Motor control method and device, motor controller and vehicle

Abstract

The invention provides a motor control method and device, a motor controller and a vehicle. The motor control method comprises the steps that the actual output power of a battery is calculated according to the actual output voltage and the actual output current of the battery; according to the driving demand power, the air conditioning system demand power and the transformation system demand power, the actual demand power of the vehicle is calculated; determining a motor torque diagnosis result according to the battery actual output power, the vehicle actual demand power and a preset proportion threshold value; according to the motor torque diagnosis result, a motor control instruction is output, and the motor control instruction is used for controlling a motor. By comparing the actual output power and the actual demand power of the battery, the motor torque diagnosis result can be obtained in time, and a motor rotor position sensor and a decoding circuit do not need to be additionally arranged, namely, the abnormal torque condition is accurately diagnosed, and the cost is saved. Besides, corresponding motor control measures are taken according to a motor torque diagnosis result, so that the safety of a driver and other people is ensured, and traffic accidents are reduced.

Description

TECHNICAL FIELD

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

[0002] In an automobile, the role of a motor (electric motor) is crucial, especially under the trend of modern automobiles towards electrification and intelligence, the performance of the motor greatly influences the driving experience of a new energy automobile.

[0003] In the related art, the position of a rotor in a motor is collected by a position sensor, and the position signal is sent to a motor controller, and the motor rotor position angle (i.e., the initial angle of the motor) is calculated by a resolver decoding chip or software in the motor controller.

[0004] However, if the initial angle of the motor written in the software of the motor controller is inconsistent with the actual initial angle of the motor, during driving, the driver steps on the accelerator pedal according to his own needs, and the motor controller generates a motor control signal according to the accelerator pedal signal. Since the initial angle of the motor in the software of the motor controller is different from the actual initial angle of the motor, the motor control signal output by the motor controller will also have a large deviation, resulting in that the actual output torque of the motor is different from the torque expected by the driver, and further affecting the driving experience of the driver.

[0005] It should be noted that the information disclosed in the background section of the present application is only intended to deepen the understanding of the general background of the present application, and should not be regarded as acknowledging or implying in any form that the information constitutes prior art known to those skilled in the art. SUMMARY

[0006] Therefore, the present application provides a motor control method and device, a motor controller and a vehicle to solve the problem that the initial angle of the motor in the software of the motor controller is different from the actual initial angle of the motor, so that the motor control signal output by the motor controller will also have a large deviation, resulting in that the actual output torque of the motor is different from the torque expected by the driver, and further affecting the driving experience of the driver.

[0007] In a first aspect, an embodiment of the present application provides a motor control method applied to a motor controller, comprising: calculating the actual output power of the battery according to the actual output voltage and the actual output current of the battery; calculating the actual demand power of the vehicle according to the driving demand power, the air conditioning system demand power and the transformer system demand power; determining a motor torque diagnosis result according to the actual output power of the battery, the actual demand power of the vehicle and a preset proportion threshold value; A motor control instruction is output according to the motor torque diagnosis result, and the motor control instruction is used to control the motor.

[0008] In this embodiment, by comparing the actual battery output power with the actual power demand, motor torque diagnosis results can be obtained promptly without the need for additional motor rotor position sensors and decoding circuits. This allows accurate diagnosis of torque anomalies and saves costs. Furthermore, appropriate motor control measures can be taken based on the motor torque diagnosis results, thereby ensuring the safety of the driver and others and reducing the occurrence of traffic accidents.

[0009] In one possible implementation, calculating the actual power requirement of the vehicle based on the driving power requirement, the air conditioning system power requirement, and the transformer system power requirement includes: The actual power requirement of the vehicle is calculated based on the driver's required power, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system.

[0010] In the embodiment of the present application, the actual power demand is calculated by calculating the actual power demand achieved by real-time calculation of the power consumption and the corresponding efficiency. It can be understood that by calculating the actual power demand of the vehicle based on the driver's power demand and the power consumption of multiple systems, a more accurate actual power demand of the vehicle can be obtained, thereby improving the accuracy of the motor torque diagnosis results.

[0011] In one possible implementation, before calculating the actual power demanded by the vehicle based on the driver's power demand, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system, the method further includes: Obtain the electric drive system efficiency MAP diagram under different voltages, different motor torques and different motor speeds, as well as the air conditioning system efficiency MAP diagram and transformer system efficiency MAP diagram under different voltages and currents.

[0012] In an embodiment of the present application, the efficiency of each system is determined based on the MAP diagram of each system, so that accurate system efficiency can be obtained, thereby improving the accuracy of torque diagnosis; in addition, the efficiency is obtained in advance so that these efficiency values ​​can be directly used in the torque diagnosis process, which can improve the torque diagnosis speed and ensure the data processing speed, thereby ensuring driving safety.

[0013] In one possible implementation, before calculating the actual power demanded by the vehicle based on the driver's power demand, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system, the method further includes: The driver's required power is calculated based on the accelerator pedal opening and motor speed.

[0014] In the embodiment of the present application, the driver's required power is calculated based on the accelerator pedal opening and the motor speed. It is understandable that drivers usually use the accelerator pedal opening to reflect their required power. Therefore, the accelerator pedal opening can more accurately reflect the driver's required power and improve the accuracy of subsequent torque diagnosis.

[0015] In one possible implementation, determining the motor torque diagnosis result according to the actual battery output power, the actual vehicle power requirement, and a preset proportional threshold value includes: Calculating an actual ratio of the actual output power of the battery to the actual power required by the vehicle; A motor torque diagnosis result is determined based on a relationship between the actual ratio and a preset ratio threshold.

[0016] In an embodiment of the present application, the motor torque diagnosis result is determined based on the actual ratio of the actual output power of the battery to the actual required power of the vehicle and a preset ratio threshold. It can be understood that the ratio can better reflect the relative value of power and is more convenient for judging whether the motor torque is normal.

[0017] In one possible implementation, the preset ratio threshold includes a first preset ratio threshold, a second preset ratio threshold, and a third preset ratio threshold, the first preset ratio threshold is greater than the second preset ratio threshold, greater than 1, and greater than the third preset ratio threshold, and determining the motor torque diagnosis result based on the relationship between the actual ratio and the preset ratio threshold includes: If the actual ratio is greater than or equal to the first preset ratio threshold, determining that the motor torque is abnormal; If the actual ratio is less than or equal to the second preset ratio threshold and greater than or equal to the third preset ratio threshold, it is determined that the motor torque is normal.

[0018] In the embodiment of the present application, three preset proportional thresholds are used to determine whether the motor torque is normal, thereby ensuring the accuracy of the diagnosis result and ensuring driving safety.

[0019] In a possible implementation, outputting a motor control instruction according to the motor torque diagnosis result includes: If the motor torque is abnormal, outputting a first motor control instruction, wherein the first motor control instruction is used to control the motor to stop working; If the motor torque is normal, a second motor control instruction is output, where the second motor control instruction is used to control the motor to operate normally.

[0020] In an embodiment of the present application, when the motor torque is abnormal, the motor is controlled to stop working; when the motor torque is normal, the motor is controlled to work normally, thereby ensuring the safety of the driver and others without interrupting the vehicle power and reducing the occurrence of traffic accidents.

[0021] In a second aspect, an embodiment of the present application provides a motor control device, comprising: The battery actual output power calculation module is used to calculate the battery actual output power based on the battery actual output voltage and the battery actual output current; The vehicle actual power requirement calculation module is used to calculate the vehicle actual power requirement based on the driving power requirement, the air conditioning system power requirement and the transformer system power requirement; a motor torque diagnosis module, configured to determine a motor torque diagnosis result based on the actual output power of the battery, the actual required power of the vehicle, and a preset proportional threshold; The output module is used to output a motor control instruction according to the motor torque diagnosis result, and the motor control instruction is used to control the motor.

[0022] In a third aspect, an embodiment of the present application provides a motor controller, comprising: processor; Memory; and a computer program, wherein the computer program is stored in the memory, and the computer program includes instructions, which, when executed by the processor, cause the motor controller to perform the method according to any one of the first aspects.

[0023] In a fourth aspect, an embodiment of the present application provides a vehicle, comprising the motor controller described in the third aspect.

[0024] It is understood that the motor control device provided in the second aspect, the motor controller provided in the third aspect, and the vehicle provided in the fourth aspect are all used to perform the method provided in this application. Therefore, the beneficial effects that can be achieved can be referred to the beneficial effects of the corresponding methods and will not be repeated here. BRIEF DESCRIPTION OF THE DRAWINGS

[0025] In order to more clearly illustrate the technical solutions of the embodiments of the present application, the following is a brief introduction to the drawings required for use in the embodiments. Obviously, the drawings described below are only some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0026] Figure 1 A flow chart of a motor control method provided in an embodiment of the present application; Figure 2 A flow chart of another motor control method provided in an embodiment of the present application; Figure 3 A schematic structural diagram of a motor control device provided in an embodiment of the present application; Figure 4A schematic diagram of the structure of a motor controller provided in an embodiment of the present application; Figure 5 A schematic diagram of a vehicle provided in an embodiment of the present application. DETAILED DESCRIPTION

[0027] In order to better understand the technical solution of the present application, the embodiments of the present application are described in detail below with reference to the accompanying drawings.

[0028] It should be clear that the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative work are within the scope of protection of this application.

[0029] The terms used in the embodiments of the present application are for the purpose of describing specific embodiments only and are not intended to limit the present application. The singular forms "a", "an", "the" and "the" used in the embodiments of the present application and the appended claims are also intended to include plural forms unless the context clearly indicates otherwise.

[0030] It should be understood that the term "and / or" as used herein simply describes a relationship between associated objects, indicating that three possible relationships exist. For example, "A and / or B" can represent: A alone, A and B together, or B alone. Furthermore, the character " / " in this document generally indicates an "or" relationship between the associated objects.

[0031] In automobiles, the role of motors (electric motors) is crucial, especially as modern automobiles are developing towards electrification and intelligence. The performance of motors greatly affects the driving experience of new energy vehicles.

[0032] In related technologies, a position sensor detects the position of the motor's rotor and sends this position signal to the motor controller. The motor controller's resolver decoder chip or software decodes the signal and calculates the motor's rotor position angle (i.e., the motor's initial angle). When the driver steps on the accelerator pedal, the motor controller generates motor control commands based on the accelerator pedal's opening, thereby controlling the motor's torque output.

[0033] However, if the motor initial angle written in the motor controller software is inconsistent with the actual motor initial angle, the motor control signal generated by the motor controller based on the accelerator pedal will also deviate significantly from the user's expectations, resulting in the actual torque output of the motor being different from the torque expected by the driver, thereby affecting the driver's driving experience.

[0034] To address the above issues, embodiments of the present application provide a motor control method that, by comparing the actual battery output power with the actual power demand, promptly obtains motor torque diagnostic results without requiring additional motor rotor position sensors and decoding circuits. This method accurately diagnoses torque anomalies and saves costs. Furthermore, based on the motor torque diagnostic results, appropriate motor control measures are implemented to ensure the safety of the driver and others, reducing the risk of traffic accidents. This method is described in detail below with reference to the accompanying drawings and specific embodiments.

[0035] See also Figure 1 , is a flow chart of a motor control method provided in an embodiment of the present application. Figure 1 As shown, it mainly includes the following steps.

[0036] Step S101: Calculating the actual output power of the battery according to the actual output voltage and the actual output current of the battery.

[0037] Specifically, after the motor controller obtains the actual output voltage and current of the battery, it calculates the actual output power of the battery. bat实 The actual output power of the battery can reflect the total power currently output by the battery.

[0038] In one possible implementation, the actual battery output voltage and the actual battery output current are collected by a sensor. Of course, in actual applications, the actual battery output voltage and the actual battery output current can also be obtained by other means, and the present embodiment does not impose any specific limitation on this.

[0039] Step S102: Calculate the actual power requirement of the vehicle according to the driving power requirement, the air conditioning system power requirement, and the transformer system power requirement.

[0040] Specifically, the vehicle's actual power demand is calculated by adding the required driving power, the required air conditioning system power, and the required transformer system power. This represents the total power currently required by the vehicle, including the required driving power, the required air conditioning system power, and the required transformer system power.

[0041] Among them, the driving demand power can be calculated based on the driver's demand power and the efficiency of the electric drive system, the air-conditioning system demand power can be calculated based on the air-conditioning system power consumption and the air-conditioning system efficiency, and the transformer system demand power can be calculated based on the transformer system power consumption and the transformer system efficiency.

[0042] Therefore, in one possible implementation, the actual power required by the vehicle is calculated based on the driver's required power, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system. The specific calculation method of the actual power required by the vehicle is: P bat需 =|P m / η m +P AC / η AC +P PTC / η PTC +P dcdc / η dcdc ∣, where P bat需 is the actual required power of the vehicle, P m is the driver's required power, η m is the efficiency of the electric drive system, P AC is the power consumption of air conditioning in cold air mode, η AC is the efficiency of the air conditioning cooling mode, P PTC is the power consumption of the air conditioning hot air mode, η PTC is the efficiency of the air conditioning hot air mode, P dcdc is the power consumption of the transformer system, η dcdc is the efficiency of the transformer system. The power consumption of the air conditioning system includes the above P AC and P PTC , the air conditioning system efficiency includes the above η AC and η PTC .

[0043] Because the A / C button is used to start or stop the compressor in the car's HVAC system, and when the compressor is on, the air conditioner is in cooling mode, and when the compressor is off, the air conditioner is in non-cooling mode, so the P button is used. AC Indicates the power consumption of the air conditioner in cold air mode, using η AC Indicates the efficiency of the air conditioner in cold air mode. PTC (positive temperature coefficient) refers to an electronic component whose resistance value increases with the increase of temperature. PTC is used to represent the hot air mode in the air conditioning system, so PTC is used. PTC Indicates the power consumption of the air conditioner in hot air mode, using η PTC Indicates the efficiency of the air conditioner in hot air mode. A DC-DC converter (also known as a voltage conversion system) is an important power management device used to convert input DC voltage into the desired output voltage.

[0044] Obviously, in order to calculate the actual power required by the vehicle, it is necessary to obtain the driver's required power, the efficiency of the electric drive system, the power consumption of the air-conditioning system, the efficiency of the air-conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system.

[0045] The driver demand power can be calculated according to the accelerator pedal opening degree and the motor speed. It can be understood that the driver usually reflects the power he needs through the accelerator pedal opening degree, so the accelerator pedal opening degree can more accurately reflect the driver demand power, thereby improving the accuracy of subsequent torque diagnosis. The air conditioning system consumption power can be calculated according to the voltage and current of the air conditioning system, and the voltage and current of the voltage conversion system can be calculated according to the voltage conversion system consumption power.

[0046] The electric drive system efficiency, the air conditioning system efficiency and the voltage conversion system efficiency in the embodiments of the present application are obtained before calculating the actual demand power of the vehicle. Specifically, the electric drive system efficiency MAP graph under different voltages, different motor torques and different motor speeds, and the air conditioning system efficiency MAP graph and the voltage conversion system efficiency MAP graph under different voltages and currents are obtained. The core of the MAP graph is to show the relationship between the input parameters (such as speed, voltage, current, etc.) and the output efficiency. The electric drive system efficiency corresponding to different voltages, different motor torques and different motor speeds can be obtained through the electric drive system efficiency MAP graph, the air conditioning system efficiency under different voltages and currents can be obtained through the air conditioning system efficiency MAP graph, and the voltage conversion system efficiency under different voltages and currents can be obtained through the voltage conversion system efficiency MAP graph. More specifically, the electric drive system efficiency under different voltages, different motor torques and different motor speeds, and the air conditioning system efficiency and the voltage conversion system efficiency under different voltages and currents are calculated by the difference estimation method.

[0047] It can be understood that the efficiency of each system is determined according to the MAP graph of each system, and the accurate system efficiency can be obtained, thereby improving the accuracy of torque diagnosis; in addition, the efficiency is obtained in advance, so that the torque diagnosis process directly uses these efficiency values, which can improve the torque diagnosis speed, ensure the data processing speed, and thereby ensure the driving safety.

[0048] Step S103: determining the motor torque diagnosis result according to the actual output power of the battery, the actual demand power of the vehicle and the preset proportion threshold.

[0049] Specifically, the actual ratio of the actual output power of the battery and the actual demand power of the vehicle is calculated, and the motor torque diagnosis result is determined according to the relationship between the actual ratio and the preset proportion threshold.

[0050] In one possible implementation, the actual ratio is calculated as follows: k = |P bat实 | / |P bat需 | where k is the actual ratio, P bat实 is the actual output power of the battery, and P bat需 is the actual demand power of the vehicle.

[0051] In an embodiment of the present application, the preset ratio thresholds include a first preset ratio threshold, a second preset ratio threshold, and a third preset ratio threshold, the first preset ratio threshold being greater than the second preset ratio threshold, greater than 1, and greater than the third preset ratio threshold, and the motor torque diagnosis result includes abnormal motor torque and normal motor torque. The motor torque diagnosis result is determined as follows: if the actual ratio value is greater than or equal to the first preset ratio threshold, the motor torque is determined to be abnormal; if the actual ratio is less than or equal to the second preset ratio threshold and greater than or equal to the third preset ratio threshold, the motor torque is determined to be normal.

[0052] According to the order of the preset ratio thresholds mentioned above, the current motor torque can only be normal when the actual ratio is around 1, because the actual ratio of 1 indicates that the power output by the battery is the same as the power required by the vehicle. In other words, the power output by the battery is used for normal driving of the entire vehicle. If the actual ratio is too large, it means that the power output by the battery is much greater than the power required by the vehicle. At this time, the extra power output by the battery may be used to drive the vehicle, thereby making the vehicle faster and affecting the driving experience.

[0053] Therefore, in one possible implementation, the first preset ratio threshold k1 can be 1.5, the second preset ratio threshold k2 can be 1.1, and the third preset ratio threshold k3 can be 0.9, thereby ensuring accurate judgment of whether the motor torque is normal. Of course, those skilled in the art can set the preset ratio thresholds to other values ​​according to actual needs, and the present embodiment does not impose any specific limitations on this.

[0054] In addition, if the actual ratio is too small, it means that the power output by the battery is less than the power required by the vehicle, but this is obviously not in line with common sense, so there may be a problem in the power calculation process. Therefore, when the actual ratio is less than the third preset ratio threshold, an error message is output. This error message is used to prompt the driver that there is a problem in the motor diagnosis process, so as to facilitate timely maintenance and ensure driving safety.

[0055] Step S104: outputting a motor control instruction according to the motor torque diagnosis result.

[0056] Specifically, the motor control instruction is an instruction used by the motor controller to control the motor. The motor can be controlled to work normally or stop working through different motor control instructions.

[0057] In one possible implementation, if the motor torque is abnormal, a first motor control instruction is output, which is used to control the motor to stop working; if the motor torque is normal, a second motor control instruction is output, which is used to control the motor to work normally.

[0058] Abnormal motor torque occurs when the motor output torque differs from the driver's intended torque, meaning the motor outputs unexpected torque. Normal motor torque occurs when the motor output torque matches the driver's intended torque, meaning the motor outputs the intended torque. When the motor outputs unexpected torque, it can cause the vehicle to exceed its intended speed, affecting driving safety. In this case, the motor controller can stop the motor by stopping PWM output, thereby preventing the vehicle from differing from the driver's intended speed and ensuring driving safety.

[0059] To summarize, by comparing the actual output power of the battery with the actual power required by the vehicle, it is determined whether the motor is outputting torque normally. When the motor outputs abnormal torque, the motor is promptly controlled to stop working to ensure driving safety. When the motor output torque returns to normal, the motor is promptly controlled to work normally and power output is restored in time to ensure the safety of the driver and others.

[0060] Corresponding to the above embodiment, the present application also provides another motor control method.

[0061] See also Figure 2 , is a flow chart of another motor control method provided by an embodiment of the present application. Figure 2 As shown, it mainly includes the following steps.

[0062] Step S201: Power on the vehicle and shift gears for driving.

[0063] Step S202: Determine whether the electric drive system reports a fault.

[0064] Specifically, the electric drive system includes a motor and a motor controller. If so, execute step S203; if not, execute step S204.

[0065] Step S203: Output the first alarm information.

[0066] Among them, the first alarm information is used to remind the driver that there is a fault in the electric drive system.

[0067] Step S204: Determine whether the BMS reports a power fault or an overcurrent fault.

[0068] Specifically, BMS, short for Battery Management System, is the core electronic system used to monitor, control, and manage battery packs (especially rechargeable batteries such as lithium-ion and lead-acid batteries). Understandably, if a battery experiences a power failure or overcurrent fault, it can lead to errors in the calculation of the battery's actual output power, impacting subsequent steps. Therefore, pre-determining whether the battery has reported a power failure or overcurrent fault ensures the accuracy of subsequent motor torque determinations.

[0069] Step S205: Calculate P bat实 、PAC 、P PTC 、P dcdc .

[0070] Step S206: Estimating efficiency η AC ,η PTC ,η dcdc ,η m .

[0071] Step S207: Calculate |P bat需 ∣= ∣P m / η m +P AC / η AC +P PTC / η ptc +P dcdc / η dcdc ∣.

[0072] Step S208: Determine |P bat实 ∣ / ∣P bat需 ∣Is it ≥k1?

[0073] Wherein, k1 is a first preset ratio threshold, if yes, execute step S209; if no, execute step S211.

[0074] Step S209: If the output of the torque is unexpected, the motor controller stops the PWM output and outputs a second alarm message.

[0075] Specifically, the second alarm information is used to remind the driver that the motor outputs unexpected torque and the motor has stopped working.

[0076] Step S210: Determine |P bat实 ∣ / ∣P bat需 ∣Is it greater than or equal to k3 and less than or equal to k2?

[0077] If yes, execute step S211; if no, execute step S209.

[0078] Step S211: The electric drive system outputs torque normally.

[0079] Specifically, the electric drive system includes a motor controller and a motor, and the motor controller controls the motor to output normal torque.

[0080] For details of the embodiments of this application, please refer to the above Figure 1 For the sake of brevity, the description in the illustrated embodiment will not be repeated here.

[0081] Corresponding to the above embodiments, the present application also provides a motor control device.

[0082] See also Figure 3, is a schematic diagram of the structure of a motor control device provided in an embodiment of the present application. Figure 3 As shown, the motor control device may include: a battery actual output power calculation module 301, a vehicle actual required power calculation module 302, a motor torque diagnosis module 303, and an output module 304. These components communicate via one or more buses. Those skilled in the art will understand that the structure of the motor controller shown in the figure does not constitute a limitation on the embodiments of the present application. It can be a bus structure or a star structure, and can also include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0083] The battery actual output power calculation module 301 is used to calculate the battery actual output power according to the battery actual output voltage and the battery actual output current; The vehicle actual power requirement calculation module 302 is used to calculate the vehicle actual power requirement based on the driving power requirement, the air conditioning system power requirement, and the transformer system power requirement; The motor torque diagnosis module 303 is used to determine the motor torque diagnosis result according to the actual output power of the battery, the actual required power of the vehicle and a preset proportional threshold; The output module 304 is configured to output a motor control instruction according to the motor torque diagnosis result, wherein the motor control instruction is used to control the motor.

[0084] Corresponding to the above embodiments, the present application also provides a motor controller.

[0085] See also Figure 4 , is a schematic diagram of the structure of a motor controller provided in an embodiment of the present application. Figure 4 As shown, the motor controller 400 may include: a processor 401, a memory 402, and a communication unit 403. These components communicate via one or more buses. Those skilled in the art will appreciate that the structure of the motor controller shown in the figure does not limit the embodiments of the present application. It may be a bus structure or a star structure, and may include more or fewer components than shown, or combine certain components, or arrange the components differently.

[0086] The communication unit 403 is used to establish a communication channel so that the motor controller can communicate with other devices and receive user data sent by other devices or send user data to other devices.

[0087] The processor 401 is the control center of the motor controller. It uses various interfaces and lines to connect the various parts of the entire motor controller. It runs or executes software programs, instructions, and / or modules stored in the memory 402, and calls the data stored in the memory to perform various functions of the motor controller and / or process data. The processor can be composed of an integrated circuit (IC), for example, it can be composed of a single packaged IC, or it can be composed of multiple packaged ICs with the same or different functions. For example, the processor 401 can only include a central processing unit (CPU). In the embodiment of the present application, the CPU can be a single computing core or multiple computing cores.

[0088] The memory 402 is used to store execution instructions of the processor 401. The memory 402 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0089] When the execution instructions in the memory 402 are executed by the processor 401, the motor controller 400 is able to execute Figure 1 Some or all of the steps in the illustrated embodiments.

[0090] In a specific implementation, an embodiment of the present application also provides a vehicle.

[0091] See also Figure 5 , is a schematic diagram of a vehicle provided in an embodiment of the present application. Figure 5 As shown, the vehicle 501 includes Figure 4 The motor controller shown. In addition to a car, the vehicle 501 can also be a van, a truck, a commercial vehicle or a van, etc., and the embodiment of the present application does not make any specific restrictions on this.

[0092] In the embodiments of the present application, "at least one" refers to one or more, and "more" refers to two or more. "And / or" describes the association relationship of associated objects, indicating that three relationships may exist. For example, A and / or B can represent the existence of A alone, the existence of A and B at the same time, and the existence of B alone. Among them, A and B can be singular or plural. The character " / " generally indicates that the previous and next associated objects are in an "or" relationship. "At least one of the following" and similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one of a, b and c can be represented by: a, b, c, ab, ac, bc, or abc, where a, b, c can be single or multiple.

[0093] Those skilled in the art will appreciate that the various units and algorithm steps described in the embodiments disclosed herein can be implemented using a combination of electronic hardware, computer software, and electronic hardware. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians can use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0094] Those skilled in the art will clearly understand that, for the convenience and brevity of description, the specific working processes of the systems, devices and units described above can refer to the corresponding processes in the aforementioned method embodiments and will not be repeated here.

[0095] In the several embodiments provided in this application, if any function 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 this application, or the part that contributes to the existing technology, or the 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 execute all or part of the steps of the method described in each embodiment of this application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), disk or optical disk, and other media that can store program code.

[0096] In this specification, reference can be made to the same or similar parts between the various embodiments. In particular, for the device embodiment and the terminal embodiment, since they are basically similar to the method embodiment, the description is relatively simple, and the relevant parts can be referred to the description in the method embodiment.

Claims

1. A motor control method, characterized in that: Applications in motor controllers, including: Calculate the actual output power of the battery based on the actual output voltage and current of the battery; Calculate the actual power requirement of the vehicle based on the required power of the drive, the required power of the air conditioning system, and the required power of the transformer system; Determining a motor torque diagnosis result based on the actual output power of the battery, the actual required power of the vehicle, and a preset proportional threshold; A motor control instruction is output according to the motor torque diagnosis result, and the motor control instruction is used to control the motor.

2. The method according to claim 1, characterized in that The calculation of the actual power requirement of the vehicle according to the driving power requirement, the air conditioning system power requirement, and the transformer system power requirement includes: The actual power requirement of the vehicle is calculated based on the driver's required power, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system.

3. The method according to claim 2, characterized in that Before calculating the actual power demand of the vehicle based on the driver's power demand, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system, the method further includes: Obtain the electric drive system efficiency MAP diagram under different voltages, different motor torques and different motor speeds, as well as the air conditioning system efficiency MAP diagram and transformer system efficiency MAP diagram under different voltages and currents.

4. The method according to claim 2, characterized in that Before calculating the actual power demand of the vehicle based on the driver's power demand, the efficiency of the electric drive system, the power consumption of the air conditioning system, the efficiency of the air conditioning system, the power consumption of the transformer system, and the efficiency of the transformer system, the method further includes: The driver's required power is calculated based on the accelerator pedal opening and motor speed.

5. The method according to claim 1, wherein The step of determining a motor torque diagnosis result based on the actual battery output power, the actual vehicle power requirement, and a preset proportional threshold value includes: Calculating an actual ratio of the actual output power of the battery to the actual power required by the vehicle; A motor torque diagnosis result is determined based on a relationship between the actual ratio and a preset ratio threshold.

6. The method according to claim 5, characterized in that The preset ratio thresholds include a first preset ratio threshold, a second preset ratio threshold, and a third preset ratio threshold, the first preset ratio threshold being greater than the second preset ratio threshold, greater than 1, and greater than the third preset ratio threshold, and determining the motor torque diagnosis result according to the relationship between the actual ratio and the preset ratio thresholds includes: If the actual ratio is greater than or equal to the first preset ratio threshold, determining that the motor torque is abnormal; If the actual ratio is less than or equal to the second preset ratio threshold and greater than or equal to the third preset ratio threshold, it is determined that the motor torque is normal.

7. The method according to claim 1, characterized in that Outputting a motor control instruction according to the motor torque diagnosis result includes: If the motor torque is abnormal, outputting a first motor control instruction, wherein the first motor control instruction is used to control the motor to stop working; If the motor torque is normal, a second motor control instruction is output, where the second motor control instruction is used to control the motor to operate normally.

8. A motor control device, characterized in that: include: The battery actual output power calculation module is used to calculate the battery actual output power based on the battery actual output voltage and the battery actual output current; The vehicle actual power requirement calculation module is used to calculate the vehicle actual power requirement based on the driving power requirement, the air conditioning system power requirement and the transformer system power requirement; a motor torque diagnosis module, configured to determine a motor torque diagnosis result based on the actual output power of the battery, the actual required power of the vehicle, and a preset proportional threshold; The output module is used to output a motor control instruction according to the motor torque diagnosis result, and the motor control instruction is used to control the motor.

9. A motor controller, characterized in that: include: processor; Memory; and a computer program, wherein the computer program is stored in the memory, the computer program comprising instructions, which, when executed by the processor, cause the motor controller to perform the method according to any one of claims 1 to 7.

10. A vehicle, characterized in that: The vehicle includes the motor controller of claim 9.

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