Steering execution motor control method and device, vehicle and storage medium

Abstract

The invention discloses a steering execution motor control method and device, a vehicle and a storage medium. The method belongs to the field of vehicle engineering and comprises the steps that current operation parameters and required torque of a steering execution motor are obtained, and the required torque is used for representing torque needing to be output by the steering execution motor when a vehicle is currently steered; based on the current operation parameters, initial control parameters corresponding to the current operation parameters are obtained from a preset parameter table, the preset parameter table is used for storing the mapping relation between the current operation parameters and the initial control parameters, and the initial control parameters are used for conducting field weakening control on the steering execution motor; the initial control parameter at least comprises a minimum direct-axis current value of the steering execution motor; determining a target control parameter of the steering execution motor based on the initial control parameter and the demand torque; and controlling the steering execution motor to operate based on the target control parameter. According to the invention, the technical problem of poor stability of flux-weakening control of the steering execution motor in the prior art is solved.

Description

Technical Field

[0001] The present invention relates to the field of vehicle engineering, and in particular to a steering execution motor control method, device, vehicle and storage medium. Background Art

[0002] In automotive electronic control technology, particularly steering systems, precise control of the steering actuator motor is essential for ensuring safe and comfortable driving. The rapid development of electric vehicles and autonomous driving technologies is placing higher demands on steering actuator motor control, requiring not only high-speed response but also excellent stability and control accuracy.

[0003] The field-weakening control method, as an important control strategy for high-speed motor operation, has always been a hot topic of research. However, when changes in the vehicle driving environment cause the motor commands to change rapidly, traditional field-weakening control methods can cause the steering actuator motor's speed or torque to fluctuate significantly in an instant, thereby affecting the driving experience and steering system stability.

[0004] To address the above-mentioned problems, no effective solutions have been proposed so far. Summary of the Invention

[0005] Embodiments of the present invention provide a steering actuator motor control method, device, vehicle, and storage medium to at least solve the technical problem of poor stability in performing weak magnetic control on a steering actuator motor in related technologies.

[0006] According to one aspect of an embodiment of the present invention, a steering actuator motor control method is provided, including: obtaining current operating parameters and required torque of the steering actuator motor, wherein the required torque is used to characterize the torque that the steering actuator motor needs to output when the vehicle is currently turning; based on the current operating parameters, obtaining initial control parameters corresponding to the current operating parameters from a preset parameter table, wherein the preset parameter table is used to store a mapping relationship between the current operating parameters and the initial control parameters, and the initial control parameters are used to perform weak magnetic control on the steering actuator motor, and the initial control parameters include at least the minimum direct-axis current value of the steering actuator motor; based on the initial control parameters and the required torque, determining target control parameters of the steering actuator motor, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage; and controlling the operation of the steering actuator motor based on the target control parameters.

[0007] Furthermore, the method also includes: obtaining multiple test operating parameters and hardware parameters of the test motor, wherein the model of the test motor is the same as the model of the steering execution motor, the parameter type of the multiple test operating parameters is the same as the parameter type of the current operating parameters, the parameter values ​​of different test operating parameters are different, and the parameter values ​​of the multiple test operating parameters include the parameter value of the current operating parameters; based on the test operating parameters and hardware parameters, determining the initial calibration parameters corresponding to the test operating parameters, wherein different test operating parameters correspond to different initial calibration parameters; based on the parameter adjustment algorithm, adjusting the initial calibration parameters to obtain the target calibration parameters corresponding to the test operating parameters; and constructing a preset parameter table based on the mapping relationship between the test operating parameters and the target calibration parameters.

[0008] Furthermore, based on the parameter adjustment algorithm, the initial calibration parameters are adjusted to obtain target calibration parameters corresponding to the test operation parameters, including: controlling the operation of the test motor based on the initial calibration parameters; monitoring the performance indicators of the test motor during the operation of the test motor; in response to the monitored performance indicators meeting the preset performance conditions, determining the initial calibration parameters as the target calibration parameters; in response to the monitored performance indicators not meeting the preset performance conditions, reducing the initial calibration parameters based on the performance indicators to obtain new initial calibration parameters, and based on the new initial calibration parameters, controlling the operation of the test motor to obtain new performance indicators, until the new performance indicators meet the preset performance conditions, and determining the new initial calibration parameters as the target calibration parameters.

[0009] Furthermore, the initial control parameters also include: the lead angle of the steering actuator motor and the current scale of the control current of the steering actuator motor, wherein the lead angle is used to characterize the angle between the direct axis and the magnetic flux of the steering actuator motor, and the current scale is used to characterize the ratio of the quadrature axis current to the direct axis current of the steering actuator motor.

[0010] Furthermore, based on the initial control parameters and the required torque, the target control parameters of the steering actuator motor are determined, including: determining the target quadrature-axis current value based on the lead angle, current scale and required torque, wherein the target quadrature-axis current value is used to characterize the current demand value of the steering actuator motor in the quadrature-axis direction; determining the target direct-axis current value based on the target quadrature-axis current value and the minimum direct-axis current value, wherein the target direct-axis current value is used to characterize the current demand value of the steering actuator motor in the direct-axis direction; determining the target control parameters based on the target quadrature-axis current value and the target direct-axis current value.

[0011] Furthermore, based on the lead angle, current scale and required torque, a target quadrature-axis current value is determined, including: determining an original quadrature-axis current value of the steering actuator motor based on the required torque; determining a current range of the target quadrature-axis current value based on the lead angle and current scale; and limiting the original quadrature-axis current value based on the current range to obtain a target quadrature-axis current value.

[0012] Furthermore, based on the target quadrature-axis current value and the minimum direct-axis current value, the target direct-axis current value is determined, including: determining the original direct-axis current value of the steering execution motor based on the target quadrature-axis current value; calculating the sum of the original direct-axis current value and the minimum direct-axis current value to obtain the target direct-axis current value.

[0013] Furthermore, based on the target quadrature-axis current value and the target direct-axis current value, target control parameters are determined, including: based on a first preset controller, processing the target direct-axis current value to obtain an original direct-axis voltage value, wherein the first preset controller is used to generate the direct-axis voltage; based on a second preset controller, processing the target quadrature-axis current to obtain an original quadrature-axis voltage value, wherein the second preset controller is used to generate the quadrature-axis voltage; based on a first preset limiting strategy, limiting the original direct-axis voltage value to obtain a target direct-axis voltage value, wherein the first preset limiting strategy is used to characterize a strategy for limiting the original direct-axis voltage value; based on a second preset limiting strategy, limiting the original quadrature-axis voltage value to obtain a target quadrature-axis voltage value, wherein the second preset limiting strategy is used to characterize a strategy for limiting the original quadrature-axis voltage value.

[0014] According to another aspect of an embodiment of the present invention, a steering execution motor control device is also provided, including: a first acquisition module, used to obtain the current operating parameters and required torque of the steering execution motor, wherein the required torque is used to characterize the torque that the steering execution motor needs to output when the vehicle is currently turning; a second acquisition module, used to obtain initial control parameters corresponding to the current operating parameters from a preset parameter table based on the current operating parameters, wherein the preset parameter table is used to store a mapping relationship between the current operating parameters and the initial control parameters, and the initial control parameters are used to perform weak magnetic control on the steering execution motor, and the initial control parameters include at least the minimum direct-axis current value of the steering execution motor; a first determination module, used to determine the target control parameters of the steering execution motor based on the initial control parameters and the required torque, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage; and a first control module, used to control the operation of the steering execution motor based on the target control parameters.

[0015] According to another aspect of an embodiment of the present invention, a vehicle is provided, including: a memory storing an executable program; and a processor for running the program, wherein the method of each embodiment of the present invention is executed when the program is run.

[0016] According to another aspect of an embodiment of the present invention, a computer-readable storage medium is provided. The computer-readable storage medium includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0017] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a computer program. When the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0018] According to another aspect of an embodiment of the present invention, a computer program product is provided, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium stores a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0019] According to another aspect of the embodiments of the present invention, a computer program is provided. When the computer program is executed by a processor, the methods in various embodiments of the present invention are implemented.

[0020] In an embodiment of the present invention, the current operating parameters and required torque of the steering actuator motor are obtained; based on the current operating parameters, initial control parameters corresponding to the current operating parameters are obtained from a preset parameter table; based on the initial control parameters and the required torque, target control parameters of the steering actuator motor are determined; and the operation of the steering actuator motor is controlled based on the target control parameters. By obtaining the current operating parameters and required torque of the steering actuator motor in real time, a data basis is provided for the dynamic parameter adjustment of the steering actuator motor, so that the motor can quickly adapt to changing working conditions. Moreover, because the above-mentioned preset parameter table contains the initial control parameters corresponding to different operating parameters, based on the current operating parameters, the target control parameters corresponding to the current operating parameters can be queried from the above-mentioned preset parameter table. The initial control parameters that match the parameters can ensure that the initial control parameters can accurately meet the current operating parameters of the above-mentioned steering actuator motor, ensuring that the above-mentioned steering actuator motor has relatively stable operating performance under the current operating parameters. Finally, combined with the above-mentioned initial control parameters and the required torque, the target control parameters of the steering actuator motor are determined, so that the steering actuator motor can meet the steering requirements and have relatively stable operating performance under the above-mentioned target control parameters, thereby achieving the purpose of enhancing the control stability of the steering actuator motor, thereby achieving the technical effect of effectively suppressing the speed fluctuation of the steering actuator motor caused by the sudden change of the torque command, and thus solving the technical problem of poor stability of weak magnetic control of the steering actuator motor in the related technology. BRIEF DESCRIPTION OF THE DRAWINGS

[0021] The drawings described herein are used to provide a further understanding of the present invention and constitute a part of this application. The exemplary embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation of the present invention. In the drawings:

[0022] Figure 1 is a flow chart of a steering execution motor control method according to an embodiment of the present invention;

[0023] Figure 2is a schematic diagram of an optional steering execution motor control algorithm according to an embodiment of the present invention;

[0024] Figure 3 is an architectural diagram of an optional steering actuator motor control system according to an embodiment of the present invention;

[0025] Figure 4 2 is a schematic diagram of a steering actuator motor control device according to an embodiment of the present invention. DETAILED DESCRIPTION

[0026] In order to enable those skilled in the art to better understand the solutions of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the embodiments described are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without making creative efforts should fall within the scope of protection of the present invention.

[0027] It should be noted that the terms "first", "second", etc. in the description and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that the numbers used in this way can be interchanged where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0028] According to an embodiment of the present invention, an embodiment of a steering execution motor control method is provided. It should be noted that the steps shown in the flowchart of the accompanying drawings can be executed in a computer system such as a set of computer executable instructions, and although a logical order is shown in the flowchart, in some cases, the steps shown or described can be executed in an order different from that shown here.

[0029] Figure 1 FIG. 1 is a flow chart of a method for controlling a steering execution motor according to an embodiment of the present invention. Figure 1 As shown, the method includes the following steps:

[0030] Step S102 : obtaining current operating parameters and required torque of the steering actuator motor, wherein the required torque is used to represent the torque that the steering actuator motor needs to output when the vehicle is currently turning.

[0031] The above-mentioned steering actuator motor may be an electric motor used in a vehicle steering system. For example, the above-mentioned steering actuator motor may be a brushless direct current motor (BLDC), a permanent magnet synchronous motor (PMSM), etc., but is not limited thereto. The above-mentioned current operating parameters may refer to parameters used to describe the actual operating state of the above-mentioned steering actuator motor at the current moment. For example, the above-mentioned current operating parameters may include at least one or more of the following: the motor speed, power supply voltage, motor temperature, magnetic flux, etc. of the above-mentioned steering actuator motor, but is not limited thereto. The above-mentioned required torque may be calculated by the vehicle electronic control system based on the driver's operation (such as the rotation of the steering wheel) and the vehicle state (such as vehicle speed, road conditions, etc.), and is the torque value that should be output for the steering actuator motor to realize the vehicle steering intention.

[0032] In an optional embodiment, considering that the current operating parameters and required torque of the steering actuator motor are the data basis for performing weak magnetic control on the steering actuator motor, obtaining the above-mentioned current operating parameters and required torque can enable the steering actuator motor control system (hereinafter referred to as the control system) to better adjust the control parameters of the steering actuator motor, thereby suppressing the speed fluctuation caused by the sudden change of the torque command, and thus improving the control accuracy and stability of the steering actuator motor by the control system. Therefore, in order to more accurately obtain the above-mentioned current operating parameters and required torque, the control system can use sensors pre-deployed on the vehicle to obtain the above-mentioned current operating parameters. Specifically, the control system can use sensors pre-deployed on the steering actuator motor shaft to obtain the motor speed of the steering actuator motor in real time, and use voltage sensors pre-deployed on the steering actuator motor to monitor the power supply voltage of the steering actuator motor in real time, thereby achieving the acquisition of the current operating parameters of the steering actuator motor. At the same time, the control system can also communicate with the vehicle's electronic control unit (ECU) or steering system to obtain the driver's steering intention or the steering command issued by the ECU, and then parse the required torque of the steering actuator motor.

[0033] In another optional embodiment, in order to shorten the time of data processing and feedback and improve the response speed of the control system, the staff can pre-install an edge computing unit in the vehicle. The unit has sufficient computing power, storage and network communication functions. The control system can send the sensor signals of the current operating parameters and required torque collected by the sensors to the edge computing unit. The edge computing unit can process the sensor signals sent by the control system in real time, and parse the motor speed, power supply voltage and required torque of the steering execution motor from the sensor signals. Subsequently, the above motor speed, power supply voltage and required torque are returned to the control system to ensure the accuracy and timeliness of the data.

[0034] Step S104, based on the current operating parameters, obtain the initial control parameters corresponding to the current operating parameters from the preset parameter table, wherein the preset parameter table is used to store the mapping relationship between the current operating parameters and the initial control parameters, the initial control parameters are used to perform weak magnetic control on the steering actuator motor, and the initial control parameters include at least the minimum direct-axis current value of the steering actuator motor.

[0035] The above-mentioned preset parameter table may be a data table that stores the current operating parameters of the above-mentioned steering actuator motor and the mapping relationship between the initial control parameters corresponding to the current operating parameters. By querying the above-mentioned preset parameter table, the control system can quickly find the initial control parameters that match the current operating parameters, thereby realizing the regulation of motor torque, speed, energy consumption and other performance, reducing the complexity and delay of real-time calculation, and thus improving the real-time and accuracy of steering actuator motor control. The above-mentioned initial control parameters may be the parameters used to start or adjust the operating state of the steering actuator motor found by the control system from the preset parameter table based on the current operating parameters. The above-mentioned minimum direct-axis current value may refer to the minimum value that the direct-axis current of the steering actuator motor needs to maintain in order to achieve a better control effect on the steering actuator motor under the current operating parameters. It should be noted that the above-mentioned minimum direct-axis current value is greater than zero. In the traditional magnetic weakening control strategy, in order to provide sufficient voltage margin at higher speeds, the direct-axis current is set to zero in order to increase the speed. However, this method is likely to cause instantaneous changes in the magnetic flux of the steering actuator motor when the required torque changes suddenly, thereby causing speed fluctuations. Therefore, the above-mentioned minimum direct-axis current can ensure that even in the magnetic weakening control mode, the steering actuator motor will always maintain a direct-axis current greater than zero, thereby ensuring that the magnetic flux is at a relatively stable level to avoid speed fluctuations when the required torque changes significantly.

[0036] In an optional embodiment, considering that the working conditions of the steering actuator motor will change with the changes in factors such as the speed, power supply voltage, and load during the driving of the vehicle, in order to ensure the better performance of the steering actuator motor under these dynamic conditions, the control system needs to adjust the initial control parameters of the steering actuator motor in real time, and the mapping relationship between the current operating parameters and the initial control parameters is stored in the preset parameter table. Based on this, the control system can quickly match the initial control parameters suitable for the current conditions based on the current operating parameters of the steering actuator motor monitored in real time by querying the preset parameter table, thereby improving the real-time control of the steering actuator motor by the control system. The initial control parameters found in the preset parameter table, including various parameters including the minimum direct-axis current value, can be decoded by the control system and parsed into a data format that can be directly used to facilitate the subsequent weak magnetic control of the steering actuator motor.

[0037] Step S106 : determining target control parameters of the steering actuator motor based on the initial control parameters and the required torque, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage.

[0038] The target control parameters may be control parameters of the steering actuator motor calculated by the control system based on the current initial control parameters (such as lead angle, current scale, minimum direct-axis current value, etc.) and the required torque. The target direct-axis voltage may refer to the target value of the voltage in the direct-axis direction of the steering actuator motor. The direct-axis voltage is primarily used to control the motor's magnetic flux. The target quadrature-axis voltage may refer to the target value of the voltage in the quadrature-axis direction of the steering actuator motor. The quadrature-axis voltage is primarily used to control the motor's torque output.

[0039] In an optional embodiment, considering that the control system has low control accuracy of the steering actuator motor based on the above-mentioned initial control parameters, and accurately calculates the target control parameters based on the initial control parameters and the required torque, the control system can realize dynamic adjustment of the control parameters of the steering actuator motor, thereby realizing more refined control, so as to avoid the response delay of the steering actuator motor caused by sudden changes in voltage or current, as well as fluctuations in torque or speed, thereby improving the stability of the control system in controlling the steering actuator motor. Therefore, in order to accurately determine the above-mentioned target control parameters, the control system can pre-construct a mathematical model for calculating the target control parameters based on the historical operating parameters and statistical principles of the above-mentioned steering actuator motor. Subsequently, the control system can input the above-mentioned initial control parameters and the required torque into the mathematical model. The mathematical model can calculate the above-mentioned target direct-axis voltage and target quadrature-axis voltage, and return them to the control system. The control system can construct the above-mentioned target control parameters based on the calculated target direct-axis voltage and target quadrature-axis voltage to realize precise control of the above-mentioned steering actuator motor.

[0040] In another optional embodiment, in order to automatically output the target control parameters according to different initial operating parameters and required torques, and improve the flexibility and adaptability of the control strategy, the control system can use machine learning algorithms such as support vector machines (SVM) and deep neural networks (DNN) to pre-build a parameter generation model for the target control parameters and complete the training of the model. Specifically, the control system can collect the correlation data between the operating parameters and control effects of the steering actuator motor through a large amount of experimental and operating data, and train the parameter generation model based on the correlation data. When it is necessary to remove the target control parameters, the control system can input the initial control parameters and required torque into the parameter generation model. After calculation, the model can output the target control parameters including the target direct-axis voltage and target quadrature-axis voltage to the control system. Over time, the parameter generation model can continuously improve the prediction performance through continuous learning and adjustment, thereby improving the overall efficiency and effect of the control system for steering actuator motor control.

[0041] Step S108 , controlling the steering execution motor to operate based on the target control parameter.

[0042] In an optional embodiment, considering that the above-mentioned target control parameters are determined based on the initial control parameters and required torque obtained in real time, the above-mentioned target control parameters cover the target direct-axis voltage and target quadrature-axis voltage that enable the steering actuator motor to maintain better operating performance. Therefore, in order to ensure that the above-mentioned steering actuator motor can meet higher performance requirements and operate accurately and efficiently, so as to avoid speed fluctuations when the above-mentioned required torque changes significantly, the control system can control the operation of the above-mentioned steering actuator motor based on the target control parameters determined in the above-mentioned steps, thereby ensuring that the steering actuator motor can respond quickly when the torque demand changes and maintain a stable speed.

[0043] In an embodiment of the present invention, the current operating parameters and required torque of the steering actuator motor are obtained; based on the current operating parameters, initial control parameters corresponding to the current operating parameters are obtained from a preset parameter table; based on the initial control parameters and the required torque, target control parameters of the steering actuator motor are determined; and the operation of the steering actuator motor is controlled based on the target control parameters. By obtaining the current operating parameters and required torque of the steering actuator motor in real time, a data basis is provided for the dynamic parameter adjustment of the steering actuator motor, so that the motor can quickly adapt to changing working conditions. Moreover, because the above-mentioned preset parameter table contains the initial control parameters corresponding to different operating parameters, based on the current operating parameters, the target control parameters corresponding to the current operating parameters can be queried from the above-mentioned preset parameter table. The initial control parameters that match the parameters can ensure that the initial control parameters can accurately meet the current operating parameters of the above-mentioned steering actuator motor, ensuring that the above-mentioned steering actuator motor has relatively stable operating performance under the current operating parameters. Finally, combined with the above-mentioned initial control parameters and the required torque, the target control parameters of the steering actuator motor are determined, so that the steering actuator motor can meet the steering requirements and have relatively stable operating performance under the above-mentioned target control parameters, thereby achieving the purpose of enhancing the control stability of the steering actuator motor, thereby achieving the technical effect of effectively suppressing the speed fluctuation of the steering actuator motor caused by the sudden change of the torque command, and thus solving the technical problem of poor stability of weak magnetic control of the steering actuator motor in the related technology.

[0044] Furthermore, the method also includes: obtaining multiple test operating parameters and hardware parameters of the test motor, wherein the model of the test motor is the same as the model of the steering execution motor, the parameter type of the multiple test operating parameters is the same as the parameter type of the current operating parameters, the parameter values ​​of different test operating parameters are different, and the parameter values ​​of the multiple test operating parameters include the parameter value of the current operating parameters; based on the test operating parameters and hardware parameters, determining the initial calibration parameters corresponding to the test operating parameters, wherein different test operating parameters correspond to different initial calibration parameters; based on the parameter adjustment algorithm, adjusting the initial calibration parameters to obtain the target calibration parameters corresponding to the test operating parameters; and constructing a preset parameter table based on the mapping relationship between the test operating parameters and the target calibration parameters.

[0045] The test operating parameters may refer to parameters measured when the motor is operating under different operating conditions in a laboratory or on a test bench. The test operating parameters may be of the same type as the current operating parameters of the steering actuator motor in actual applications, but their values ​​may cover a wide range, including but not limited to the values ​​of the current operating parameters. The hardware parameters may refer to fixed parameters of the test motor itself. For example, the hardware parameters may include at least one or more of the following: the motor's rated power, rated voltage, rated current, resistance, inductance, reluctance, rotor inertia, motor constant, etc. The initial calibration parameters may be control parameters pre-set based on the hardware parameters and theoretical model of the steering actuator motor. The parameter adjustment algorithm may be an algorithm for adjusting the control parameters of the steering actuator motor based on test results and target performance requirements. For example, the parameter adjustment algorithm may be an MTPA (Maximum Torque per Ampere) algorithm, an FOC (Field-Oriented Control) algorithm, etc., but is not limited thereto. The target calibration parameters may be control parameters obtained by adjusting the initial calibration parameters using the parameter adjustment algorithm.

[0046] In an optional embodiment, the control system can perform a series of tests on a test motor of the same model as the steering actuator motor in a laboratory or on a test bench to obtain different test operating parameters. The parameter types of the test operating parameters are the same as the parameter types of the current operating parameters, and the parameter values ​​of the test operating parameters can cover different operating conditions of the steering actuator motor, including the parameter values ​​of the current operating parameters, so as to construct a comprehensive preset parameter table. Subsequently, the control system can determine a set of initial calibration parameters for each different combination of test operating parameters of supply voltage and motor speed, as well as the hardware parameters of the test motor, so that different test operating parameters correspond to different initial calibration parameters. After constructing the above initial calibration parameters, in order to further improve the accuracy of the calibration results, the control system can use parameter adjustment algorithms such as MTPA and FOC to adjust the above initial calibration parameters to obtain target calibration parameters corresponding to the test operating parameters, so that the above test motor can achieve a better performance level under the above target calibration parameters. Finally, in order to facilitate the control system to quickly select target control parameters that match the current operating parameters during the actual operation of the steering actuator motor, the control system can construct a preset parameter table based on the mapping relationship between the above test operating parameters and the target calibration parameters.

[0047] Furthermore, based on the parameter adjustment algorithm, the initial calibration parameters are adjusted to obtain target calibration parameters corresponding to the test operation parameters, including: controlling the operation of the test motor based on the initial calibration parameters; monitoring the performance indicators of the test motor during the operation of the test motor; in response to the monitored performance indicators meeting the preset performance conditions, determining the initial calibration parameters as the target calibration parameters; in response to the monitored performance indicators not meeting the preset performance conditions, reducing the initial calibration parameters based on the performance indicators to obtain new initial calibration parameters, and based on the new initial calibration parameters, controlling the operation of the test motor to obtain new performance indicators, until the new performance indicators meet the preset performance conditions, and determining the new initial calibration parameters as the target calibration parameters.

[0048] The aforementioned performance indicators can be quantitative criteria for evaluating the operating status of the steering actuator motor under different control parameters. These performance indicators directly reflect the control effectiveness of the control system on the steering actuator motor. The aforementioned preset performance conditions can be a series of performance standards or targets pre-set based on the design objectives and application requirements of the steering actuator motor before calibrating the control parameters of the steering actuator motor.

[0049] In an optional embodiment, considering that the above-mentioned initial calibration parameters set based on theoretical calculations may not completely match the actual performance of the steering actuator motor in actual operation, the validity and rationality of the above-mentioned initial calibration parameters can be verified by performing an operation test on the above-mentioned test motor, thereby facilitating the adjustment of the above-mentioned initial calibration parameters to obtain the above-mentioned target calibration parameters. Therefore, the control system can pre-construct a preset performance condition for judging the effect of different initial calibration parameters in the operation process of the test motor. After completing the construction of the above-mentioned preset performance conditions, the control system can control the operation of the test motor based on different initial calibration parameters, and monitor the performance indicators of the test motor during the operation of the test motor to obtain the performance indicators of the test motor under the current initial calibration parameters in real time. If the performance indicators can meet the above-mentioned preset performance conditions, it means that the current initial calibration parameters can meet the actual control requirements. At this time, the control system can determine the current initial calibration parameters as the target calibration parameters. If the above performance indicators do not meet the above preset performance conditions, it means that the current initial calibration parameters are difficult to meet the actual control requirements. At this time, the control system needs to adjust the current initial calibration parameters based on the above performance indicators to obtain a new initial calibration parameter, and control the test motor operation again based on the above new initial calibration parameters to obtain a new performance indicator, and again judge whether the above new performance indicators meet the above preset performance conditions. If the new performance indicators meet the above preset performance conditions, the control system can determine the above new initial calibration parameters as the target calibration parameters. If the new performance indicators still do not meet the above preset performance conditions, repeat the above calibration process until the performance indicators corresponding to the final generated initial calibration parameters meet the above preset performance conditions. At this time, the control system can determine the above final generated initial calibration parameters as the target calibration parameters.

[0050] For example, it can be assumed that the preset performance condition is that the speed is greater than N revolutions per minute. Further, it can be assumed that there are two initial calibration parameters, respectively denoted as parameter A and parameter B, where parameter A corresponds to the test operation parameter P and parameter B corresponds to the test operation parameter Q. The control system can control the operation of the test motor based on parameter A. During the operation of the test motor, the speed of the test motor is obtained to be a revolutions per minute, where a is greater than N. At this time, parameter A meets the preset performance condition. Therefore, the control system can directly determine parameter A as the target calibration parameter corresponding to the test operation parameter P. Furthermore, the control system can control the operation of the test motor based on parameter B. During the operation of the test motor, the speed of the test motor is obtained to be b revolutions per minute, where b is less than N. At this time, parameter B does not meet the preset performance condition. Therefore, the control system needs to adjust parameter B based on the current performance indicator, that is, the speed is b revolutions per minute, to obtain a new initial calibration parameter, denoted as parameter C. Subsequently, the control system can control the operation of the above-mentioned test motor based on parameter C. During the operation of the above-mentioned test motor, the speed of the test motor is obtained to be c revolutions per minute, where c is greater than N. At this time, parameter C meets the above-mentioned preset performance conditions. Therefore, the control system can use a new initial calibration parameter, that is, parameter C, as the target calibration parameter corresponding to the test operation parameter Q.

[0051] It should be noted that the above-mentioned preset performance conditions, the number of initial calibration parameters, etc. are only for illustrative purposes. The staff can set them according to actual needs and are not limited here.

[0052] Furthermore, the initial control parameters also include: the lead angle of the steering actuator motor and the current scale of the control current of the steering actuator motor, wherein the lead angle is used to characterize the angle between the direct axis and the magnetic flux of the steering actuator motor, and the current scale is used to characterize the ratio of the quadrature axis current to the direct axis current of the steering actuator motor.

[0053] The above-mentioned lead angle may refer to the phase difference between the direct-axis voltage of the above-mentioned steering actuator motor and the motor magnetic flux (i.e., the position of the magnetic field). In the weak magnetic control, by adjusting the lead angle, the constant torque output can be maintained when the above-mentioned steering actuator motor is running at high speed, while reducing the current, thereby improving the operating efficiency of the steering actuator motor. The above-mentioned current scale may be the ratio of the quadrature-axis current to the direct-axis current of the above-mentioned steering actuator motor. The above-mentioned quadrature-axis current may be a current component perpendicular to the axis of rotation of the motor. In a permanent magnet synchronous motor, the above-mentioned quadrature-axis current may directly generate torque to drive the motor to rotate. The above-mentioned direct-axis current may be a current component along the direction of the magnetic flux of the steering actuator motor. In the weak magnetic control stage, the magnetic field strength of the steering actuator motor can be reduced by adjusting the above-mentioned direct-axis current, thereby allowing the steering actuator motor to run at a higher speed.

[0054] In an optional embodiment, considering that introducing a suitable lead angle can enable the above-mentioned steering actuator motor to produce better torque output at different speeds, and reasonably setting the current scale can enable the above-mentioned steering actuator motor to achieve a balance between torque and magnetic field at different loads and speeds, thereby improving the overall working efficiency of the steering actuator motor, therefore, the above-mentioned initial control parameters, in addition to the above-mentioned minimum direct-axis current, can also include the lead angle of the steering actuator motor and the current scale of the control current of the steering actuator motor. Combined with the lead angle, current scale and minimum direct-axis current, the control system can dynamically calculate the above-mentioned target control parameters according to the real-time motor speed, power supply voltage and torque requirements, thereby achieving more intelligent and precise control of the steering actuator motor, thereby avoiding speed fluctuations during the operation of the steering actuator motor.

[0055] Furthermore, based on the initial control parameters and the required torque, the target control parameters of the steering actuator motor are determined, including: determining the target quadrature-axis current value based on the lead angle, current scale and required torque, wherein the target quadrature-axis current value is used to characterize the current demand value of the steering actuator motor in the quadrature-axis direction; determining the target direct-axis current value based on the target quadrature-axis current value and the minimum direct-axis current value, wherein the target direct-axis current value is used to characterize the current demand value of the steering actuator motor in the direct-axis direction; determining the target control parameters based on the target quadrature-axis current value and the target direct-axis current value.

[0056] The target quadrature-axis current value may refer to the current demand value of the steering actuator motor in the quadrature-axis direction. The target direct-axis current value may refer to the current demand value of the steering actuator motor in the direct-axis direction.

[0057] In an optional embodiment, considering that the lead angle, current scale, and minimum direct-axis current value are three interrelated but independent control variables that collectively affect the performance and efficiency of the steering actuator motor, the lead angle, current scale, and minimum direct-axis current value have been obtained by querying a preset parameter table, and the required torque directly reflects the control system's performance requirements for the steering actuator motor. Therefore, the control system can determine the target control parameters of the steering actuator motor based on the lead angle, current scale, minimum direct-axis current value, and required torque. Specifically, the control system can first determine the target quadrature-axis current value based on the lead angle, current scale, and required torque. Furthermore, considering that the direct-axis and quadrature-axis currents jointly affect the operating state of the steering actuator motor, the above-mentioned target quadrature-axis current can be calculated to obtain the above-mentioned target direct-axis current. Since the introduction of the above-mentioned minimum direct-axis current can ensure that the steering actuator motor still maintains the necessary magnetic flux strength in the weak magnetic control mode, avoiding torque oscillation or control instability, the control system can comprehensively consider the target quadrature-axis current value and the minimum direct-axis current value to calculate the above-mentioned target direct-axis current value, thereby ensuring that while meeting the torque requirement, the magnetic flux control of the steering actuator motor is also within a safe and effective range. Finally, the control system can convert the target quadrature-axis current value and the target direct-axis current value into corresponding target quadrature-axis voltage value and target direct-axis voltage value to construct the above-mentioned target control parameters.

[0058] Furthermore, based on the lead angle, current scale and required torque, a target quadrature-axis current value is determined, including: determining an original quadrature-axis current value of the steering actuator motor based on the required torque; determining a current range of the target quadrature-axis current value based on the lead angle and current scale; and limiting the original quadrature-axis current value based on the current range to obtain a target quadrature-axis current value.

[0059] The original quadrature-axis current value may be the quadrature-axis current requirement value of the steering actuator motor preliminarily calculated by the control system based on the required torque. The current range may refer to the acceptable range of the quadrature-axis current and the direct-axis current of the steering actuator motor.

[0060] In an optional embodiment, considering that the quadrature-axis current of the steering actuator motor directly affects the torque output of the steering actuator motor, the control system may first calculate the original required quadrature-axis current value based on the required torque, that is, the original quadrature-axis current value, to ensure that the steering actuator motor can generate sufficient torque to achieve vehicle steering. Further considering that the original quadrature-axis current value may exceed the current range for safe and efficient operation of the motor, the control system also needs to define a current range for the target quadrature-axis current value in order to ensure that the target quadrature-axis current ultimately generated enables the steering actuator motor to operate safely and efficiently. Since the above-mentioned lead angle can affect the weak magnetic control efficiency of the steering actuator motor, and the current scale can determine the overall level of the steering actuator motor control current, these two parameters jointly affect the effective range of the quadrature-axis current. Therefore, the control system can define the current range of the target quadrature-axis current value based on the above-mentioned lead angle and current scale, and limit the original quadrature-axis current value based on this range to obtain the target quadrature-axis current value. This process enables the steering actuator motor to meet the torque requirements while maintaining high operating efficiency and stability under the action of the above-mentioned target quadrature-axis current, thereby avoiding overload or unstable magnetic flux control leading to performance degradation of the steering actuator motor.

[0061] Furthermore, based on the target quadrature-axis current value and the minimum direct-axis current value, the target direct-axis current value is determined, including: determining the original direct-axis current value of the steering execution motor based on the target quadrature-axis current value; calculating the sum of the original direct-axis current value and the minimum direct-axis current value to obtain the target direct-axis current value.

[0062] The original direct-axis current value may be a direct-axis current demand value of the steering actuator motor preliminarily calculated by the control system based on the target quadrature-axis current value.

[0063] In an optional embodiment, in order to improve the calculation efficiency of the target direct-axis current value, the control system can pre-establish a proportional relationship between the direct-axis current value and the quadrature-axis current value. After determining the above-mentioned target quadrature-axis current value, the control system can use the above-mentioned proportional relationship to determine the original direct-axis current value of the steering actuator motor. In order to ensure that the steering actuator motor still maintains the necessary magnetic flux strength in the weak magnetic control mode to avoid speed fluctuations when the required torque changes significantly, the control system can further add the above-mentioned original direct-axis current value and the minimum direct-axis current value to calculate the above-mentioned target direct-axis current value.

[0064] In another optional embodiment, in order to reduce the computational burden of the control system during vehicle driving, the control system can also pre-establish a physical model of steering execution based on the physical characteristics of the steering execution motor. The model can be combined with various operating parameters of the steering execution motor such as current speed, supply voltage, inductance and magnetic flux. When it is necessary to determine the above-mentioned target direct-axis current value, the control system can input the above-mentioned target quadrature-axis current value into the model. The model can solve the original direct-axis current value of the above-mentioned steering execution motor, and further calculate the sum of the above-mentioned original direct-axis current value and the minimum direct-axis current value to obtain the target direct-axis current value.

[0065] Furthermore, based on the target quadrature-axis current value and the target direct-axis current value, target control parameters are determined, including: based on a first preset controller, processing the target direct-axis current value to obtain an original direct-axis voltage value, wherein the first preset controller is used to generate the direct-axis voltage; based on a second preset controller, processing the target quadrature-axis current to obtain an original quadrature-axis voltage value, wherein the second preset controller is used to generate the quadrature-axis voltage; based on a first preset limiting strategy, limiting the original direct-axis voltage value to obtain a target direct-axis voltage value, wherein the first preset limiting strategy is used to characterize a strategy for limiting the original direct-axis voltage value; based on a second preset limiting strategy, limiting the original quadrature-axis voltage value to obtain a target quadrature-axis voltage value, wherein the second preset limiting strategy is used to characterize a strategy for limiting the original quadrature-axis voltage value.

[0066] The first preset controller may be a control algorithm or hardware module specifically configured to generate a direct-axis voltage. For example, the first preset controller may be a PI (Proportional-Integral) controller, a PID (Proportional-Integral-Derivative) controller, etc., but is not limited thereto. The raw direct-axis voltage value may be a preliminary required direct-axis voltage value calculated by the first preset controller after receiving the target direct-axis current value. The second preset controller may be a control algorithm or hardware module specifically configured to generate a quadrature-axis voltage. For example, the second preset controller may be a PI controller, a PID controller, etc., but is not limited thereto. The raw quadrature-axis voltage value may be a preliminary required quadrature-axis voltage value calculated by the second preset controller after receiving the target quadrature-axis current value. The first preset limiting strategy may be a strategy for limiting the raw direct-axis voltage value to ensure that the raw direct-axis voltage value does not exceed the voltage capability upper limit of the steering actuator motor. For example, the first preset limiting strategy may be a voltage limit ellipse strategy, but is not limited thereto. The above-mentioned second preset limiting strategy can be a strategy for limiting the above-mentioned original quadrature-axis voltage value to ensure that the above-mentioned original quadrature-axis voltage value does not exceed the voltage capability upper limit of the steering execution motor. For example, the above-mentioned second preset limiting strategy can be a voltage limit ellipse strategy, but is not limited to this.

[0067] In an optional embodiment, the above-mentioned first preset controller can adopt a PI controller, and the control system can input the above-mentioned target direct-axis current value into the PI controller, and the PI controller can output the above-mentioned original direct-axis voltage value after calculation. Similarly, the above-mentioned second preset controller can also adopt a PI controller, and the control system can input the above-mentioned target quadrature-axis current value into the PI controller, and the PI controller can output the above-mentioned original quadrature-axis voltage value after calculation. Subsequently, the control system can limit the above-mentioned original direct-axis voltage value and the original quadrature-axis voltage value. Specifically, the control system can select a voltage limit ellipse as the above-mentioned first preset limiting strategy, limit the above-mentioned original direct-axis voltage value, and obtain the target direct-axis voltage value. Similarly, the control system can also select a voltage limit ellipse as the above-mentioned second preset limiting strategy, limit the above-mentioned original quadrature-axis voltage value, and obtain the target quadrature-axis voltage value.

[0068] It should be noted that the above-mentioned first preset controller and the second preset controller can use the same controller or different controllers, and the above-mentioned first preset limiting strategy and the second preset limiting strategy can use the same limiting strategy or different ones. The staff can choose according to actual needs and there is no limitation here.

[0069] For ease of understanding, Figure 2is a schematic diagram of an optional steering execution motor control algorithm according to an embodiment of the present invention, such as Figure 2 As shown, the algorithm first inputs the power supply voltage and motor speed of the steering actuator motor into the weak magnetic control module. After calculation, the weak magnetic control module outputs the current scale, lead angle, and minimum direct-axis current. Subsequently, the algorithm inputs the above current scale, lead angle, minimum direct-axis current, and required torque into the demand current calculation module. The demand current calculation module outputs the quadrature-axis demand current and direct-axis demand current through calculation. Then, the algorithm inputs the above quadrature-axis demand current and direct-axis demand current, as well as the quadrature-axis feedback current and direct-axis feedback current into the current loop control module. The current loop control module finally outputs the quadrature-axis control voltage and direct-axis control voltage of the above steering actuator motor through calculation.

[0070] Figure 3 is an architecture diagram of an optional steering execution motor control system according to an embodiment of the present invention, such as Figure 3As shown, the architecture includes a torque control module, a current control module, a voltage control module, a remapping parking transformation and space vector pulse width modulation module, a brushless DC motor, a Clark transformation module, a parking transformation module, and a weak magnetic lookup table module. In the figure, TrqDmd represents the required torque, IqreqRaw represents the raw quadrature-axis current demand value, UdRaw represents the raw direct-axis voltage demand value, UqRaw represents the raw quadrature-axis voltage demand value, Ud represents the direct-axis voltage, Uq represents the quadrature-axis voltage, Ia represents the current of winding A of the brushless DC motor (not shown in the figure), Ib represents the current of winding B of the brushless DC motor (not shown in the figure), Ic represents the current of winding C of the brushless DC motor (not shown in the figure), I1 represents the component of the current on the α-axis in a two-phase stationary coordinate system (referred to as the α-β coordinate system), I2 represents the component of the current on the β-axis in the α-β coordinate system, n represents the position angle of the brushless DC motor rotor, CR represents the current range (CR), AA represents the advance angle (AA), MDC represents the minimum direct current (MDC), Id represents the direct-axis current in a synchronously rotating coordinate system (referred to as the dq coordinate system), and Iq represents the quadrature-axis current. The torque control module is used to output the original quadrature-axis current demand value based on the required torque. The current control module is used to output the original quadrature-axis voltage demand value and the original direct-axis voltage demand value based on the current scale, lead angle, and minimum direct-axis current output by the flux-weakening lookup module, as well as the original quadrature-axis current demand value output by the torque control module. The voltage control module is used to output the quadrature-axis voltage demand and the original direct-axis voltage demand value based on the original quadrature-axis voltage demand and the original direct-axis voltage demand values ​​output by the current control module. The Clarke transform module is used to transform the three-phase stationary coordinate system of the brushless DC motor into the α-β coordinate system, thereby converting the currents Ia, Ib, and Ic in the three-phase stationary coordinate system into currents I1 and I2 in the α-β coordinate system. The parking transform module is used to transform the currents I1 and I2 in the α-β coordinate system into the dq coordinate system, thereby outputting Id and Iq. The flux-weakening lookup module is used to query the pre-calibrated flux-weakening control parameters, namely CR, AA, and MDC, based on the real-time speed, supply voltage, and load conditions of the brushless DC motor. The remapped parking transformation and space vector pulse width modulation module is used to convert the motor control signal in the dq coordinate system back to the α-β coordinate system, and further generate accurate pulse width modulation signals through space vector pulse width modulation to efficiently drive the brushless DC motor and achieve precise control of the brushless DC motor voltage and current.

[0071] According to an embodiment of the present invention, an embodiment of a steering execution motor control device is provided. It should be noted that the device can be used to implement the above-mentioned steering execution motor control method. The specific implementation and application scenarios are the same as those of the above-mentioned embodiment and will not be repeated here. Figure 4 is a schematic diagram of a steering execution motor control device according to an embodiment of the present invention. Figure 4 As shown, the device includes:

[0072] The first acquisition module 402 is configured to acquire current operating parameters and required torque of the steering actuator motor, wherein the required torque is used to represent the torque that the steering actuator motor needs to output when the vehicle is currently turning.

[0073] The second acquisition module 404 is used to obtain initial control parameters corresponding to the current operating parameters from a preset parameter table based on the current operating parameters, wherein the preset parameter table is used to store the mapping relationship between the current operating parameters and the initial control parameters, and the initial control parameters are used to perform weak magnetic control on the steering actuator motor, and the initial control parameters include at least the minimum direct-axis current value of the steering actuator motor.

[0074] The first determination module 406 is configured to determine target control parameters of the steering actuator motor based on the initial control parameters and the required torque, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage.

[0075] The first control module 408 is configured to control the operation of the steering execution motor based on the target control parameter.

[0076] Furthermore, the device also includes: a third acquisition module, used to obtain multiple test operation parameters and hardware parameters of the test motor, wherein the model of the test motor is the same as the model of the steering execution motor, the parameter type of the multiple test operation parameters is the same as the parameter type of the current operation parameter, the parameter values ​​of different test operation parameters are different, and the parameter values ​​of the multiple test operation parameters include the parameter value of the current operation parameter; a second determination module, used to determine the initial calibration parameters corresponding to the test operation parameters based on the test operation parameters and the hardware parameters, wherein different test operation parameters correspond to different initial calibration parameters; a first adjustment module, used to adjust the initial calibration parameters based on the parameter adjustment algorithm to obtain the target calibration parameters corresponding to the test operation parameters; a first construction module, used to construct a preset parameter table based on the mapping relationship between the test operation parameters and the target calibration parameters.

[0077] Furthermore, the first adjustment module is also used to: control the operation of the test motor based on the initial calibration parameters; monitor the performance indicators of the test motor during the operation of the test motor; in response to the monitored performance indicators meeting the preset performance conditions, determine the initial calibration parameters as target calibration parameters; in response to the monitored performance indicators not meeting the preset performance conditions, reduce the initial calibration parameters based on the performance indicators to obtain new initial calibration parameters, and control the operation of the test motor based on the new initial calibration parameters to obtain new performance indicators, until the new performance indicators meet the preset performance conditions, and determine the new initial calibration parameters as the target calibration parameters.

[0078] Furthermore, the initial control parameters also include: the lead angle of the steering actuator motor and the current scale of the control current of the steering actuator motor, wherein the lead angle is used to characterize the angle between the direct axis and the magnetic flux of the steering actuator motor, and the current scale is used to characterize the ratio of the quadrature axis current to the direct axis current of the steering actuator motor.

[0079] Furthermore, the first determination module is also used to: determine the target quadrature-axis current value based on the lead angle, current scale and required torque, wherein the target quadrature-axis current value is used to characterize the current demand value of the steering actuator motor in the quadrature-axis direction; determine the target direct-axis current value based on the target quadrature-axis current value and the minimum direct-axis current value, wherein the target direct-axis current value is used to characterize the current demand value of the steering actuator motor in the direct-axis direction; determine the target control parameters based on the target quadrature-axis current value and the target direct-axis current value.

[0080] Furthermore, the first determination module is also used to: determine the original quadrature-axis current value of the steering execution motor based on the required torque; determine the current range of the target quadrature-axis current value based on the lead angle and the current scale; and limit the original quadrature-axis current value based on the current range to obtain the target quadrature-axis current value.

[0081] Furthermore, the first determination module is further configured to: determine an original direct-axis current value of the steering actuator motor based on the target quadrature-axis current value; and calculate the sum of the original direct-axis current value and the minimum direct-axis current value to obtain the target direct-axis current value.

[0082] Furthermore, the first determination module is also used to: based on the first preset controller, process the target direct-axis current value to obtain the original direct-axis voltage value, wherein the first preset controller is used to generate the direct-axis voltage; based on the second preset controller, process the target quadrature-axis current to obtain the original quadrature-axis voltage value, wherein the second preset controller is used to generate the quadrature-axis voltage; based on the first preset limiting strategy, limit the original direct-axis voltage value to obtain the target direct-axis voltage value, wherein the first preset limiting strategy is used to represent the strategy for limiting the original direct-axis voltage value; based on the second preset limiting strategy, limit the original quadrature-axis voltage value to obtain the target quadrature-axis voltage value, wherein the second preset limiting strategy is used to represent the strategy for limiting the original quadrature-axis voltage value.

[0083] An embodiment of the present application further provides a vehicle, comprising: a memory storing an executable program; and a processor for running the program, wherein the method of each embodiment of the present invention is executed when the program is running.

[0084] An embodiment of the present application further provides a computer-readable storage medium, which includes a stored executable program, wherein when the executable program is running, the device where the computer-readable storage medium is located is controlled to execute the methods in various embodiments of the present invention.

[0085] An embodiment of the present application further provides a computer program product, including a computer program, which implements the methods in various embodiments of the present invention when executed by a processor.

[0086] An embodiment of the present application further provides a computer program product, including a non-volatile computer-readable storage medium, wherein the non-volatile computer-readable storage medium is used to store a computer program, and when the computer program is executed by a processor, the method in each embodiment of the present invention is implemented.

[0087] The embodiments of the present application further provide a computer program, which implements the methods in the above-mentioned embodiments of the present invention when executed by a processor.

[0088] The serial numbers of the above embodiments of the present invention are for description only and do not represent the advantages or disadvantages of the embodiments.

[0089] In the above embodiments of the present invention, the description of each embodiment has its own focus. For parts that are not described in detail in a certain embodiment, reference can be made to the relevant descriptions of other embodiments.

[0090] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0091] The units described as separate components may or may not be physically separate, and the components shown as units may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0092] In addition, the functional units in the various embodiments of the present invention may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit. The aforementioned integrated units may be implemented in the form of hardware or software functional units.

[0093] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present invention, or the part that contributes to the prior art, or all or part of the technical solution can be embodied in the form of a software product. The computer software product is stored in a storage medium and includes several instructions for enabling a computer device (which can be a personal computer, server or network device, etc.) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), mobile hard disk, magnetic disk or optical disk, etc. Various media that can store program codes.

[0094] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the principles of the present invention. These improvements and modifications should also be regarded as within the scope of protection of the present invention.

Claims

1. A steering execution motor control method, characterized in that: include: Obtaining current operating parameters and required torque of the steering actuator motor, wherein the required torque is used to represent the torque that the steering actuator motor needs to output when the vehicle is currently turning; Based on the current operating parameters, obtaining initial control parameters corresponding to the current operating parameters from a preset parameter table, wherein the preset parameter table is used to store a mapping relationship between the current operating parameters and the initial control parameters, the initial control parameters are used to perform field weakening control on the steering actuator motor, and the initial control parameters include at least a minimum direct-axis current value of the steering actuator motor; determining target control parameters of the steering actuator motor based on the initial control parameters and the required torque, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage; The steering execution motor is controlled to operate based on the target control parameter.

2. The steering actuator motor control method according to claim 1, characterized in that: The method further comprises: Acquire multiple test operation parameters and hardware parameters of the test motor, wherein the model of the test motor is the same as the model of the steering execution motor, the parameter types of the multiple test operation parameters are the same as the parameter types of the current operation parameters, different test operation parameters have different parameter values, and the parameter values ​​of the multiple test operation parameters include the parameter value of the current operation parameter; Determining initial calibration parameters corresponding to the test operation parameters based on the test operation parameters and the hardware parameters, wherein different test operation parameters correspond to different initial calibration parameters; Based on a parameter adjustment algorithm, the initial calibration parameters are adjusted to obtain target calibration parameters corresponding to the test operation parameters; The preset parameter table is constructed based on the mapping relationship between the test operation parameters and the target calibration parameters.

3. The steering actuator motor control method according to claim 2, characterized in that: Based on the parameter adjustment algorithm, the initial calibration parameters are adjusted to obtain target calibration parameters corresponding to the test operation parameters, including: Based on the initial calibration parameters, controlling the test motor to operate; During the operation of the test motor, monitoring the performance indicators of the test motor; In response to the monitored performance indicator satisfying a preset performance condition, determining the initial calibration parameter as the target calibration parameter; In response to the monitored performance indicator not meeting the preset performance condition, the initial calibration parameter is reduced based on the performance indicator to obtain a new initial calibration parameter, and based on the new initial calibration parameter, the test motor is controlled to operate to obtain a new performance indicator until the new performance indicator meets the preset performance condition, and the new initial calibration parameter is determined to be the target calibration parameter.

4. The steering actuator motor control method according to claim 1, characterized in that: The initial control parameters also include: the lead angle of the steering actuator motor and the current scale of the control current of the steering actuator motor, wherein the lead angle is used to characterize the angle between the direct axis and the magnetic flux of the steering actuator motor, and the current scale is used to characterize the ratio of the quadrature-axis current to the direct-axis current of the steering actuator motor.

5. The steering actuator motor control method according to claim 4, characterized in that: Determining target control parameters of the steering actuator motor based on the initial control parameters and the required torque includes: Determining a target quadrature-axis current value based on the lead angle, the current scale, and the required torque, wherein the target quadrature-axis current value is used to represent a current requirement value of the steering actuator motor in a quadrature-axis direction; Determining a target direct-axis current value based on the target quadrature-axis current value and the minimum direct-axis current value, wherein the target direct-axis current value is used to represent a current demand value of the steering actuator motor in the direct-axis direction; The target control parameter is determined based on the target quadrature-axis current value and the target direct-axis current value.

6. The steering execution motor control method according to claim 5, characterized in that: Determining a target quadrature-axis current value based on the lead angle, the current scale, and the required torque includes: determining an original quadrature-axis current value of the steering actuator motor based on the required torque; determining a current range of the target quadrature-axis current value based on the lead angle and the current scale; Based on the current range, the original quadrature-axis current value is limited to obtain a target quadrature-axis current value.

7. The steering actuator motor control method according to claim 5, characterized in that: Determining a target direct-axis current value based on the target quadrature-axis current value and the minimum direct-axis current value includes: determining an original direct-axis current value of the steering actuator motor based on the target quadrature-axis current value; The sum of the original direct-axis current value and the minimum direct-axis current value is calculated to obtain the target direct-axis current value.

8. The steering execution motor control method according to claim 5, characterized in that: Determining the target control parameter based on the target quadrature-axis current value and the target direct-axis current value includes: processing the target direct-axis current value based on a first preset controller to obtain an original direct-axis voltage value, wherein the first preset controller is used to generate the direct-axis voltage; Based on a second preset controller, the target quadrature-axis current is processed to obtain an original quadrature-axis voltage value, wherein the second preset controller is used to generate the quadrature-axis voltage; Based on a first preset limiting strategy, limiting the original direct-axis voltage value to obtain the target direct-axis voltage value, wherein the first preset limiting strategy is used to represent a strategy for limiting the original direct-axis voltage value; Based on a second preset limiting strategy, the original quadrature-axis voltage value is limited to obtain the target quadrature-axis voltage value, wherein the second preset limiting strategy is used to represent a strategy for limiting the original quadrature-axis voltage value.

9. A steering actuator motor control device, characterized in that: include: a first acquisition module, configured to acquire current operating parameters and a required torque of the steering actuator motor, wherein the required torque is used to represent the torque that the steering actuator motor needs to output when the vehicle is currently turning; a second acquisition module, configured to acquire, based on the current operating parameters, initial control parameters corresponding to the current operating parameters from a preset parameter table, wherein the preset parameter table is used to store a mapping relationship between the current operating parameters and the initial control parameters, the initial control parameters being used to perform flux weakening control on the steering actuator motor, and the initial control parameters at least including a minimum direct-axis current value of the steering actuator motor; a first determining module, configured to determine target control parameters of the steering actuator motor based on the initial control parameters and the required torque, wherein the target control parameters include a target direct-axis voltage and a target quadrature-axis voltage; A first control module is configured to control the operation of the steering execution motor based on the target control parameter.

10. A vehicle, characterized in that: include: one or more processors; a storage device for storing one or more programs; When the one or more programs are executed by the one or more processors, the one or more processors execute the steering execution motor control method according to any one of claims 1 to 8.

11. A computer-readable storage medium, characterized in that The computer-readable storage medium includes a stored executable program, wherein when the executable program is run, the device where the storage medium is located is controlled to execute the steering execution motor control method according to any one of claims 1 to 8.

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