corresponding to the target motor.

[0101] In this embodiment, after the torque calculation module obtains a plurality of motor position signals and a plurality of three-phase phase current signals of the target motor, the verification torque calculation layer configured in the torque calculation module first calculates the second direct-axis current and the second quadrature-axis current of the target motor according to the verification position signal and the three-phase phase current signal. Then, the verification torque calculation layer queries a preset torque table according to the second direct-axis current and the second quadrature-axis current to determine the verification torque estimation result corresponding to the target motor.

[0102] Exemplarily, for example, after the power control system inputs a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor P1 into the torque calculation module for the target motor P1, the torque calculation module processes the functional position information θ of the target motor P1 through the verification torque calculation layer L2 configured therein L2-P1 and the three-phase phase current signal to calculate the second direct-axis current and the second quadrature-axis current generated during the operation of the target motor P1. Then, the verification torque calculation layer L2 integrates the second direct-axis current and the second quadrature-axis current to obtain the first torque query current group. At the same time, the verification torque calculation layer L2 reads the storage module of the power control system to obtain the preset torque query MAP. The verification torque calculation layer L2 queries the torque query MAP based on the second direct-axis current and the second quadrature-axis current in the first torque query current group to determine the first verification torque estimation result during the operation of the motor P1.

[0103] In addition, in this embodiment and another embodiment, after the power control system inputs a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor P2 into the torque calculation module for the target motor P2, the torque calculation module processes the functional position information θ of the target motor P2 through the verification torque calculation layer L2 configured therein L2-P2 and the three-phase phase current signal to calculate the fourth direct-axis current and the fourth quadrature-axis current generated during the operation of the target motor P2. Then, the verification torque calculation layer L2 integrates the fourth direct-axis current and the fourth quadrature-axis current to obtain the second torque query current group. At the same time, the verification torque calculation layer L2 reads the storage module of the power control system to obtain the preset torque query MAP. The verification torque calculation layer L2 queries the torque query MAP based on the fourth direct-axis current and the fourth quadrature-axis current in the second torque query current group to determine the second verification torque estimation result during the operation of the motor P2.

[0104] In this way, the power control system can calculate the verification torque estimation results corresponding to multiple motors respectively, and verify the torque adjustment operation of the motors through the multiple verification torque estimation results to improve the safety performance of the vehicle.

[0105] Step S30: Determine an arbitration torque estimation result based on the functional torque estimation result and the verification torque estimation result, and determine a first torque difference corresponding to the arbitration torque estimation result, where the arbitration torque estimation result is the functional torque estimation result or the verification torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor;

[0106] In this embodiment, after obtaining the functional torque estimation result and the verification torque estimation result of the target motor, the torque monitoring module compares the functional torque estimation result and the verification torque estimation result to determine a second torque difference generated between the functional torque estimation result and the verification torque estimation result. At the same time, the torque monitoring module reads the above storage module to obtain a preset difference threshold, and the torque monitoring module compares the second torque difference with the preset difference threshold. When it is detected that the second torque difference is less than the preset difference threshold, the functional torque estimation result is determined as the arbitration torque estimation result. At the same time, the torque monitoring module obtains the motor request torque input by the driver and calculates a first torque difference based on the arbitration torque estimation result and the functional torque estimation result. Similarly, when the torque monitoring module detects that the second torque difference is greater than or equal to the preset difference threshold, among the functional torque estimation result and the verification torque estimation result, the torque estimation result with a larger value and within the torque capacity range of the target motor is determined as the arbitration torque estimation result, and a first torque difference is calculated based on the arbitration torque estimation result and the motor request torque corresponding to the target motor.

[0107] Exemplarily, for example, please refer to Figure 5 , Figure 5 which is a schematic diagram of the torque verification process involved in an embodiment of the torque monitoring method of the present application. As shown in steps A10 - A20 in Figure 5 , after the torque monitoring module 1 obtains the first functional torque estimation result T q1 and the first verification torque estimation result of the target motor P1, it continues to follow the steps shown in Figure 5 A30, compares the first functional torque estimation result T q1 with the first verification torque estimation result to determine a second torque difference generated between the first functional torque estimation result T q1 and the first verification torque estimation result. At the same time, as shown in step A40 in Figure 5 , the torque monitoring module 1 reads the above storage module to obtain a preset difference threshold, and compares the second torque difference with the preset difference threshold to obtain a first comparison result. When the torque monitoring module 1 detects that the first comparison result is that the second torque difference is less than the preset difference threshold, it determines that the torque result calculated by the functional torque calculation layer L1 is accurate, and the first functional torque estimation result T q1As an arbitration torque estimation result, meanwhile, the torque monitoring module 1 obtains the motor request torque input by the driver according to step A50 shown in Figure 5 , and calculates the first torque difference based on the arbitration torque estimation result and the functional torque estimation result according to step A60 shown in Figure 5 . Similarly, when the torque monitoring module detects that the first comparison result is that the first torque difference is greater than or equal to the preset difference threshold, it determines that there is a deviation in the torque result calculated by the functional torque calculation layer L1, and then determines the torque estimation result with the larger value between the first functional torque estimation result T q1 and the first verification torque estimation result and within the torque capacity range of the target motor as the arbitration torque estimation result, and calculates the first torque difference based on the arbitration torque estimation result and the motor request torque corresponding to the target motor.

[0108] In addition, in this embodiment and another embodiment, after obtaining the second functional torque estimation result T q2 and the second verification torque estimation result of the target P2, the torque monitoring module 2 compares the second functional torque estimation result T q2 with the second verification torque estimation result to determine the first torque difference generated between the second functional torque estimation result T q2 and the second verification torque estimation result. Meanwhile, the torque monitoring module 2 reads the above storage module to obtain the preset difference threshold, and compares the second torque difference with the preset difference threshold to obtain the second comparison result. When the torque monitoring module 2 detects that the second comparison result is that the second torque difference is less than the preset difference threshold, it determines that the torque result calculated by the functional torque calculation layer L2 is accurate, and uses the second functional torque estimation result T q1 as the arbitration torque estimation result. Meanwhile, the torque monitoring module obtains the motor request torque input by the driver, and calculates the first torque difference based on the arbitration torque estimation result and the above motor request torque. Similarly, when the torque monitoring module detects that the second comparison result is that the second torque difference is greater than or equal to the preset difference threshold, it determines that there is a deviation in the torque result calculated by the functional torque calculation layer L1, and then determines the torque estimation result with the larger value between the second functional torque estimation result T q2 and the second verification torque estimation result and within the torque capacity range of the target motor as the arbitration torque estimation result, and calculates the first torque difference based on the arbitration torque estimation result and the motor request torque.

[0109] In a feasible implementation manner, the step of "determining the arbitration torque estimation result based on the functional torque estimation result and the verification torque estimation result" in step S30 above may specifically include steps S301 to S304:

[0110] Step S301: Determine a second torque difference generated between the functional torque estimation result and the calibration torque estimation result;

[0111] Step S302: When it is detected that the second torque difference is less than a preset difference threshold, determine the functional torque estimation result as the arbitration torque estimation result;

[0112] Step S303: When it is detected that the second torque difference is greater than or equal to the preset difference threshold, determine a first torque estimation result, where the first torque estimation result is the torque estimation result with the largest value among the functional torque estimation result and the calibration torque estimation result;

[0113] Step S304: Determine the torque capability range corresponding to the target motor, and when it is detected that the first torque estimation result is within the torque capability range, determine the first torque estimation result as the arbitration torque estimation result.

[0114] In this embodiment, after the torque monitoring module obtains the functional torque estimation result and the calibration torque estimation result, it first calculates based on the functional torque estimation result and the calibration torque estimation result to determine the second torque difference generated between the functional torque estimation result and the calibration torque estimation result. Then, the torque monitoring module reads the above storage module to obtain the preset difference threshold. The torque monitoring module compares the second torque difference with the preset difference threshold, and when it is detected that the second torque difference is less than the preset difference threshold, determines the functional torque estimation result as the arbitration torque estimation result; meanwhile, if the torque monitoring module detects that the second torque difference is greater than or equal to the preset difference threshold, it compares the functional torque estimation result and the calibration torque estimation result to determine the torque estimation result with the larger value among the functional torque estimation result and the calibration torque estimation result as the first torque estimation result. Finally, the torque monitoring module obtains the motor torque capability range of the target motor and compares it with the first torque estimation result, so as to determine the first torque estimation result as the arbitration torque estimation result for screening the motor control strategy when it is determined that the first torque estimation result is within the motor torque capability range.

[0115] Exemplarily, for example, after the torque monitoring module 1 obtains the first functional torque estimation result T q1 of the target motor P1 and the first calibration torque estimation result, it compares the first functional torque estimation result T q1 with the first calibration torque estimation result to determine the first functional torque estimation result T q1The second torque difference generated between the first torque estimation result and then, the torque monitoring module 1 reads the above storage module to obtain a preset difference threshold, and compares the second torque difference with the preset difference threshold to obtain a first comparison result. When the torque monitoring module 1 detects that the first comparison result is that the second torque difference is less than the preset difference threshold, it determines that the torque result calculated by the functional torque calculation layer L1 is accurate. At this time, the torque monitoring module 1 uses the first functional torque estimation result T q1 As the arbitration torque estimation result; at the same time, if the torque monitoring module 1 detects that the second torque difference is greater than the preset difference threshold, the torque monitoring module 1 determines that there may be an unexpectedly large torque in the target motor P1 at this time. The torque monitoring module 1 compares the first functional torque estimation result T q1 With the first torque verification estimation result, and when it is determined that the value of the first functional torque estimation result T q1 Is greater than the first torque verification estimation result, the first functional torque estimation result T q1 Is determined as the first torque estimation result (or, when it is determined that the value of the first functional torque estimation result T q1 Is less than the first torque verification estimation result, the first torque verification estimation result is determined as the first torque estimation result). Finally, the torque monitoring module 1 reads the above storage module to obtain the first torque capacity range of the target motor P1, and compares the first torque estimation result with the first torque capacity range. Thus, when it is detected that the first torque estimation result is less than the maximum value of the first torque capacity range, it is determined that the first torque estimation result is within the torque capacity range of the target motor P1. The torque monitoring module 1 further determines the arbitration torque estimation result for screening the motor control strategy corresponding to the target motor P1 according to the numerically larger first torque estimation result.

[0116] In addition, in this embodiment and another embodiment, after the torque monitoring module 2 obtains the second functional torque estimation result T q2 And the second torque verification estimation result, the second functional torque estimation result T q2 Is compared with the second torque verification estimation result to determine the second torque difference generated between the second functional torque estimation result T q2 And the second torque verification estimation result. Then, the torque monitoring module 2 reads the above storage module to obtain a preset difference threshold, and compares the second torque difference with the preset difference threshold to obtain a second comparison result. When the torque monitoring module 2 detects that the second comparison result is that the second torque difference is less than the preset difference threshold, it determines that the torque result calculated by the functional torque calculation layer L2 is accurate. At this time, the torque monitoring module 2 uses the second functional torque estimation result T q2As the arbitration torque estimation result; meanwhile, if the torque monitoring module 2 detects that the second torque difference is greater than the preset difference threshold, the torque monitoring module 2 determines that the target motor P2 may have an unexpectedly excessive torque at this time. At this time, the torque monitoring module 2 will compare the second functional torque estimation result T q2 with the second calibration torque estimation result. When it is determined that the value of the second functional torque estimation result T q2 is greater than the second calibration torque estimation result, the second functional torque estimation result T q2 is determined as the first torque estimation result (or, when it is determined that the value of the second functional torque estimation result T q2 is less than the second calibration torque estimation result, the second calibration torque estimation result is determined as the first torque estimation result). Finally, the torque monitoring module 2 reads the above storage module to obtain the second torque capacity range of the target motor P2, and compares the first torque estimation result with the second torque capacity range. Thus, when it is detected that the first torque estimation result is less than the maximum value of the second torque capacity range, it is determined that the first torque estimation result is within the torque capacity range of the target motor P2. The torque monitoring module 2 then determines the arbitration torque estimation result according to the larger first torque estimation result.

[0117] In this way, the power control system can timely detect the unexpectedly excessive torque of the motor, and further screen a suitable motor control strategy in the case of unexpectedly excessive torque to ensure the safety of the vehicle.

[0118] In a feasible implementation manner, after the step of "determining the torque capacity range corresponding to the target motor" in the above step S304, the torque monitoring method of the present application may further include steps S305 to S306:

[0119] Step S305: When it is detected that the first torque estimation result is not within the torque capacity range, determine a second torque estimation result, where the second torque estimation result is the smaller torque estimation result among the functional torque estimation result and the calibration torque estimation result;

[0120] Step S306: Determine the second torque estimation result as the arbitration torque estimation result.

[0121] In this embodiment, when the torque monitoring module detects that the first torque estimation result is not within the torque capacity range, the torque monitoring module determines the smaller torque estimation result among the functional torque estimation result and the calibration torque estimation result as the second torque estimation result. Finally, the torque monitoring module determines the second torque estimation result as the arbitration torque estimation result for screening the motor control strategy.

[0122] Exemplarily, for example, when the torque monitoring module 1 determines that the first torque estimation result is outside the torque capacity range of the target motor P1, the torque monitoring module 1 determines that the target motor P1 cannot withstand the first torque estimation result. Then, the torque monitoring module 1 determines the smaller torque estimation result among the first functional torque estimation result and the first verification torque estimation result as the second torque estimation result. Further, the torque monitoring module 1 determines the smaller second torque estimation result as the arbitration torque estimation result for screening the motor control strategy to ensure the safety of the vehicle.

[0123] Similarly, when the torque monitoring module 2 determines that the first torque estimation result is outside the torque capacity range of the target motor P2, the torque monitoring module 2 determines that the target motor P2 cannot withstand the first torque estimation result. Then, the torque monitoring module 2 determines the smaller torque estimation result among the second functional torque estimation result and the second verification torque estimation result as the second torque estimation result. Further, the torque monitoring module 2 determines the smaller second torque estimation result as the arbitration torque estimation result for screening the motor control strategy to ensure the safety of the vehicle.

[0124] In this way, the power control system can timely detect the unexpectedly excessive torque of the motor and further screen a suitable motor control strategy in the case of unexpectedly excessive torque to ensure the safety of the vehicle.

[0125] Step S40: Determine the motor control strategy corresponding to the target motor according to the first torque difference, where the motor control strategy is a torque execution strategy or a torque cut-off strategy.

[0126] In this embodiment, after the torque monitoring module determines the first torque difference, it compares the first torque difference with the above-mentioned preset difference threshold to determine whether the motor has unexpectedly excessive torque based on the first torque difference and the preset difference threshold, and then screens the preset torque execution strategy or torque cut-off strategy based on the judgment result to determine the motor control strategy for controlling the target motor.

[0127] In a feasible implementation manner, in the above step S40, it may specifically further include steps S401 to S402:

[0128] Step S401: When it is detected that the first torque difference is less than or equal to the preset difference threshold, determine that the torque execution strategy is the motor control strategy corresponding to the target motor;

[0129] Step S402: When it is detected that the first torque difference is greater than the preset difference threshold, determine that the torque cut-off strategy is the motor control strategy.

[0130] In this embodiment, as Figure 5As shown, after the torque monitoring module determines the first torque difference, according to Figure 5 shown in step A70 in

[0131] the first torque difference is compared with the above preset difference threshold. Furthermore, when the torque monitoring module determines that the first torque difference is less than or equal to the preset difference threshold, it determines that there is no deviation in the torque calculation result obtained by the torque calculation module at this time. That is, the target motor can be controlled to operate according to the motor request torque. Then, the torque monitoring module determines the preset torque execution strategy as the motor control strategy to be executed. Similarly, when the torque monitoring module determines that the first torque difference is greater than the preset difference threshold, it determines that there is an unexpectedly large torque in the target motor at this time. To ensure vehicle safety, the torque monitoring module determines the preset torque cut-off strategy as the motor control strategy to be executed.

[0132] In this embodiment, when there are multiple motors configured in the vehicle, the power control system first detects the multiple motors during operation to determine the target motor to be monitored, and accesses the multiple motor position sensors and multiple phase current sensors corresponding to the target motor, so as to obtain multiple motor position signals and multiple three-phase phase current signals generated by the target motor during operation through the multiple motor position sensors and multiple phase current sensors, and inputs the multiple motor position signals and multiple three-phase phase current signals into the torque calculation module configured in itself. After that, the torque calculation module calculates the motor position signals and multiple three-phase phase current signals through the function torque calculation layer configured in itself to determine the functional torque estimation result for torque adjustment of the target motor. At the same time, the torque calculation module calculates the motor position signals and multiple three-phase phase current signals through the verification torque calculation layer configured in itself to determine the verification torque estimation result for verifying the functional torque estimation result, and inputs the functional torque estimation result and the verification torque estimation result into the torque monitoring module corresponding to the target motor. Then, the torque monitoring module compares the functional torque estimation result and the verification torque estimation result to determine the second torque difference generated between the functional torque estimation result and the verification torque estimation result. At the same time, the torque monitoring module reads the above storage module to obtain the preset difference threshold, and the torque monitoring module compares the second torque difference with the preset difference threshold. When it detects that the second torque difference is less than the preset difference threshold, it determines the functional torque estimation result as the arbitration torque estimation result. At the same time, the torque monitoring module obtains the motor request torque input by the driver and calculates the first torque difference based on the arbitration torque estimation result and the functional torque estimation result. Similarly, when the torque monitoring module detects that the second torque difference is greater than or equal to the preset difference threshold, it determines the torque estimation result with the larger value and within the torque capacity range of the target motor among the functional torque estimation result and the verification torque estimation result as the arbitration torque estimation result, and calculates the first torque difference based on the arbitration torque estimation result and the motor request torque corresponding to the target motor. Finally, the torque monitoring module compares the first torque difference with the above preset difference threshold to determine whether there is an unexpectedly large torque in the motor based on the first torque difference and the preset difference threshold, and then filters the preset torque execution strategy or torque cut-off strategy based on the judgment result to determine the motor control strategy for controlling the target motor.

[0133] Thus, the present application solves the technical problem in the related art that the power control system is prone to misadjust the motor torque, that is, the present application calculates multiple motor position signals and multiple three-phase phase current signals respectively based on a heterogeneous algorithm to obtain a functional torque estimation result and a verification torque estimation result when the motor is running, and screens out an arbitration torque estimation result for determining whether there is excessive torque in the target motor through the verification torque estimation result and the functional torque estimation result, and then determines a motor control strategy for controlling the target motor according to the arbitration torque estimation result and the motor requested torque, avoiding the situation that when a single torque estimation algorithm is abnormal, it will cause the power control to misadjust the motor, achieving the technical effect that the power control system can monitor the motor torque, and reducing the potential safety hazards during vehicle driving.

[0134] The present application provides a power control system, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein, the memory stores instructions executable by the at least one processor, and the instructions are executed by the at least one processor to enable the at least one processor to execute the torque monitoring method in Embodiment 1 above.

[0135] Refer to the following Figure 6 , which shows a schematic structural diagram of a power control system suitable for implementing the embodiments of the present application. The power control system in the embodiments of the present application may include, but is not limited to, a power control system internally configured with multiple torque control modules, multiple torque monitoring modules and multiple torque calculation modules, or a mobile terminal, a data storage control terminal, a PC and other terminals connected to an electronic control unit supporting the power control system.

[0136] As Figure 6As shown, the power control system may include a processing device 1001 (such as a central processing unit, a graphics processing unit, etc.), which can perform various appropriate actions and processes according to a program stored in the read-only memory 1002 or a program loaded from the storage device 1003 into the random access memory 1004. In the random access memory 1004, various programs and data required for the operation of the power control system are also stored. The processing device 1001, the read-only memory 1002, and the random access memory 1004 are connected to each other through a bus 1005. The input / output interface 1006 is also connected to the bus. Generally, the following systems may be connected to the input / output interface 1006: an input device 1007 including, for example, a touch screen, a touchpad, a keyboard, a mouse, an image sensor, a microphone, an accelerometer, a gyroscope, etc.; an output device 1008 including, for example, a liquid crystal display (LCD: Liquid Crystal Display), a speaker, a vibrator, etc.; a storage device 1003 including, for example, a magnetic tape, a hard disk, etc.; and a communication device 1009. The communication device 1009 can allow the power control system to communicate with other devices wirelessly or wiredly to exchange data. Although the power control system with various systems is shown in the figure, it should be understood that it is not required to implement or have all the shown systems. Instead, more or fewer systems can be implemented or had.

[0137] In particular, according to the embodiments disclosed in the present application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, the embodiments disclosed in the present application include a computer program product, which includes a computer program carried on a computer-readable medium, and the computer program contains program codes for executing the methods shown in the flowcharts. In such an embodiment, the computer program can be downloaded and installed from the network through the communication device, or installed from the storage device 1003, or installed from the read-only memory 1002. When the computer program is executed by the processing device 1001, the above-mentioned functions defined in the methods of the embodiments disclosed in the present application are executed.

[0138] The power control system provided by the present application adopts the torque monitoring method in the above-mentioned embodiment, and can solve the technical problem that the power control system in the related art is prone to mis-regulate the motor torque. Compared with the prior art, the beneficial effects of the power control system provided by the present application are the same as those of the torque monitoring method provided by the above-mentioned embodiment, and other technical features in the power control system are the same as those disclosed in the method of the previous embodiment, and will not be elaborated here.

[0139] It should be understood that the various parts disclosed in the present application can be implemented by hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in a suitable manner in any one or more embodiments or examples.

[0140] As described above, this is only the specific implementation manner of the present application. However, the protection scope of the present application is not limited thereto. Any person skilled in the art within the technical scope disclosed by the present application can easily think of changes or substitutions, which should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the protection scope of the claims described above.

[0141] The present application provides a vehicle having the power control system as described above, and the power control system is used to execute the torque monitoring method in the above embodiments.

[0142] The present application provides a computer-readable storage medium having computer-readable program instructions (i.e., computer programs) stored thereon, and the computer-readable program instructions are used to execute the torque monitoring method in the above embodiments.

[0143] The computer-readable storage medium provided by the present application can be, for example, a USB flash drive, but is not limited to electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems or devices, or any combination of the above. More specific examples of the computer-readable storage medium may include, but are not limited to: electrical connections with one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM) or flash memory, optical fibers, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the above. In this embodiment, the computer-readable storage medium can be any tangible medium that contains or stores a program, and the program can be used by or in conjunction with an instruction execution system or device. The program code contained on the computer-readable storage medium can be transmitted by any appropriate medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination of the above.

[0144] The above computer-readable storage medium can be included in the power control system; or it can exist separately without being assembled into the power control system.

[0145] The above computer-readable storage medium carries one or more programs, which, when executed by the power control system, cause the power control system to: determine a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to a target motor; determine a functional torque estimation result and a verification torque estimation result corresponding to the target motor according to the plurality of motor position signals and the plurality of three-phase phase current signals; determine an arbitration torque estimation result based on the functional torque estimation result and the verification torque estimation result, and determine a first torque difference corresponding to the arbitration torque estimation result, wherein the arbitration torque estimation result is the functional torque estimation result or the verification torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor; determine a motor control strategy corresponding to the target motor according to the first torque difference, wherein the motor control strategy is a torque execution strategy or a torque cut-off strategy.

[0146] Computer program code for performing the operations of the present application may be written in one or more programming languages or combinations thereof. The above programming languages include object-oriented programming languages such as Java, Smalltalk, C++, and also include conventional procedural programming languages such as the "C" language or similar programming languages. The program code may be executed entirely on the user's computer, partially on the user's computer, executed as a stand-alone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., by connecting through the Internet using an Internet service provider).

[0147] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of systems, methods, and computer program products according to various embodiments of the present application. In this regard, each block in the flowchart or block diagram may represent a module, a segment of a program, or a portion of code that contains one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions noted in the blocks may occur in a different order than that noted in the accompanying drawings. For example, two consecutive blocks shown may actually be executed substantially in parallel, or they may sometimes be executed in the reverse order, depending on the functions involved. It should also be noted that each block in the block diagram and / or flowchart, and combinations of blocks in the block diagram and / or flowchart, can be implemented by a dedicated hardware-based system that performs the specified functions or operations, or can be implemented by a combination of dedicated hardware and computer instructions.

[0148] The modules described in the embodiments of the present application can be implemented in software or in hardware. In some cases, the name of the module does not constitute a limitation on the unit itself.

[0149] The readable storage medium provided by the present application is a computer-readable storage medium, and the computer-readable storage medium stores computer-readable program instructions (i.e., computer programs) for executing the above torque monitoring method, which can solve the technical problem that the power control system in the related art is prone to incorrect adjustment of the motor torque. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided by the present application are the same as those of the torque monitoring method provided by the above embodiments, and will not be elaborated here.

[0150] The present application also provides a computer program product, including a computer program, and when the computer program is executed by a processor, it implements the steps of the torque monitoring method as described above.

[0151] The computer program product provided by the present application can solve the technical problem that the power control system in the related art is prone to incorrect adjustment of the motor torque. Compared with the prior art, the beneficial effects of the computer program product provided by the present application are the same as those of the torque monitoring method provided by the above embodiments, and will not be elaborated here.

[0152] The above are only some embodiments of the present application, and thus do not limit the patent scope of the present application. Any equivalent structural transformation made under the technical concept of the present application by using the content of the specification and drawings of the present application, or any direct / indirect application in other related technical fields, is included in the patent protection scope of the present application.

Claims

1. A torque monitoring method, characterized in that, The torque monitoring method is applied to a vehicle, which includes multiple motors. The torque monitoring method includes: Determine a plurality of motor position signals and a plurality of three-phase phase current signals corresponding to the target motor; According to the plurality of motor position signals and the plurality of three-phase phase current signals, determine a functional torque estimation result and a verification torque estimation result corresponding to the target motor; Based on the functional torque estimation result and the verification torque estimation result, determine an arbitration torque estimation result, and determine a first torque difference corresponding to the arbitration torque estimation result. Among them, the arbitration torque estimation result is the functional torque estimation result or the verification torque estimation result, and the first torque difference is the torque difference between the arbitration torque estimation result and the motor request torque corresponding to the target motor; Determine a motor control strategy corresponding to the target motor according to the first torque difference, where the motor control strategy is a torque execution strategy or a torque cut-off strategy.

2. The torque monitoring method according to claim 1, wherein The motor position signal includes a functional position signal and a verification position signal. The step of determining a plurality of motor position signals corresponding to the target motor includes: Determine a target torque calculation layer corresponding to the target motor, where the target torque calculation layer is a functional torque calculation layer or a verification torque calculation layer; When it is determined that the target torque calculation layer is the functional torque calculation layer, obtain a first sine position signal and a first cosine position signal corresponding to the target motor through a plurality of preset information acquisition channels corresponding to the functional matrix calculation module; Based on the first sine position signal and the first cosine position signal, determine the functional position signal corresponding to the target motor.

3. The torque monitoring method according to claim 2, wherein, After the step of determining the target torque calculation layer corresponding to the target motor, the method further includes: When it is determined that the target torque calculation layer is the verification torque calculation layer, obtain a second sine position signal and a second cosine position signal corresponding to the target motor through a single preset information acquisition channel corresponding to the verification torque calculation layer; Based on the second sine position signal and the second cosine position signal, determine the verification position signal corresponding to the target motor.

4. The torque monitoring method according to claim 3, wherein The step of determining the functional torque estimation result and the verification torque estimation result corresponding to the target motor according to the plurality of motor position signals and the plurality of three-phase phase current signals includes: According to the functional position signal and the plurality of three-phase phase current signals, determine a first direct-axis current and a first quadrature-axis current corresponding to the target motor; Perform torque calculation based on the first direct-axis current and the first quadrature-axis current to determine the functional torque estimation result corresponding to the target motor.

5. The torque monitoring method according to claim 4, characterized in that, The step of determining the functional torque estimation result and the verification torque estimation result corresponding to the target motor according to the plurality of motor position signals and the plurality of three-phase phase current signals further includes: According to the verification position signal and the plurality of three-phase phase current signals, determine a second direct-axis current and a second quadrature-axis current corresponding to the target motor; Query a preset torque table based on the second direct-axis current and the second quadrature-axis current to determine the estimated verification torque corresponding to the target motor.

6. The torque monitoring method according to claim 1, characterized in that, The step of determining the estimated arbitration torque based on the estimated functional torque and the estimated verification torque includes: Determine a second torque difference generated between the estimated functional torque and the estimated verification torque; When it is detected that the second torque difference is less than a preset difference threshold, determine the estimated functional torque as the estimated arbitration torque; When it is detected that the second torque difference is greater than or equal to the preset difference threshold, determine the first estimated torque, where the first estimated torque is the estimated torque with the largest value among the estimated functional torque and the estimated verification torque; Determine the torque capacity range corresponding to the target motor, and when it is detected that the first estimated torque is within the torque capacity range, determine the first estimated torque as the estimated arbitration torque.

7. The torque monitoring method according to claim 6, characterized in that After the step of determining the torque capacity range corresponding to the target motor, the method further includes: When it is detected that the first estimated torque is not within the torque capacity range, determine the second estimated torque, where the second estimated torque is the estimated torque with the smaller value among the estimated functional torque and the estimated verification torque; Determine the second estimated torque as the estimated arbitration torque.

8. The torque monitoring method according to claim 1, wherein, The step of determining the motor control strategy corresponding to the target motor according to the first torque difference includes: When it is detected that the first torque difference is less than or equal to the preset difference threshold, determine the torque execution strategy as the motor control strategy corresponding to the target motor; When it is detected that the first torque difference is greater than the preset difference threshold, determine the torque cut-off strategy as the motor control strategy.

9. A power control system, characterized in that, The system includes: a memory, a processor, and a computer program stored on the memory and executable on the processor, and the computer program is configured to implement the steps of the torque monitoring method according to any one of claims 1 to 8.

10. A vehicle, characterized in that, The vehicle includes the power control system according to claim 9.

11. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium, and when the computer program is executed by the processor, the steps of the torque monitoring method according to any one of claims 1 to 8 are implemented.

12. A computer program product, characterized in that, The computer program product includes a computer program, and when the computer program is executed by the processor, the steps of the torque monitoring method according to any one of claims 1 to 8 are implemented.

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