Torque control system and vehicle

Abstract

The invention provides a torque control system and a vehicle, relates to the technical field of vehicles, and can ensure stable operation of the vehicle under the condition that the vehicle breaks down and prevent the vehicle from being subjected to secondary damage. The torque control system comprises a whole vehicle controller and a battery manager; the vehicle control unit is configured to respectively calculate a target torque and a reference target torque according to the torque request; when the absolute value of the difference value between the target torque and the reference target torque is larger than a first threshold value and the lasting time of the state is larger than or equal to a first time threshold value, a first fault signal is output; the battery manager is connected with the vehicle control unit and is also connected with the power battery; the battery manager is configured to receive the first fault signal and reduce the discharge power of the power battery according to the first fault signal, so that the vehicle speed is smaller than or equal to a first vehicle speed threshold value.

Description

Technical Field

[0001] The present application relates to the technical field of vehicles, and particularly to a torque control system and a vehicle. Background Art

[0002] A torque control system is a system used to control and distribute the output torque of an engine or a drive motor, aiming to optimize the vehicle's power performance and driving experience. The core functions of the torque control system include sensing the vehicle state and adjusting the torque output to ensure the stability and efficiency of the vehicle under different working conditions. For example, the torque control system can dynamically adjust the output torque of the engine or the drive motor by sensing the driver's inputs (such as the accelerator pedal, brake pedal, steering wheel rotation, etc.) and the vehicle state (such as vehicle speed, acceleration, body attitude, etc.). Summary of the Invention

[0003] The purpose of the present application is to provide a torque control system and a vehicle, aiming to solve the problem of how to ensure the stable operation of the vehicle in case of a vehicle failure and avoid secondary hazards to the vehicle.

[0004] On the one hand, a torque control system is provided, which includes a vehicle controller and a battery manager; the vehicle controller is configured to calculate a target torque and a reference target torque respectively according to a torque request; and output a first fault signal when the absolute value of the difference between the target torque and the reference target torque is greater than a first threshold and the duration of this state is greater than or equal to a first time threshold; the battery manager is connected to the vehicle controller and also to the power battery; the battery manager is configured to receive the first fault signal and reduce the discharge power of the power battery according to the first fault signal, so that the vehicle speed is less than or equal to a first vehicle speed threshold.

[0005] It can ensure that in case of a torque fault in the vehicle's torque control system, the probability of sudden vehicle stop caused by directly clearing the torque or cutting off the torque output, and the probability of additional secondary hazards to the driver due to the failure of the following vehicle to dodge in time can be reduced. It can not only meet the functional safety of the vehicle, but also improve the usability of the torque control system.

[0006] In some embodiments, the torque request includes at least one of an accelerator torque request, an idle torque request, and an IPB torque request.

[0007] In some embodiments, the vehicle controller includes a first functional safety chip, and the first functional safety chip calculates a target torque and a reference target torque respectively according to the torque request.

[0008] In some embodiments, the value range of the first threshold is 20 N / m to 40 N / m, and the value range of the first time threshold is 100 ms to 300 ms.

[0009] In some embodiments, the value range of the first vehicle speed threshold is 5 km / h to 30 km / h.

[0010] In some embodiments, the vehicle controller is further connected to the drive motor; the vehicle controller is further configured to collect the resolver angle a of the drive motor, and output a second fault signal when sina2 + cosa2 ≠ 1; the battery manager is further configured to receive the second fault signal and reduce the discharge power of the power battery according to the second fault signal, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0011] In some embodiments, the vehicle controller is further configured to collect the three-phase current of the drive motor, and output a second fault signal when the vector sum of the three-phase current is not zero.

[0012] In some embodiments, the vehicle controller is further configured to calculate the execution torque of the drive motor according to the collected resolver angle a and three-phase current of the drive motor, and output a second fault signal when the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold and the duration of this state is greater than or equal to the first time threshold.

[0013] In some embodiments, the torque control system further includes a motor controller, the motor controller is connected to the vehicle controller and also connected to the battery manager; the motor controller is configured to receive the target torque of the vehicle controller and calculate the first voltage and the first reference voltage of the α-axis, and the second voltage and the second reference voltage of the β-axis respectively according to the target torque; when the absolute value of the difference between the first voltage and the first reference voltage is greater than the second threshold and the duration of this state is greater than or equal to the second time threshold, and / or when the absolute value of the difference between the second voltage and the second reference voltage is greater than the second threshold and the duration of this state is greater than or equal to the second time threshold, output a third fault signal; the battery manager is further configured to receive the third fault signal and reduce the discharge power of the power battery according to the third fault signal, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0014] In some embodiments, the motor controller includes a second functional safety chip, and the second functional safety chip calculates the first voltage and the first reference voltage of the α-axis, and the second voltage and the second reference voltage of the β-axis respectively according to the target torque.

[0015] In some embodiments, when the first reference voltage is greater than 30V, the value range of the second threshold is 10% to 20% of the first reference voltage; or, when the first reference voltage is less than or equal to 30V, the value range of the second threshold is 1V to 3V; and / or, when the second reference voltage is greater than 30V, the value range of the second threshold is 10% to 20% of the second reference voltage; or, when the second reference voltage is less than or equal to 30V, the value range of the second threshold is 1V to 3V; the value range of the second time threshold is 100ms to 300ms.

[0016] In some embodiments, the motor controller is further connected to the drive motor; the motor controller is further configured to collect the resolver angle a of the drive motor, and output a fourth fault signal when sina2 + cosa2 ≠ 1; the battery manager is further configured to receive the fourth fault signal and reduce the discharge power of the power battery according to the fourth fault signal, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0017] In some embodiments, the motor controller is further configured to collect the three-phase current of the drive motor, and output a fourth fault signal when the vector sum of the three-phase currents is not zero.

[0018] In some embodiments, the motor controller is further configured to calculate the execution torque of the drive motor according to the collected resolver angle a and three-phase current of the drive motor, and transmit the execution torque to the vehicle controller; the vehicle controller is further configured to receive the execution torque, and output a fourth fault signal when the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold and the duration of this state is greater than or equal to the first time threshold.

[0019] In some embodiments, the battery manager includes a battery controller and a first control device. The battery controller is connected to the vehicle controller and the motor controller, and is configured to receive the first fault signal, or the second fault signal, or the third fault signal, or the fourth fault signal, and output a control signal according to the first fault signal, or the second fault signal, or the third fault signal, or the fourth fault signal; the first control device is connected to the battery controller and is also connected to the power battery; the first control device is configured to receive the control signal and reduce the discharge power of the power battery according to the control signal, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0020] In some embodiments, the torque control system further includes a second control device. The second control device is connected to the first fault pin of the vehicle controller and is also connected to the battery manager. The second control device is configured to receive the first enable signal from the first fault pin and output a fifth fault signal to the battery manager according to the first enable signal. The battery manager is further configured to reduce the discharge power of the power battery according to the fifth fault signal, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0021] In some embodiments, the vehicle controller is configured to monitor the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the vehicle controller during the startup phase or the running phase. In the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic fails, the first enable signal is output from the first fault pin.

[0022] In some embodiments, the second control device is further connected to the second fault pin of the battery manager and is also connected to the vehicle controller. The second control device is further configured to receive the second enable signal from the second fault pin and output a sixth fault signal to the vehicle controller according to the second enable signal. The vehicle controller is further configured to control the torque of the vehicle controller to be cleared according to the sixth fault signal.

[0023] In some embodiments, the battery manager is further configured to monitor the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the battery manager during the startup phase or the running phase. In the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic fails, the second enable signal is output from the second fault pin.

[0024] In some embodiments, the torque control system further includes a motor controller and a drive chip. The motor controller is connected to the drive motor through the drive chip. The second control device is further connected to the third fault pin of the motor controller and is also connected to the drive chip. The second control device is further configured to receive the third enable signal from the third fault pin and output a seventh fault signal to the drive chip according to the third enable signal. The drive chip is configured to be turned off according to the seventh fault signal, thereby cutting off the control loop between the motor controller and the drive motor, and causing the drive motor to stop working.

[0025] In some embodiments, the motor controller is further configured to monitor the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the motor controller during the startup phase or the running phase. In the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic fails, the third enable signal is output from the third fault pin.

[0026] In some embodiments, the second control device is further connected to the motor controller; the second control device is further configured to output an eighth fault signal to the motor controller according to the first enable signal and the second enable signal; the motor controller is further configured to clear the torque of the motor controller according to the eighth fault signal.

[0027] On the other hand, a vehicle is provided, including the torque control system as described in some of the above embodiments. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative efforts.

[0029] Figure 1 FIG. [Diagram showing the structure of a torque control system according to some embodiments];

[0030] Figure 2 FIG. [Flowchart showing the method of judging torque faults and handling faults in a torque control system according to some embodiments];

[0031] Figure 3 FIG. [Flowchart showing the judgment and handling of serious torque faults according to some embodiments];

[0032] Figure 4 FIG. [Flowchart showing the judgment and handling of general torque faults according to some embodiments]. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0033] In the embodiments of the present application, the terms "first", "second", and "third" are only used for descriptive purposes and cannot be construed as indicating or implying relative importance or implicitly specifying the quantity of the indicated technical features. Thus, the features defined with "first", "second", and "third" may explicitly or implicitly include one or more of such features.

[0034] In the embodiments of the present application, the term "comprising", "including" or any other variation thereof is intended to cover a non-exclusive inclusion, such that a process, method, article or device comprising a series of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such process, method, article or device. Without further limitation, an element defined by the phrase "comprising a..." does not exclude the presence of additional identical elements in the process, method, article or device comprising the element.

[0035] The torque control system is a technology used to precisely regulate the torsional torque generated during the operation of equipment or vehicles. The torque control system can control the operating state of the vehicle by measuring and monitoring the torque of the rotating components of the vehicle in real time to achieve the desired effect.

[0036] Exemplarily, the torque control system can dynamically adjust the torque output according to the actual needs of the vehicle, thereby optimizing the operating efficiency. For example, the torque control system can calculate the required torque based on factors such as the rotational speed of the vehicle's drive motor and the throttle pedal opening to ensure that the vehicle maintains optimal performance in different driving modes.

[0037] Exemplarily, the torque control system can also improve the vehicle's handling and driving smoothness. For example, in the vehicle's starting and creeping state, the torque control system can adjust the torque output according to different road conditions (such as uphill and downhill) to ensure riding comfort and safety.

[0038] Exemplarily, the torque control system can also reduce mechanical wear and fatigue damage during the operation of the vehicle, thereby extending the service life of the vehicle.

[0039] Therefore, the torque control system plays an important role in improving efficiency, enhancing safety, optimizing handling, extending the service life of the vehicle, and adapting to diverse scenarios, and is an indispensable key technology in the vehicle field.

[0040] However, in the case of a malfunction of the torque control system, it cannot be guaranteed whether the vehicle can operate stably, and the vehicle may suffer secondary hazards due to the failure of the following vehicle to dodge in time, greatly affecting the safety of the passengers in the vehicle and the driving experience of the user.

[0041] In some embodiments, as Figure 1 shown, a torque control system 100 is provided, including a vehicle controller 10 and a battery manager 20; the vehicle controller 10 is configured to calculate a target torque and a reference target torque respectively according to a torque request; in the case where the absolute value of the difference between the target torque and the reference target torque is greater than a first threshold and the duration of this state is greater than or equal to a first time threshold, output a first fault signal 1; the battery manager 20 is connected to the vehicle controller 10 and is also connected to a power battery 300; the battery manager 20 is configured to receive the first fault signal 1 and reduce the discharge power of the power battery 300 according to the first fault signal 1 to make the vehicle speed less than or equal to a first vehicle speed threshold.

[0042] Exemplarily, as Figure 1As shown, the torque control system 100 is connected to the battery 200, and the battery 200 provides a low-voltage power supply for the torque control system 100 to ensure the normal operation of the torque control system 100. The torque control system 100 is also connected to the power battery 300 and the drive motor 400. The torque control system 100 can control the discharge power of the power battery 300 to the drive motor 400, thereby controlling the operation of the drive motor 400; the torque control system 100 can also monitor the operating conditions of the drive motor 400 in real time, and then adjust the operating parameters of the drive motor 400 in real time to ensure the normal driving of the vehicle.

[0043] Exemplarily, as Figure 1 shown, the torque control system 100 includes a vehicle controller 10. The vehicle controller 10 is the core control unit of the new energy vehicle control system. The vehicle controller 10 can establish communication with other controllers, obtain the operating status of other controllers in real time, and send control instructions; it can also collect input signals, be responsible for power-on and power-off management, torque management, coordinate the work of each control system, and can provide monitoring and detection functions to provide a perfect control logic for the normal operation of the whole vehicle.

[0044] Exemplarily, as Figure 1 shown, the torque control system 100 also includes a battery manager 20. The battery manager 20 is the key link connecting the power battery 300 and the user, and realizes the comprehensive management and control of the state of the power battery 300 through intelligent means. The sensors in the battery manager 20 are responsible for collecting various physical parameters of the power battery 300, such as voltage, current, temperature, etc.; the data algorithm analyzes and processes these collected data to obtain key information such as the remaining power and health status of the power battery 300; the control logic accurately controls the charging and discharging process of the power battery 300 according to this information to ensure that the power battery 300 is always in a safe and efficient operating state.

[0045] Exemplarily, as Figure 1 shown, in the torque control system 100, the vehicle controller 10 can receive the torque request of the vehicle, and the torque request can include the throttle torque request, the idle torque request, and the IPB (Intelligent Powertrain Brake) torque request.

[0046] For example, when the driver steps on the throttle pedal, the throttle pedal will send a throttle torque request to the vehicle controller 10; when the driver steps on the brake pedal, the brake pedal will send an IPB torque request to the vehicle controller 10; when the driver does not step on the throttle pedal and the brake pedal, an idle torque request will be sent to the vehicle controller 10.

[0047] Exemplarily, asFigure 1 As shown, the vehicle controller 10 can calculate the target torque and the reference target torque respectively according to the received torque request. When the absolute value of the difference between the target torque and the reference target torque is greater than the first threshold and the duration of this state is greater than or equal to the first time threshold, the first fault signal 1 is output.

[0048] For example, a redundant heterogeneous algorithm can be used to determine whether the target torque calculated by the vehicle controller 10 is reasonable. Specifically, the function implementation module of the vehicle controller 10 calculates the target torque according to the received torque request; at the same time, the function monitoring module of the vehicle controller 10 calculates the reference target torque according to the received torque request; the vehicle controller 10 checks and compares the values of the target torque and the reference target torque; when the absolute value of the difference between the target torque and the reference target torque is greater than the first threshold and the duration of this state (referring to the state where the absolute value of the difference between the target torque and the reference target torque is greater than the first threshold) is greater than or equal to the first time threshold, it is determined that the target torque calculated by the vehicle controller 10 is unreasonable, and the vehicle controller 10 outputs the first fault signal 1 to the battery manager 20. The first fault signal 1 can, for example, indicate that the vehicle has a general torque fault.

[0049] It can be understood that when the values of the target torque and the reference target torque do not meet the above conditions for the vehicle controller 10 to output the first fault signal 1, it is determined that the target torque calculated by the vehicle controller 10 is reasonable, the function of the vehicle controller 10 is normal, and the vehicle controller 10 can work normally.

[0050] Exemplarily, as Figure 1 shown, the battery manager 20 can be respectively connected to the power battery 300 and the drive motor 400. The battery manager 20 can be used to control the conduction or cut-off of the power supply circuit between the power battery 300 and the drive motor 400, and control the discharge power of the power battery 300 to the drive motor 400; among them, the battery manager 20 can be connected to the drive motor 400 through the inverter 500, and the inverter 500 can be used to convert the direct current of the power battery 300 into alternating current and provide it to the drive motor 400, so that the drive motor 400 can operate normally.

[0051] Exemplarily, as Figure 1 shown, the battery manager 20 can also be connected to the vehicle controller 10. The battery manager 20 can receive the first fault signal 1 output by the vehicle controller 10, and the battery manager 20 can control the discharge power of the power battery 300 to decrease according to the received first fault signal 1, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0052] Exemplarily, the vehicle controller 10 may also transmit the first fault signal 1 to the vehicle dashboard, so that the dashboard displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0053] That is to say, when the target torque calculated by the vehicle controller 10 is unreasonable for the vehicle, it is determined that the vehicle has a general torque fault. The battery manager 20 controls the discharge power of the power battery 300 to decrease according to the first fault signal 1 output by the vehicle controller 10, so that the vehicle speed is less than or equal to the first vehicle speed threshold, reducing the vehicle speed, ensuring the low-speed stable operation of the vehicle, and at the same time avoiding sudden vehicle stops, and the vehicle behind is unable to dodge in time, resulting in secondary hazards to the vehicle, ensuring the driving safety of the vehicle.

[0054] Exemplarily, it can be ensured that in the case of a torque fault in the torque control system 100 of the vehicle, the probability of sudden vehicle stops caused by directly clearing the torque or cutting off the torque output, and the vehicle behind is unable to dodge in time, bringing additional secondary hazards to the driver is reduced. It can not only meet the functional safety of the vehicle, but also improve the usability of the torque control system 100.

[0055] In some embodiments, the vehicle controller 10 may include a first functional safety chip, and the first functional safety chip may calculate the target torque and the reference target torque respectively according to the torque request.

[0056] Exemplarily, the first functional safety chip can reduce the risk of systematic failure through technologies such as redundancy mechanisms and diagnostic monitoring.

[0057] Exemplarily, the first functional safety chip may include, for example, a functional core and a monitoring core. The functional core and the monitoring core use the same input data and perform operation calculations respectively. The monitoring core can also perform verification and comparison on the outputs of the functional core and the monitoring core. For example, the functional core can calculate the target torque according to the torque request and transmit the target torque to, for example, the monitoring core; the monitoring core can calculate the reference target torque according to the torque request using a heterogeneous redundancy algorithm, and perform verification and comparison on the target torque and the reference target torque.

[0058] In some embodiments, the value range of the first threshold is 20 N / m to 40 N / m, and the value range of the first time threshold is 100 ms to 300 ms.

[0059] Exemplarily, the value of the first threshold may be, for example, 20 N / m, 22 N / m, 25 N / m, 27 N / m, 30 N / m, 32 N / m, 35 N / m, 37 N / m, 39 N / m, 40 N / m, etc.

[0060] Exemplarily, the value of the first time threshold can be, for example, 100 ms, 110 ms, 120 ms, 130 ms, 140 ms, 150 ms, 160 ms, 170 ms, 180 ms, 190 ms, 200 ms, 210 ms, 220 ms, 230 ms, 240 ms, 250 ms, 260 ms, 270 ms, 280 ms, 290 ms, 300 ms, etc.

[0061] In some embodiments, the value range of the first vehicle speed threshold is 5 km / h to 30 km / h.

[0062] Exemplarily, the value of the first vehicle speed threshold can be, for example, 5 km / h, 6 km / h, 7 km / h, 8 km / h, 9 km / h, 10 km / h, 11 km / h, 12 km / h, 13 km / h, 14 km / h, 15 km / h, 16 km / h, 17 km / h, 18 km / h, 19 km / h, 20 km / h, 22 km / h, 24 km / h, 25 km / h, 27 km / h, 29 km / h, 30 km / h, etc.

[0063] In some embodiments, as Figure 1 shown, the vehicle controller 10 is also connected to the drive motor 400; the vehicle controller 10 is further configured to collect the resolver angle a of the drive motor 400, and when sin²a + cos²a ≠ 1, output the second fault signal 2; the battery manager 20 is further configured to receive the second fault signal 2 and reduce the discharge power of the power battery 300 according to the second fault signal 2, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0064] Exemplarily, as Figure 1 shown, the vehicle controller 10 is also connected to the drive motor 400. The vehicle controller 10 can collect the resolver angle a of the drive motor 400. The resolver angle a of the drive motor 400 refers to the real-time mechanical angle position information of the motor rotor detected by a resolver. The resolver angle a is the "compass" of the torque control system 100, and the accuracy and dynamic response of the resolver angle a directly determine the accuracy of the execution torque of the drive motor 400.

[0065] Exemplarily, when sin²a + cos²a ≠ 1, the vehicle controller 10 determines that the execution torque of the drive motor 400 is unreasonable, and the vehicle controller 10 outputs the second fault signal 2 to the battery manager 20. The second fault signal 2 can, for example, indicate that the vehicle has a general torque fault.

[0066] It can be understood that when sin²a + cos a 2When = 1, the vehicle controller 10 determines that the execution torque of the drive motor 400 is reasonable, the function of the drive motor 400 is normal, and the drive motor 400 can work properly.

[0067] Exemplarily, as Figure 1 shown, the battery manager 20 can also receive the second fault signal 2 output by the vehicle controller 10, and the battery manager 20 can control the discharge power of the power battery 300 to decrease according to the received second fault signal 2, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0068] Exemplarily, the vehicle controller 10 can also transmit the second fault signal 2 to the dashboard of the vehicle, so that the dashboard displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over.

[0069] In some embodiments, as Figure 1 shown, the vehicle controller 10 can also collect the three-phase current of the drive motor 400. The three-phase current of the drive motor 400 refers to: in the drive motor 400, the alternating current signals flowing into the three-phase windings of the stator. These three groups of currents are the same in amplitude and frequency, but differ by 120° in phase in sequence, and jointly act to generate a rotating magnetic field to drive the rotor to rotate, thereby making the drive motor 400 operate.

[0070] Exemplarily, under normal circumstances, the vector sum of the instantaneous values of the three-phase currents is zero, ensuring the balance of the generated rotating magnetic field and guaranteeing the stable operation of the drive motor 400. When the vector sum of the instantaneous values of the three-phase currents is not zero, problems such as vibration and heating will occur in the drive motor 400.

[0071] At the same time, the execution torque of the drive motor 400 is generated by the interaction between the stator magnetic field and the rotor magnetic field, and the intensity of the stator magnetic field is determined by the three-phase current. When the three-phase current is abnormal, the execution torque of the drive motor 400 will also be abnormal.

[0072] Exemplarily, when the vector sum of the three-phase currents collected by the vehicle controller 10 is not zero, the vehicle controller 10 determines that the execution torque of the drive motor 400 is unreasonable, and the vehicle controller 10 outputs the second fault signal 2 to the battery manager 20. The second fault signal 2 can, for example, indicate that the vehicle has a general torque fault.

[0073] It can be understood that when the vector sum of the three-phase currents collected by the vehicle controller 10 is zero, the vehicle controller 10 determines that the execution torque of the drive motor 400 is reasonable, the function of the drive motor 400 is normal, and the drive motor 400 can work properly.

[0074] In some embodiments, the vehicle controller 10 may also calculate the execution torque of the drive motor 400 based on the collected resolver angle a and three-phase current of the drive motor 400. The calculation formula for the execution torque of the drive motor 400 may be:

[0075]

[0076] Kt: Torque constant (related to the permanent magnet flux linkage ψf, ). P: Number of motor pole pairs. Ld, Lq: Direct-axis and quadrature-axis inductances. Id: Field current component. Iq: Torque current component.

[0077] Among them, a Clark transformation can be performed first to convert the three-phase current into a two-phase stationary coordinate system (α-β axis): Iα = I U ; I U 、I V 、I W are the three-phase currents respectively.

[0078] Then, a Park transformation is performed to convert Iα and Iβ to the d-q coordinate system rotating synchronously with the rotor using the resolver angle a: Iq = Iαcosa + Iβsina; Id = -Iαsina + Iβcosa.

[0079] Exemplarily, after calculating the execution torque of the drive motor 400, the execution torque of the drive motor 400 can be compared with the reference target torque calculated by the vehicle controller 10. When the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold and the duration of this state (referring to the state where the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold) is greater than or equal to the first time threshold, it is determined that the execution torque of the drive motor 400 is unreasonable, and the vehicle controller 10 outputs a second fault signal 2 to the battery manager 20. The second fault signal 2 may, for example, indicate that the vehicle has a general torque fault.

[0080] It can be understood that when the values of the execution torque and the reference target torque do not meet the above conditions for the vehicle controller 10 to output the second fault signal 2, it is determined that the execution torque of the drive motor 400 is reasonable, the function of the drive motor 400 is normal, and the drive motor 400 can operate normally.

[0081] In some embodiments, such as Figure 1As shown, the torque control system 100 further includes a motor controller 30. The motor controller 30 is connected to the vehicle controller 10 and also to the battery manager 20. The motor controller 30 is configured to receive the target torque from the vehicle controller 10 and, based on the target torque, calculate a first voltage and a first reference voltage for the α-axis, and a second voltage and a second reference voltage for the β-axis respectively. In the case where the absolute value of the difference between the first voltage and the first reference voltage is greater than a second threshold and the duration of this state is greater than or equal to a second time threshold, and / or in the case where the absolute value of the difference between the second voltage and the second reference voltage is greater than a second threshold and the duration of this state is greater than or equal to a second time threshold, the motor controller 30 outputs a third fault signal 3. The battery manager 20 is further configured to receive the third fault signal 3 and reduce the discharge power of the power battery 300 according to the third fault signal 3, so that the vehicle speed is less than or equal to a first vehicle speed threshold.

[0082] Exemplarily, as Figure 1 shown, the motor controller 30 is connected to the vehicle controller 10 and also to the battery manager 20. The target torque calculated by the vehicle controller 10 can be transmitted to the motor controller 30. After receiving the target torque from the vehicle controller 10, the motor controller 30 can calculate a first voltage for the α-axis and a second voltage for the β-axis respectively based on the target torque.

[0083] For example, the motor controller 30 can calculate the required quadrature-axis current Iq (based on the torque formula) according to the target torque; then perform current loop control to calculate the required Vd and Vq (rotating coordinate system voltages); and then perform an inverse Park transformation to convert Vd and Vq into Vα and Vβ (stationary coordinate system voltages); Vα is the first voltage for the α-axis, and Vβ is the second voltage for the β-axis.

[0084] Exemplarily, a redundant heterogeneous algorithm can be used to determine whether the first voltage or the second voltage calculated by the motor controller 30 is reasonable. Specifically, the function implementation module of the motor controller 30 calculates a first voltage for the α-axis and a second voltage for the β-axis respectively based on the received target torque; at the same time, the function monitoring module of the motor controller 30 calculates a first reference voltage for the α-axis and a second reference voltage for the β-axis respectively based on the received target torque; the motor controller 30 compares the values of the first voltage and the first reference voltage, and also compares the values of the second voltage and the second reference voltage.

[0085] Exemplarily, when the absolute value of the difference between the first voltage and the first reference voltage is greater than the second threshold, and the duration of this state (referring to the state where the absolute value of the difference between the first voltage and the first reference voltage is greater than the second threshold) is greater than or equal to the second time threshold, it is determined that the first voltage calculated by the motor controller 30 is unreasonable, and the motor controller 30 outputs a third fault signal 3 to the battery manager 20; and / or, when the absolute value of the difference between the second voltage and the second reference voltage is greater than the second threshold, and the duration of this state (referring to the state where the absolute value of the difference between the second voltage and the second reference voltage is greater than the second threshold) is greater than or equal to the second time threshold, it is determined that the second voltage calculated by the motor controller 30 is unreasonable, and the motor controller 30 outputs a third fault signal 3 to the battery manager 20. The third fault signal 3 can, for example, indicate that a general torque fault has occurred in the vehicle.

[0086] It can be understood that when the values of the first voltage and the first reference voltage, and the second voltage and the second reference voltage do not meet the above conditions for the motor controller 30 to output the third fault signal 3, it is determined that the first voltage and the second voltage calculated by the motor controller 30 are reasonable, the motor controller 30 functions normally, and the motor controller 30 can operate normally.

[0087] Exemplarily, the battery manager 20 can also receive the third fault signal 3 output by the motor controller 30, and the battery manager 20 can control the discharge power of the power battery 300 to decrease according to the received third fault signal 3, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0088] Exemplarily, the motor controller 30 can also transmit the third fault signal 3 to the vehicle dashboard, so that the dashboard displays that a general torque fault has occurred in the vehicle, prompting the driver to control the vehicle to pull over.

[0089] In some embodiments, the motor controller 30 can include a second functional safety chip. The second functional safety chip can calculate the first voltage and the first reference voltage of the α-axis, and the second voltage and the second reference voltage of the β-axis respectively according to the target torque.

[0090] Exemplarily, the second functional safety chip can reduce the risk of systematic failure through technologies such as redundancy mechanisms and diagnostic monitoring.

[0091] Exemplarily, the second functional safety chip may include, for example, a functional core and a monitoring core. The functional core and the monitoring core use the same input data and perform operation calculations separately. The monitoring core can also verify and compare the outputs of the functional core and the monitoring core. For example, the functional core can calculate a first voltage and a second voltage based on the target torque and transmit the first voltage and the second voltage to, for example, the monitoring core; the monitoring core can calculate a first reference voltage and a second reference voltage using a heterogeneous redundancy algorithm based on the target torque and verify and compare the first voltage with the first reference voltage and the second voltage with the second reference voltage.

[0092] In some embodiments, when the first reference voltage is greater than 30V, the value range of the second threshold is 10% - 20% of the first reference voltage; or, when the first reference voltage is less than or equal to 30V, the value range of the second threshold is 1V - 3V; and / or, when the second reference voltage is greater than 30V, the value range of the second threshold is 10% - 20% of the second reference voltage; or, when the second reference voltage is less than or equal to 30V, the value range of the second threshold is 1V - 3V; the value range of the second time threshold is 100ms - 300ms.

[0093] Exemplarily, when the first reference voltage is greater than 30V, since the first reference voltage calculated by the motor controller 30 is a real-time dynamic value, the second threshold is also a real-time dynamic value. The value of the second threshold can be, for example: 10% of the first reference voltage, 11% of the first reference voltage, 12% of the first reference voltage, 13% of the first reference voltage, 14% of the first reference voltage, 15% of the first reference voltage, 16% of the first reference voltage, 17% of the first reference voltage, 18% of the first reference voltage, 19% of the first reference voltage, and 20% of the first reference voltage, etc.

[0094] Exemplarily, when the first reference voltage is less than or equal to 30V, the second threshold is a fixed value. The value of the second threshold can be, for example: 1V, 2V, and 3V, etc.

[0095] Exemplarily, when the second reference voltage is greater than 30V, since the second reference voltage calculated by the motor controller 30 is a real-time dynamic value, the second threshold is also a real-time dynamic value. The value of the second threshold can be, for example: 10% of the second reference voltage, 11% of the second reference voltage, 12% of the second reference voltage, 13% of the second reference voltage, 14% of the second reference voltage, 15% of the second reference voltage, 16% of the second reference voltage, 17% of the second reference voltage, 18% of the second reference voltage, 19% of the second reference voltage, and 20% of the second reference voltage, etc.

[0096] Exemplarily, when the second reference voltage is less than or equal to 30V, the second threshold is a fixed value, and the numerical values of the second threshold can be, for example: 1V, 2V, 3V, etc.

[0097] Exemplarily, the numerical values of the second time threshold can be, for example: 100ms, 110ms, 120ms, 130ms, 140ms, 150ms, 160ms, 170ms, 180ms, 190ms, 200ms, 210ms, 220ms, 230ms, 240ms, 250ms, 260ms, 270ms, 280ms, 290ms, 300ms, etc.

[0098] In some embodiments, as Figure 1 shown, the motor controller 30 is also connected to the drive motor 400; the motor controller 30 is further configured to collect the resolver angle a of the drive motor 400, and when sin²a + cos²a ≠ 1, output a fourth fault signal 4; the battery manager 20 is further configured to receive the fourth fault signal 4 and reduce the discharge power of the power battery 300 according to the fourth fault signal 4, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0099] Exemplarily, as Figure 1 shown, the motor controller 30 can collect the resolver angle a of the drive motor 400. The introduction of the resolver angle a is as described above and will not be elaborated here.

[0100] Exemplarily, when sin²a + cos²a ≠ 1, the motor controller 30 determines that the execution torque of the drive motor 400 is unreasonable, and the motor controller 30 outputs a fourth fault signal 4 to the battery manager 20; the fourth fault signal 4 can, for example, indicate that the vehicle has a general torque fault.

[0101] It can be understood that when sin²a + cos²a 2 = 1, the motor controller 30 determines that the execution torque of the drive motor 400 is reasonable, the drive motor 400 functions normally, and the drive motor 400 can work normally.

[0102] Exemplarily, as Figure 1 shown, the battery manager 20 can also receive the fourth fault signal 4 output by the motor controller 30, and the battery manager 20 can control the discharge power of the power battery 300 to decrease according to the received fourth fault signal 4, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0103] Exemplarily, the motor controller 30 can also transmit the fourth fault signal 4 to the vehicle's instrument panel, so that the instrument panel displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over.

[0104] In some embodiments, as Figure 1 shown, the motor controller 30 may also collect the three-phase current of the drive motor 400. The introduction of the three-phase current has been described above and will not be elaborated here.

[0105] Exemplarily, when the vector sum of the three-phase current collected by the motor controller 30 is not zero, the motor controller 30 determines that the execution torque of the drive motor 400 is unreasonable. The motor controller 30 outputs a fourth fault signal 4 to the battery manager 20. The fourth fault signal 4 may, for example, indicate that the vehicle has a general torque fault.

[0106] It can be understood that when the vector sum of the three-phase current collected by the motor controller 30 is zero, the motor controller 30 determines that the execution torque of the drive motor 400 is reasonable, the drive motor 400 functions normally, and the drive motor 400 can operate normally.

[0107] In some embodiments, as Figure 1 shown, the motor controller 30 is further configured to calculate the execution torque of the drive motor 400 according to the collected resolver angle a and three-phase current of the drive motor 400, and transmit the execution torque to the vehicle controller 10; the vehicle controller 10 is further configured to receive the execution torque and output a fourth fault signal 4 when the absolute value of the difference between the execution torque and the reference target torque is greater than a first threshold and the duration of this state is greater than or equal to a first time threshold.

[0108] Exemplarily, as Figure 1 shown, the motor controller 30 may also calculate the execution torque of the drive motor 400 according to the collected resolver angle a and three-phase current of the drive motor 400, and transmit the execution torque to the vehicle controller 10; the calculation method of the execution torque of the drive motor 400 has been described above and will not be elaborated here.

[0109] Exemplarily, after receiving the execution torque, the vehicle controller 10 checks and compares the execution torque of the drive motor 400 with the reference target torque calculated by the vehicle controller 10. When the absolute value of the difference between the execution torque and the reference target torque is greater than a first threshold and the duration of this state (referring to the state where the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold) is greater than or equal to a first time threshold, it is determined that the execution torque of the drive motor 400 is unreasonable. The vehicle controller 10 outputs a fourth fault signal 4 to the battery manager 20. The fourth fault signal 4 may, for example, indicate that the vehicle has a general torque fault.

[0110] It can be understood that when the values of the execution torque and the reference target torque do not meet the above conditions for the vehicle controller 10 to output the fourth fault signal 4, it is determined that the execution torque of the drive motor 400 is reasonable, the function of the drive motor 400 is normal, and the drive motor 400 can operate normally.

[0111] Exemplarily, as Figure 1 shown, the battery manager 20 can also receive the fourth fault signal 4 output by the vehicle controller 10, and the battery manager 20 can control the discharge power of the power battery 300 to decrease according to the received fourth fault signal 4, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0112] Exemplarily, the vehicle controller 10 can also transmit the fourth fault signal 4 to the vehicle dashboard, so that the dashboard displays that the vehicle has a general torque fault and prompts the driver to control the vehicle to pull over.

[0113] In some embodiments, as Figure 1 shown, the battery manager 20 includes a battery controller 21 and a first control device 22. The battery controller 21 is connected to the vehicle controller 10 and the motor controller 30. The battery controller 21 is configured to receive the first fault signal 1, or the second fault signal 2, or the third fault signal 3, or the fourth fault signal 4, and output a control signal k according to the first fault signal 1, or the second fault signal 2, or the third fault signal 3, or the fourth fault signal 4; the first control device 22 is connected to the battery controller 21 and is also connected to the power battery 300; the first control device 22 is configured to receive the control signal k and reduce the discharge power of the power battery 300 according to the control signal k, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0114] Exemplarily, as Figure 1 shown, the battery manager 20 can include a battery controller 21. The battery controller 21 is connected to the vehicle controller 10 and the motor controller 30. The battery controller 21 can receive the first fault signal 1, or the second fault signal 2, or the fourth fault signal 4 from the vehicle controller 10, and can also receive the third fault signal 3 or the fourth fault signal 4 from the motor controller 30; the battery controller 21 can also output a control signal k according to the received first fault signal 1, or the second fault signal 2, or the third fault signal 3, or the fourth fault signal 4.

[0115] Exemplarily, as Figure 1As shown, the battery manager 20 may further include a first control device 22. The first control device 22 is connected to the battery controller 21, and the first control device 22 is also connected to the power battery 300. The first control device 22 can receive the control signal k output by the battery controller 21, and control the power battery 300 to reduce the discharge power according to the control signal k, so as to reduce the output of the drive motor 400 and make the vehicle speed less than or equal to the first vehicle speed threshold.

[0116] Exemplarily, when the first control device 22 receives the control signal k from the battery controller 21, it can reduce the discharge power of the power battery 300 by reducing the discharge voltage or discharge current of the power battery 300.

[0117] In some embodiments, as Figure 1 shown, the torque control system 100 further includes a second control device 40. The second control device 40 is connected to the first fault pin 10-1 of the vehicle controller 10 and is also connected to the battery manager 20; the second control device 40 is configured to receive the first enable signal a of the first fault pin 10-1 and output a fifth fault signal 5 to the battery manager 20 according to the first enable signal a; the battery manager 20 is further configured to reduce the discharge power of the power battery 300 according to the fifth fault signal 5, so that the vehicle speed is less than or equal to the first vehicle speed threshold.

[0118] Exemplarily, as Figure 1 shown, the vehicle controller 10 may include a first fault pin 10-1. When the vehicle controller 10 fails, the first enable signal a is output through the first fault pin 10-1, that is, the first enable signal a indicates that the vehicle controller 10 has failed.

[0119] Exemplarily, as Figure 1 shown, the second control device 40 may be connected to the first fault pin 10-1 of the vehicle controller 10, and the second control device 40 is also connected to the battery manager 20. For example, the second control device 40 is connected to the battery controller 21 of the battery manager 20. The first fault pin 10-1 of the vehicle controller 10 can transmit the first enable signal a to the second control device 40. After the second control device 40 receives the first enable signal a from the first fault pin 10-1, it outputs a fifth fault signal 5 to the battery controller 21 of the battery manager 20 according to the first enable signal a. The fifth fault signal 5 may indicate, for example, that the vehicle has a serious torque fault.

[0120] Exemplarily, as Figure 1 shown, after the battery controller 21 of the battery manager 20 receives the fifth fault signal 5, it can control the power battery 300 to reduce the discharge power according to the received fifth fault signal 5, so as to reduce the output of the drive motor 400 and make the vehicle speed less than or equal to the first vehicle speed threshold.

[0121] Exemplarily, the second control device 40 may also transmit the fifth fault signal 5 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a serious torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0122] In some embodiments, the vehicle controller 10 may monitor its (the vehicle controller 10) power supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic during the startup phase or the running phase. Among them, the crystal oscillator of the vehicle controller 10 is a key component that provides a clock signal to ensure that the system can operate according to an accurate time reference. The clock of the vehicle controller 10 is the time reference of the system, responsible for recording and synchronizing the working times of various components within the system. The system timer of the vehicle controller 10 is used to generate functions such as timing, delay, and counting, ensuring that various operations within the system can be executed at a predetermined time interval. The memory of the vehicle controller 10 is used to store programs and data, including random access memory and read-only memory. The program operation logic of the vehicle controller 10 refers to the process in which the vehicle controller 10 sends control signals to relevant electronic control units through a set control program according to the driver's operation intention and the real-time state of the vehicle.

[0123] These components of the vehicle controller 10 work together to ensure that the vehicle controller 10 can execute various control tasks efficiently and accurately, guaranteeing the safety and performance of the vehicle. For example, the crystal oscillator provides an accurate clock signal, the clock and the system timer ensure the time reference and scheduling of operations, the memory stores necessary programs and data, and the program operation logic implements specific control strategies and functions.

[0124] In some embodiments, when any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic of the vehicle controller 10 fails, the first fault pin 10-1 of the vehicle controller 10 outputs a first enable signal a to the second control device 40.

[0125] In some embodiments, as Figure 1 shown, the second control device 40 is also connected to the second fault pin 21-1 of the battery manager 20 and is also connected to the vehicle controller 10; the second control device 40 is further configured to receive the second enable signal b of the second fault pin 21-1 and output a sixth fault signal 6 to the vehicle controller 10 according to the second enable signal b; the vehicle controller 10 is further configured to control the torque of the vehicle controller 10 to be cleared according to the sixth fault signal 6.

[0126] Exemplarily, as Figure 1As shown, the battery manager 20 (such as the battery controller 21) may include a second fault pin 21-1. When a fault occurs in the battery manager 20, a second enable signal b is output through the second fault pin 21-1, that is, the second enable signal b indicates that a fault has occurred in the battery manager 20.

[0127] Exemplarily, as Figure 1 shown, the second control device 40 may be connected to the second fault pin 21-1 of the battery manager 20, and the second control device 40 is also connected to the vehicle controller 10. The second fault pin 21-1 of the battery manager 20 may transmit the second enable signal b to the second control device 40. After receiving the second enable signal b from the second fault pin 21-1, the second control device 40 outputs a sixth fault signal 6 to the vehicle controller 10 according to the second enable signal b. The sixth fault signal 6 may, for example, indicate that a serious torque fault has occurred in the vehicle.

[0128] Exemplarily, as Figure 1 shown, after receiving the sixth fault signal 6 from the second control device 40, the vehicle controller 10 controls the torque of the vehicle controller 10 to be cleared according to the sixth fault signal 6.

[0129] Exemplarily, the second control device 40 may also transmit the sixth fault signal 6 to the vehicle dashboard, so that the dashboard displays that a serious torque fault has occurred in the vehicle, prompting the driver to handle it in time.

[0130] In some embodiments, the battery manager 20 may also monitor its (the battery manager 20) power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic during the startup phase or the running phase. The functions of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the battery manager 20 may refer to the functions of these structures in the vehicle controller 10, which will not be elaborated here.

[0131] Exemplarily, in the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the battery manager 20 fails, the second fault pin 21-1 of the battery manager 20 outputs the second enable signal b to the second control device 40.

[0132] In some embodiments, as Figure 1As shown, the torque control system 100 further includes a motor controller 30 and a driver chip 50. The motor controller 30 is connected to the drive motor 400 through the driver chip 50. The second control device 40 is also connected to the third fault pin 30-1 of the motor controller 30 and is also connected to the driver chip 50. The second control device 40 is further configured to receive a third enable signal c from the third fault pin 30-1 and output a seventh fault signal 7 to the driver chip 50 according to the third enable signal c. The driver chip 50 is configured to turn off according to the seventh fault signal 7, thereby cutting off the control loop between the motor controller 30 and the drive motor 400, so that the drive motor 400 stops working.

[0133] Exemplarily, as Figure 1 shown, the motor controller 30 can be connected to the driver chip 50, the driver chip 50 is connected to the drive motor 400, and an inverter 500 can also be connected between the driver chip 50 and the drive motor 400. The motor controller 30 can include a third fault pin 30-1. When a fault occurs in the motor controller 30, a third enable signal c is output through the third fault pin 30-1, that is, the third enable signal c indicates that a fault has occurred in the motor controller 30.

[0134] Exemplarily, as Figure 1 shown, the second control device 40 can be connected to the third fault pin 30-1 of the motor controller 30, and the second control device 40 is also connected to the driver chip 50. The third fault pin 30-1 of the motor controller 30 can transmit the third enable signal c to the second control device 40. After receiving the third enable signal c from the third fault pin 30-1, the second control device 40 outputs a seventh fault signal 7 to the driver chip 50 according to the third enable signal c. The seventh fault signal 7 can, for example, indicate that a serious torque fault has occurred in the vehicle.

[0135] Exemplarily, as Figure 1 shown, after receiving the seventh fault signal 7, the driver chip 50 can turn off according to the received seventh fault signal 7, thereby cutting off the control loop between the motor controller 30 and the drive motor 400, so that the drive motor 400 stops working.

[0136] Exemplarily, the second control device 40 can also transmit the seventh fault signal 7 to the dashboard of the vehicle, so that the dashboard displays that a serious torque fault has occurred in the vehicle, prompting the driver to handle it in time.

[0137] In some embodiments, the motor controller 30 may also monitor its power supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic during the startup phase or the running phase. For the functions of the power supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic of the motor controller 30, reference may be made to the functions of these structures in the vehicle controller 10, which will not be elaborated here.

[0138] Exemplarily, in the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic of the motor controller 30 fails, a third enable signal c is output from the third fault pin 30-1 of the motor controller 30 to the second control device 40.

[0139] In some embodiments, as Figure 1 shown, the second control device 40 is also connected to the motor controller 30; the second control device 40 is further configured to output an eighth fault signal 8 to the motor controller 30 according to the first enable signal a and the second enable signal b; the motor controller 30 is further configured to control the torque of the motor controller 30 to be cleared to zero according to the eighth fault signal 8.

[0140] Exemplarily, when the second control device 40 simultaneously receives the first enable signal a output from the first fault pin 10-1 of the vehicle controller 10 and the second enable signal b output from the second fault pin 21-1 of the battery manager 20, the second control device 40 may output the eighth fault signal 8 to the motor controller 30 according to the received first enable signal a and the second enable signal b. The eighth fault signal 8 may, for example, indicate that the vehicle has a serious torque fault.

[0141] Exemplarily, the motor controller 30 may control the torque of the motor controller 30 to be cleared to zero according to the eighth fault signal 8 transmitted by the second control device 40.

[0142] Exemplarily, the second control device 40 may further transmit the eighth fault signal 8 to the dashboard of the vehicle, so that the dashboard displays that the vehicle has a serious torque fault, prompting the driver to handle it in time.

[0143] It can be seen from this that the torque control system 100 can determine whether the vehicle has a general torque fault or a serious torque fault, and can adopt different fault resolution methods for different faults that occur. Figure 2 It is a flowchart of the torque control system 100 for determining torque faults and handling fault methods.

[0144] Exemplarily, as Figure 2 shown, the torque control system 100 for determining torque faults and handling fault methods includes:

[0145] S1. Obtain the running state of the vehicle.

[0146] Exemplarily, the operating states of the vehicle include, but are not limited to: whether the target torque calculated by the vehicle controller 10 is reasonable, whether the vehicle controller 10 fails; whether the first voltage and / or the second voltage calculated by the motor controller 30 is reasonable, whether the motor controller 30 fails; whether the battery manager 20 fails; whether the execution torque of the drive motor 400 is reasonable, etc.

[0147] S2. Determine whether there is a serious torque fault.

[0148] If yes, go to S3. Handle the serious torque fault; go to S4. End.

[0149] If not, go to S5. Determine whether there is a general torque fault.

[0150] If yes, go to S6. Handle the general torque fault; go to S4. End.

[0151] If not, go to S4. End.

[0152] Exemplarily, as Figure 3 shown, and with reference to Figure 2 , the situations where the vehicle has a serious torque fault include, but are not limited to:

[0153] S2.1. The second control device 40 receives the first enable signal a from the first fault pin 10-1 of the vehicle controller 10.

[0154] For this serious torque fault, the method for handling the serious torque fault in S3 is: S3.1. The second control device 40 outputs a fifth fault signal 5 to the battery manager 20 according to the first enable signal a; the battery manager 20 controls the discharge power of the power battery 300 to decrease according to the fifth fault signal 5, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0155] Exemplarily, the second control device 40 can also transmit the fifth fault signal 5 to the dashboard of the vehicle, so that the dashboard displays that the vehicle has a serious torque fault and prompts the driver to control the vehicle to pull over.

[0156] S2.2. The second control device 40 receives the second enable signal b from the second fault pin 21-1 of the battery manager 20.

[0157] For this serious torque fault, the method for handling the serious torque fault in S3 is: S3.2. The second control device 40 outputs a sixth fault signal 6 to the vehicle controller 10 according to the second enable signal b; the vehicle controller 10 controls the torque of the vehicle controller 10 to be cleared according to the sixth fault signal 6.

[0158] Exemplarily, the second control device 40 may also transmit the sixth fault signal 6 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a serious torque fault, prompting the driver to handle it in time.

[0159] S2.3. The second control device 40 receives the third enabling signal c from the third fault pin 30-1 of the motor controller 30.

[0160] For this serious torque fault, in S3, the method for handling the serious torque fault is: S3.3. The second control device 40 outputs a seventh fault signal 7 to the drive chip 50 according to the third enabling signal c; the drive chip 50 is turned off according to the seventh fault signal 7, thereby cutting off the control loop between the motor controller 30 and the drive motor 400, so that the drive motor 400 stops working.

[0161] Exemplarily, the second control device 40 may also transmit the seventh fault signal 7 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a serious torque fault, prompting the driver to handle it in time.

[0162] S2.4. The second control device 40 receives the first enabling signal a from the first fault pin 10-1 of the vehicle controller 10 and the second enabling signal b from the second fault pin 21-1 of the battery manager 20.

[0163] For this serious torque fault, in S3, the method for handling the serious torque fault is: S3.4. The second control device 40 outputs an eighth fault signal 8 to the motor controller 30 according to the first enabling signal a and the second enabling signal b; the motor controller 30 controls the torque of the motor controller 30 to be cleared to zero according to the eighth fault signal 8.

[0164] Exemplarily, the second control device 40 may also transmit the eighth fault signal 8 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a serious torque fault, prompting the driver to handle it in time.

[0165] Exemplarily, as Figure 4 shown, and referring to Figure 2 , the situations where the vehicle has a general torque fault include but are not limited to:

[0166] S5.1. The target torque calculated by the vehicle controller 10 is unreasonable.

[0167] For this general torque fault, in S6, the method for handling the general torque fault is: S6.1. The vehicle controller 10 outputs a first fault signal 1 to the battery manager 20, and the battery manager 20 controls the discharge power of the power battery 300 to decrease according to the first fault signal 1, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0168] Exemplarily, the vehicle control unit 10 may also transmit the first fault signal 1 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0169] S5.2. The execution torque of the drive motor 400 is unreasonable.

[0170] For this general torque fault, in S6, the method for processing the general torque fault is as follows: S6.21. The vehicle control unit 10 outputs a second fault signal 2 to the battery management unit 20, and the battery management unit 20 controls the discharge power of the power battery 300 to decrease according to the second fault signal 2, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0171] Exemplarily, the vehicle control unit 10 may also transmit the second fault signal 2 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0172] Alternatively, in S6.22, the motor control unit 30 or the vehicle control unit 10 outputs a fourth fault signal 4 to the battery management unit 20, and the battery management unit 20 controls the discharge power of the power battery 300 to decrease according to the fourth fault signal 4, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0173] Exemplarily, the motor control unit 30 or the vehicle control unit 10 may also transmit the fourth fault signal 4 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0174] S5.3. The first voltage and / or the second voltage calculated by the motor control unit 30 is unreasonable.

[0175] For this general torque fault, in S6, the method for processing the general torque fault is as follows: S6.3. The motor control unit 30 outputs a third fault signal 3 to the battery management unit 20, and the battery management unit 20 controls the discharge power of the power battery 300 to decrease according to the third fault signal 3, thereby reducing the output of the drive motor 400 and making the vehicle speed less than or equal to the first vehicle speed threshold.

[0176] Exemplarily, the motor control unit 30 may also transmit the third fault signal 3 to the instrument panel of the vehicle, so that the instrument panel displays that the vehicle has a general torque fault, prompting the driver to control the vehicle to pull over to the side of the road.

[0177] On the other hand, a vehicle is provided, including the torque control system 100 as described in some of the above embodiments. The vehicle may be, for example, a pure electric vehicle, and may also be a hybrid vehicle, an extended-range electric vehicle, etc., which are not limited in the present disclosure.

[0178] Exemplarily, it can be ensured that in the case of a torque fault occurring in the torque control system 100 of the vehicle, the probability of sudden vehicle stop caused by directly clearing the torque or cutting off the torque output, and the additional secondary harm to the driver due to the failure of the following vehicle to dodge in time can be reduced, which can not only meet the functional safety of the vehicle, but also improve the usability of the torque control system 100.

[0179] In the description of the embodiments of the present application, specific features, structures, materials or characteristics may be combined in a suitable manner in any one or more embodiments or examples.

[0180] The above is only the specific implementation manner of the present application, but 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 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.

Claims

1. A torque control system (100), characterized in that, Comprising: A vehicle controller (10), configured to calculate a target torque and a reference target torque respectively according to a torque request; When the absolute value of the difference between the target torque and the reference target torque is greater than a first threshold and the duration of this state is greater than or equal to a first time threshold, output a first fault signal (1); A battery manager (20), connected to the vehicle controller (10) and also connected to a power battery (300); the battery manager (20) is configured to receive the first fault signal (1) and reduce the discharge power of the power battery (300) according to the first fault signal (1) to make the vehicle speed less than or equal to a first vehicle speed threshold.

2. The torque control system (100) according to claim 1, wherein, The torque request includes at least one of a throttle torque request, an idle torque request, and an IPB torque request.

3. The torque control system (100) according to claim 1, characterized in that The vehicle controller (10) includes a first functional safety chip, and the first functional safety chip calculates the target torque and the reference target torque respectively according to the torque request.

4. The torque control system (100) according to claim 1, wherein, The value range of the first threshold is 20 N / m to 40 N / m, and the value range of the first time threshold is 100 ms to 300 ms.

5. The torque control system (100) according to claim 1, characterized in that, The value range of the first vehicle speed threshold is 5 km / h to 30 km / h.

6. The torque control system (100) according to claim 1, characterized in that, The vehicle controller (10) is also connected to a drive motor (400); the vehicle controller (10) is further configured to collect the resolver angle a of the drive motor (400), and when sin²a + cos²a ≠ 1, output a second fault signal (2); The battery manager (20) is further configured to receive the second fault signal (2) and reduce the discharge power of the power battery (300) according to the second fault signal (2) to make the vehicle speed less than or equal to the first vehicle speed threshold.

7. The torque control system (100) according to claim 6, characterized in that, The vehicle controller (10) is further configured to collect the three-phase current of the drive motor (400), and when the vector sum of the three-phase current is not zero, output the second fault signal (2).

8. The torque control system (100) according to claim 7, characterized in that, The vehicle controller (10) is further configured to calculate the execution torque of the drive motor (400) according to the collected resolver angle a and the three-phase current of the drive motor (400), and when the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold and the duration of this state is greater than or equal to the first time threshold, output the second fault signal (2).

9. The torque control system (100) according to claim 1, wherein The torque control system (100) further includes: The motor controller (30) is connected to the vehicle controller (10) and also connected to the battery management unit (20); the motor controller (30) is configured to receive the target torque from the vehicle controller (10), and respectively calculate a first voltage and a first reference voltage on the α-axis, and a second voltage and a second reference voltage on the β-axis according to the target torque; in the case where the absolute value of the difference between the first voltage and the first reference voltage is greater than a second threshold and the duration of this state is greater than or equal to a second time threshold, and / or, in the case where the absolute value of the difference between the second voltage and the second reference voltage is greater than the second threshold and the duration of this state is greater than or equal to the second time threshold, output a third fault signal (3); The battery management unit (20) is further configured to receive the third fault signal (3) and reduce the discharge power of the power battery (300) according to the third fault signal (3) to make the vehicle speed less than or equal to the first vehicle speed threshold.

10. The torque control system (100) according to claim 9, characterized in that, The motor controller (30) includes a second functional safety chip, and the second functional safety chip respectively calculates a first voltage and a first reference voltage on the α-axis, and a second voltage and a second reference voltage on the β-axis according to the target torque.

11. The torque control system (100) according to claim 9, wherein When the first reference voltage is greater than 30V, the value range of the second threshold is 10% - 20% of the first reference voltage; or, when the first reference voltage is less than or equal to 30V, the value range of the second threshold is 1V - 3V; and / or, When the second reference voltage is greater than 30V, the value range of the second threshold is 10% - 20% of the second reference voltage; or, when the second reference voltage is less than or equal to 30V, the value range of the second threshold is 1V - 3V; The value range of the second time threshold is 100ms - 300ms.

12. The torque control system (100) according to claim 9, characterized in that, The motor controller (30) is further connected to the drive motor (400); the motor controller (30) is further configured to collect the resolver angle a of the drive motor (400), and output a fourth fault signal (4) when sin²a + cos²a ≠ 1; The battery management unit (20) is further configured to receive the fourth fault signal (4) and reduce the discharge power of the power battery (300) according to the fourth fault signal (4) to make the vehicle speed less than or equal to the first vehicle speed threshold.

13. The torque control system (100) according to claim 12, characterized in that, The motor controller (30) is further configured to collect the three-phase current of the drive motor (400), and output the fourth fault signal (4) when the vector sum of the three-phase current is not zero.

14. The torque control system (100) according to claim 13, wherein The motor controller (30) is further configured to calculate the execution torque of the drive motor (400) according to the collected resolver angle a and the three-phase current of the drive motor (400), and transmit the execution torque to the vehicle controller (10); The vehicle controller (10) is further configured to receive the execution torque, and output the fourth fault signal (4) when the absolute value of the difference between the execution torque and the reference target torque is greater than the first threshold and the duration of this state is greater than or equal to the first time threshold.

15. The torque control system (100) according to claim 9, characterized in that, The battery management unit (20) includes: A battery controller (21) connected to the vehicle controller (10) and the motor controller (30). The battery controller (21) is configured to receive the first fault signal (1), or the second fault signal (2), or the third fault signal (3), or the fourth fault signal (4), and output a control signal (k) according to the first fault signal (1), or the second fault signal (2), or the third fault signal (3), or the fourth fault signal (4); A first control device (22) connected to the battery controller (21) and also connected to the power battery (300). The first control device (22) is configured to receive the control signal (k) and reduce the discharge power of the power battery (300) according to the control signal (k) so that the vehicle speed is less than or equal to the first vehicle speed threshold.

16. The torque control system (100) according to any one of claims 1 to 15, characterized in that, The torque control system (100) further includes: A second control device (40) connected to the first fault pin (10-1) of the vehicle controller (10) and also connected to the battery management unit (20). The second control device (40) is configured to receive the first enable signal (a) of the first fault pin (10-1) and output a fifth fault signal (5) to the battery management unit (20) according to the first enable signal (a); The battery management unit (20) is further configured to reduce the discharge power of the power battery (300) according to the fifth fault signal (5) so that the vehicle speed is less than or equal to the first vehicle speed threshold.

17. The torque control system (100) according to claim 16, characterized in that, The vehicle controller (10) is configured to monitor the supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic of the vehicle controller (10) during the startup phase or the running phase. When any one of the supply voltage, crystal oscillator, clock, system timer, memory, and program operation logic fails, the first enable signal (a) is output from the first fault pin (10-1).

18. The torque control system (100) according to claim 16, wherein, The second control device (40) is also connected to the second fault pin (21-1) of the battery management unit (20) and also connected to the vehicle controller (10). The second control device (40) is further configured to receive the second enable signal (b) of the second fault pin (21-1) and output a sixth fault signal (6) to the vehicle controller (10) according to the second enable signal (b); The vehicle controller (10) is further configured to control the torque of the vehicle controller (10) to be cleared according to the sixth fault signal (6).

19. The torque control system (100) according to claim 18, wherein, The battery manager (20) is further configured to monitor the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the battery manager (20) during the startup phase or the running phase. In the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic fails, the second enable signal (b) is output by the second fault pin (21-1).

20. The torque control system (100) according to claim 18, characterized in that, The torque control system (100) further includes a motor controller (30) and a driver chip (50), and the motor controller (30) is connected to a drive motor (400) through the driver chip (50); The second control device (40) is further connected to the third fault pin (30-1) of the motor controller (30) and is also connected to the driver chip (50); the second control device (40) is further configured to receive the third enable signal (c) of the third fault pin (30-1) and output a seventh fault signal (7) to the driver chip (50) according to the third enable signal (c); The driver chip (50) is configured to be turned off according to the seventh fault signal (7), thereby cutting off the control loop between the motor controller (30) and the drive motor (400), so that the drive motor (400) stops working.

21. The torque control system (100) according to claim 20, characterized in that, The motor controller (30) is further configured to monitor the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic of the motor controller (30) during the startup phase or the running phase. In the case where any one of the power supply voltage, crystal oscillator, clock, system timer, memory, and program running logic fails, the third enable signal (c) is output by the third fault pin (30-1).

22. The torque control system (100) according to claim 18, wherein, The second control device (40) is further connected to the motor controller (30); the second control device (40) is further configured to output an eighth fault signal (8) to the motor controller (30) according to the first enable signal (a) and the second enable signal (b); The motor controller (30) is further configured to control the torque of the motor controller (30) to be cleared to zero according to the eighth fault signal (8).

23. A vehicle, characterized in that, Comprising the torque control system (100) according to any one of claims 1 to 22.

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