Motor control method and device and electronic equipment

Abstract

The invention discloses a motor control method and device and electronic equipment, and relates to the technical field of vehicles, and the method comprises the steps: determining an adjustment power interval of a target motor, and determining the initial motor control power of the target motor; taking the initial motor control power as a central point of an adjusting power interval, and performing interval division on the adjusting power interval according to a preset exponential function to obtain a plurality of predicted power values; and selecting a minimum power difference value which is smaller than an available power value of the target motor in the plurality of predicted power values and between the plurality of predicted power values and the available power value as a target predicted power value, so as to control the target motor at the next moment by using target motor control power corresponding to the target predicted power value. According to the embodiment of the invention, the method mainly employs an exponential method, carries out the interval division of the adjustment power interval according to the preset exponential function, can accurately find a predicted power value which is closer to an optimal solution, and improves the solving efficiency.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of vehicles, and particularly to a motor control method and device and electronic equipment. BACKGROUND

[0002] In modern transportation vehicles, the design and optimization of motor controllers are crucial, especially in electric vehicles and hybrid electric vehicles.

[0003] To achieve this goal, the existing solution can establish a motor power prediction model, use the motor power prediction model to predict the predicted motor power at the next time according to the historical request torque, and continuously update and adjust the request torque at the next time according to the difference between the predicted motor power and the available power value, to ensure that the predicted motor power does not exceed the available power value.

[0004] However, this method solves by step-by-step approximation, which requires a large number of iterations to ensure that the predicted motor power reaches a high degree of accuracy, thereby reducing the solving efficiency. SUMMARY

[0005] Therefore, the present application provides a motor control method and device and electronic equipment, which mainly aims to solve the problem that the current solution usually needs to perform multiple difference solving and torque adjustment to ensure that the predicted motor power reaches a high degree of accuracy, thereby reducing the solving efficiency.

[0006] According to a first aspect of the present application, a motor control method is provided, comprising:

[0007] determining an adjustment power interval of a target motor, and determining an initial motor control power of the target motor;

[0008] taking the initial motor control power as the center point of the adjustment power interval, and performing interval division on the adjustment power interval according to a preset exponential function, to obtain a plurality of predicted power values;

[0009] selecting a target predicted power value from the plurality of predicted power values which is less than an available power value of the target motor, and has the smallest power difference with the available power value, to control the target motor at the next time by using a target motor control power corresponding to the target predicted power value.

[0010] According to a second aspect of the present application, a motor control device is provided, comprising:

[0011] a determination module configured to determine an adjustment power interval of a target motor, and determine an initial motor control power of the target motor;

[0012] The dividing module is configured to divide the adjustment power interval according to a preset exponential function with the initial motor control power as a center point of the adjustment power interval, to obtain a plurality of predicted power values.

[0013] The selecting module is configured to select a target predicted power value from the plurality of predicted power values, which is less than the available power value of the target motor and has a minimum power difference with the available power value, so as to control the target motor at the next moment by using a target motor control power corresponding to the target predicted power value.

[0014] According to a third aspect of the present application, a computer readable storage medium is provided, which stores a computer program. The computer program is executed by a processor to implement the motor control method according to the first aspect.

[0015] According to a fourth aspect of the present application, an electronic device is provided, which includes a storage medium, a processor, and a computer program stored in the storage medium and executable on the processor. The processor implements the motor control method according to the first aspect when executing the computer program.

[0016] According to a fifth aspect of the present application, the present disclosure provides a vehicle, which includes the method according to the first aspect, the apparatus according to the second aspect, the computer readable storage medium according to the third aspect, or the electronic device according to the fourth aspect.

[0017] According to the above technical solutions, the motor control method, apparatus and electronic device provided by the present application can determine the adjustment power interval of the target motor and the initial motor control power of the target motor. The initial motor control power is used as the center point of the adjustment power interval, and the adjustment power interval is divided according to a preset exponential function, to obtain a plurality of predicted power values. A target predicted power value is selected from the plurality of predicted power values, which is less than the available power value of the target motor and has a minimum power difference with the available power value, so as to control the target motor at the next moment by using a target motor control power corresponding to the target predicted power value. For the embodiments of the present disclosure, the exponential method is mainly used. The initial motor control power is used as the center point of the adjustment power interval, and the adjustment power interval is divided according to a preset exponential function. A plurality of predicted power values can be obtained in one solving time. By selecting a target predicted power value from the plurality of predicted power values, which is less than the available power value of the target motor and has a minimum power difference with the available power value, a predicted power value closer to the optimal solution can be accurately found, and the solving efficiency is improved.

[0018] The above description is only a summary of the technical solutions of the present application. In order to enable the technical means of the present application to be implemented more clearly according to the content of the description, and in order to enable the above and other objects, features and advantages to be more apparent and understandable, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0019] The drawings incorporated in the specification and constituting a part of the specification illustrate embodiments consistent with the present application and, together with the description, serve to explain the principles of the present application.

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced as follows. Obviously, those skilled in the art can obtain other drawings from these drawings without any creative effort.

[0021] Figure 1 A flowchart of a motor control method provided by an embodiment of the present disclosure is shown in the figure.

[0022] Figure 2 A flowchart of another motor control method provided by an embodiment of the present disclosure is shown in the figure.

[0023] Figure 3 A flowchart of another motor control method provided by an embodiment of the present disclosure is shown in the figure.

[0024] Figure 4 A structural diagram of a motor control device provided by an embodiment of the present disclosure is shown in the figure. DETAILED DESCRIPTION

[0025] The exemplary embodiments of the present disclosure are described below with reference to the accompanying drawings, which include various details of the embodiments of the present disclosure that are helpful in understanding them. They should be considered only as exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Also, in the following description, the description of well-known functions and structures is omitted for clarity and conciseness. It should be noted that the embodiments of the present disclosure and the features in the embodiments can be combined with each other without conflict.

[0026] The motor control method, device and electronic equipment of the embodiments of the present disclosure are described below with reference to the accompanying drawings.

[0027] In order to ensure that the predicted motor power reaches a high degree of accuracy and improve the solving efficiency, the present embodiment provides a motor control method, as shown in the figure, which includes: Figure 1

[0028] ​Step 101, determining an adjustment power interval of the target motor, and determining an initial motor control power of the target motor.

[0029] The adjustment power interval can be a maximum adjustment power range per cycle that the target motor can accept, and can include a maximum power adjustment value and a minimum power adjustment value. The adjustment power interval is related to the response capability of an actual system, and is affected by hardware and subsequent software processing capability. The initial motor control power can be an optimal power output value obtained by an exponential algorithm after the target motor runs at the last time.

[0030] For the embodiment of the present disclosure, the adjustment power interval of the target motor is determined, so that the target motor will not cause the battery to be over-discharged due to exceeding the maximum power adjustment value, thereby ensuring the stability and safety of the vehicle or the battery in actual operation. The initial motor control power of the target motor determined can be used as an initial guess solution in the current control cycle (i.e., the adjustment power interval), thereby accelerating the solving speed of the solver for solving the target predicted power value.

[0031] Step 102, taking the initial motor control power as the center point of the adjustment power interval, and performing interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of predicted power values.

[0032] The preset exponential function can be an exponential function defined in advance for interval division of the adjustment power interval. The predicted power value can be a motor working power at a specific motor control power estimated by an algorithm or a model.

[0033] In model predictive control (MPC), the exponential method can be used to solve optimization problems, and can convert nonlinear terms in the optimization problem into exponential form, thereby simplifying the optimization problem. For example, some nonlinear functions can be simplified by the exponential method, thereby converting the original nonlinear optimization problem into a linear optimization problem that is easier to solve.

[0034] In the embodiment, the continuous adjustment power interval can be divided into a plurality of subintervals according to the preset exponential function, to determine the predicted power values corresponding to the endpoints of the plurality of subintervals, thereby finding the optimal predicted power value (i.e., the target predicted power value) that meets the accuracy requirement.

[0035] For the embodiment of the present disclosure, the adjustment power interval can be divided according to the exponential method to find the optimal motor control power (i.e., the target motor control power) in the adjustment power interval. The optimal motor control power not only meets the corresponding optimal predicted power value that does not exceed the available power value of the target motor, but also is as close as possible to the available power value of the target motor.

[0036] Step 103, selecting a number of predicted power values less than the available power value of the target motor, and the minimum power difference between the number of predicted power values and the available power value as the target predicted power value, so as to control the target motor at the next moment by using the target predicted power value corresponding to the target motor control power.

[0037] Wherein, the available power value can be the maximum available power value (i.e. Plim) that the battery of the target motor can provide in the discharge process within a given time period; the target motor control power can be the optimal motor control power for controlling and adjusting the working state of the target motor; the target predicted power value is used to represent the maximum running power of the target motor in the state close to but not exceeding the load.

[0038] For the embodiments of the present disclosure, by screening the predicted power values less than the available power value of the target motor from a number of predicted power values, it is ensured that the target motor operates without exceeding the load, thereby prolonging the service life of the target motor; among the screened predicted power values less than the available power value of the target motor, the predicted power value with the minimum power difference from the available power value is found as the target predicted power value, so as to control the target motor at the next moment by using the target predicted power value and the corresponding target motor control power, thereby ensuring that the target motor operates in a safe and efficient state.

[0039] Correspondingly, the obtained number of predicted power values (i.e. Ppre) can be brought into the target function J, and the target function J can be expressed as:

[0040] J = min (Plim-Ppre), (Plim-Ppre) >= 0

[0041] In the formula, Plim represents the available power value of the target motor, and Ppre represents the predicted power value of the target motor.

[0042] For the embodiments of the present disclosure, by traversing all the predicted power values, the predicted power value with the minimum target function result (i.e. the predicted power value closest to the available power value and not exceeding the available power value) is found among all the predicted power values, and finally the target motor control power corresponding to the optimal predicted power value (i.e. the target predicted power value) obtained by simulation is taken as the output result.

[0043] To sum up, according to the motor control method of the present disclosure, the adjustment power interval of the target motor can be determined, and the initial motor control power of the target motor is determined; the initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval is divided according to the preset exponential function, and a plurality of predicted power values are obtained; a plurality of predicted power values less than the available power value of the target motor are selected, and the minimum power difference between the plurality of predicted power values and the available power value is taken as the target predicted power value, so as to control the target motor at the next moment by using the target motor control power corresponding to the target predicted power value. For the embodiment of the present disclosure, the exponential method is mainly used, the initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval is divided according to the preset exponential function, and a plurality of predicted power values can be obtained in one solving time. By selecting a plurality of predicted power values less than the available power value of the target motor, and taking the minimum power difference between the plurality of predicted power values and the available power value as the target predicted power value, the predicted power value closer to the optimal solution can be accurately found, and the solving efficiency is improved.

[0044] Further, as a refinement and expansion of the above-mentioned embodiment, in order to completely describe the specific implementation process of the method of the present embodiment, the present embodiment provides a specific method as shown in Figure 2 The method comprises the following steps:

[0045] Step 201, obtaining the available power value of the target motor and the power adjustment amount of the target motor; determining the difference between the available power value and the power adjustment amount as the left end point of the adjustment power interval, and determining the available power value as the right end point of the adjustment power interval.

[0046] Among them, the power adjustment amount can be the power range that can be adjusted by the target motor when it is actually working (i.e. Pdet), and the available power value can be the maximum power limit value that the target motor is allowed to reach within a given time period (i.e. Plim).

[0047] For the embodiment of the present disclosure, the difference between the available power value and the power adjustment amount can be determined as the left end point of the adjustment power interval (i.e. the left end point of the adjustment power interval can be represented as Plim-Pdet), and the available power value can be determined as the right end point of the adjustment power interval (i.e. the right end point of the adjustment power interval can be represented as Plim), so that the available exponential method can search within the available power range of the target motor at each adjustment to constantly approach the required value.

[0048] Step 202, taking the initial motor control power as the center point of the adjustment power interval, dividing the adjustment power interval according to the preset exponential function, and obtaining a plurality of motor control powers; inputting the plurality of motor control powers into the power prediction model to obtain a plurality of predicted power values.

[0049] The preset exponential function can include a first preset exponential function and a second preset exponential function.

[0050] For the embodiments of the present disclosure, the initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval is divided according to the preset exponential function, and a plurality of motor control powers are obtained. Specifically, the method can include the following steps:

[0051] The initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval corresponding to the right end point from the center point to the right end point of the adjustment power interval is divided according to the first preset exponential function, and a plurality of motor control powers are obtained. The first preset exponential function is a growth exponential function used to represent the change trend of the motor control power.

[0052] The initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval corresponding to the left end point from the center point to the left end point of the adjustment power interval is divided according to the second preset exponential function, and a plurality of motor control powers are obtained. The second preset exponential function is a decay exponential function used to represent the change trend of the motor control power.

[0053] In this embodiment, as a possible implementation method, first, the adjustment power interval [Plim-Pdet, Plim] of the target motor is determined, and the initial motor control power Plst of the target motor is determined. According to the adjustment power interval [Plim-Pdet, Plim] of the target motor, a corresponding first preset exponential function can be selected. For example, the first preset exponential function can be P(n) = Plst·e n ; wherein P(n) can represent the motor control power, Plst can represent the initial motor control power, and n can represent any power between 1-n.

[0054] The initial motor control power is taken as the center point of the adjustment power interval, the center point can be selected as the starting point of the interval division, the interval division can be performed along the adjustment power interval to the right (i.e., the adjustment power interval corresponding to the right end point from the center point to the right end point of the adjustment power interval) according to the first preset exponential function, and a plurality of motor control powers are obtained. For example, P(0) = Plst·e 0 , P(1) = Plst·e 1 , P(2) = Plst·e 2 , P(3) = Plst·e 3 , and so on.

[0055] The divided plurality of motor control powers, such as P(1) = Plst·e 1 , P(2) = Plst·e 2 , P(3) = Plst·e 3The divided motor control powers, such as P(1) = Plst·e -1 , P(2) = Plst·e -2 , P(3) = Plst·e -3 , etc., can be input into the trained power prediction model, and the power prediction model can perform power prediction on the power endpoint value (i.e., the motor control power) according to the parameter relationship between the historical motor control power and the historical motor operation data under the historical motor control power, to obtain a plurality of predicted power values. The power prediction model can be a nonlinear motor power prediction model.

[0056] In this embodiment, as a possible implementation method, first, the adjustment power interval [Plim-Pdet, Plim] of the target motor is determined, and the initial motor control power Plst of the target motor is determined; the corresponding second preset exponential function can be selected according to the adjustment power interval [Plim-Pdet, Plim] of the target motor, for example, the second preset exponential function can be P(n) = Plst·e -n ; wherein P(n) can represent the motor control power, Plst can represent the initial motor control power, and n can represent any power between 1-n.

[0057] Taking the initial motor control power as the center point of the adjustment power interval, the center point can be selected as the starting point of interval division, and interval division can be performed along the adjustment power interval to the left (i.e., to the adjustment power interval corresponding to the adjustment power interval from the center point to the left end point of the adjustment power interval) according to the second preset exponential function, to obtain a plurality of motor control powers, such as P(0) = Plst·e 0 , P(1) = Plst·e -1 , P(2) = Plst·e -2 , P(3) = Plst·e -3 , etc.

[0058] The divided motor control powers, such as P(1) = Plst·e -1 , P(2) = Plst·e -2 , P(3) = Plst·e -3 , etc., can be input into the trained power prediction model, and the power prediction model can perform power prediction on the power endpoint value (i.e., the motor control power) according to the parameter relationship between the historical motor control power and the historical motor operation data under the historical motor control power, to obtain a plurality of predicted power values.

[0059] In step 203, it is judged whether the target predicted power value is greater than or equal to the preset power value, if the target predicted power value is greater than or equal to the preset power value, the target motor is controlled by using the target motor control power corresponding to the target predicted power value; if the target predicted power value is less than the preset power value, the step of determining the target predicted power value is repeatedly executed until the target predicted power value is greater than or equal to the preset power value, so as to control the target motor by using the motor control power corresponding to the target predicted power value.

[0060] wherein the power difference between the preset power value and the available power value is less than a preset difference value.

[0061] For the embodiments of the present disclosure, after the step of determining the target predicted power value is performed once, a target predicted power value is obtained, and it is determined whether the target predicted power value is greater than or equal to the preset power value. If the target predicted power value is less than the preset power value, the step of determining the target predicted power value is repeatedly performed until the target predicted power value is greater than or equal to the preset power value, so as to control the target motor by using the motor control power corresponding to the target predicted power value.

[0062] Correspondingly, the step of determining the target predicted power value can specifically include:

[0063] Step 2: taking the target motor control power as the center point of the adjustment power interval, performing interval division on the adjustment power interval according to a preset exponential function, so as to obtain a plurality of predicted power values;

[0064] Step 3: selecting a target predicted power value from the plurality of predicted power values which is less than the available power value and has the minimum power difference with the available power value;

[0065] Step 4: determining whether the target predicted power value is greater than or equal to the preset power value. If the target predicted power value is less than the preset power value, steps 1, 2, 3 and 4 are repeatedly performed until the target predicted power value is greater than or equal to the preset power value.

[0066] Specifically, determining the adjustment power interval of the target motor control power corresponding to the target predicted power value less than the preset power value can include:

[0067] determining a first motor control power and a second motor control power adjacent to the target motor control power corresponding to the target predicted power value;

[0068] comparing the first motor control power and the second motor control power;

[0069] determining the smaller adjustment power in the first motor control power and the second motor control power as the left end point of the adjustment power interval, and determining the larger adjustment power in the first motor control power and the second motor control power as the right end point of the adjustment power interval.

[0070] Specifically, taking the target motor control power as the center point of the adjustment power interval, performing interval division on the adjustment power interval according to a preset exponential function, so as to obtain a plurality of predicted power values, can specifically include:

[0071] Taking the target motor control power as the center point of the adjustment power interval, dividing the adjustment power interval corresponding to the center point to the right end point of the adjustment power interval according to a first preset exponential function to obtain a plurality of motor control powers;

[0072] The target motor control power is taken as the center point of the adjustment power interval, and the adjustment power interval corresponding to the left end point of the adjustment power interval is divided into intervals according to a second preset exponential function to obtain a plurality of motor control powers.

[0073] For example, if Figure 3 As shown, when determining the adjustment power range of the target motor (i.e. Figure 3 The first solution upper limit to the first solution lower limit in , and the determination of the initial motor control power of the target motor (i.e. Figure 3 The initial optimal point in the power adjustment interval is taken as the center point of the initial motor control power, and the center point can be selected as the starting point of the interval division. The first preset exponential function (such as P(n) = Plst·e n ) Divide the adjustment power interval from the center point to the right end point of the adjustment power interval to obtain P(1)=Plst·e 1 、P(2)=Plst·e 2 、P(3)=Plst·e 3 The predicted power values ​​corresponding to the motor control powers of the motors and the like can be calculated according to the second preset index function (such as P(n)=Plst·e -n ) Divide the adjustment power interval from the center point to the left end point of the adjustment power interval to obtain P(1)=Plst·e -1 、P(2)=Plst·e -2 、P(3)=Plst·e -3 Several predicted power values ​​corresponding to several motor control powers.

[0074] Select the target predicted power value (i.e. the minimum power difference between the predicted power values ​​and the available power value) as the target predicted power value. Figure 3 After the first optimal solution in , the target predicted power value (i.e. Figure 3 The first solution optimal point in is greater than or equal to the preset power value.

[0075] When the target predicted power value is less than the preset power value, the adjustment power interval of the target motor control power Pctl corresponding to the target predicted power value is determined again (that is, the first motor control power adjacent to the target motor control power corresponding to the target predicted power value can be used as the second solution upper limit of the adjustment power interval, and the second motor control power adjacent to the target motor control power corresponding to the target predicted power value can be used as the second solution lower limit of the adjustment power interval).

[0076] The target motor control power Pctl is used as the center point of the power adjustment interval. The center point can be selected as the starting point of the interval division, and the first preset exponential function (such as P(n) = Pctl·e n ) Divide the adjustment power interval from the center point to the right end point of the adjustment power interval to obtain P(1)=Pctl·e 1 、P(2)=Pctl·e 2 、P(3)=Pctl·e 3 The predicted power values ​​corresponding to the motor control powers of the motors and the like can be calculated according to the second preset index function (such as P(n)=Pctl·e -n ) Divide the adjustment power interval from the center point to the left end point of the adjustment power interval to obtain P(1) = Pctl·e -1 、P(2)=Pctl·e -2 、P(3)=Pctl·e -3 Several predicted power values ​​corresponding to several motor control powers.

[0077] A target predicted power value is selected as the target power value, which is smaller than the available power value and has the smallest power difference between the predicted power values ​​and the available power value. Then, it is determined whether the target predicted power value is greater than or equal to the preset power value. The above process can be iterated N times until a target predicted power value greater than or equal to the preset power value is found, thereby further reducing the number of solutions and improving the solution accuracy.

[0078] Among them, the exponential method of the present application is suitable for adjusting the power interval with a larger maximum adjustment power range to achieve higher solution accuracy.

[0079] In summary, according to a motor control method disclosed in the present invention, the adjustment power interval of the target motor and the initial motor control power of the target motor can be determined; the initial motor control power is used as the center point of the adjustment power interval, and the adjustment power interval is divided into intervals according to a preset exponential function to obtain a number of predicted power values; the several predicted power values ​​that are smaller than the available power value of the target motor and the minimum power difference between the several predicted power values ​​and the available power value are selected as the target predicted power value, so as to control the target motor at the next moment using the target motor control power corresponding to the target predicted power value. For the embodiment of the present invention, the exponential method is mainly used, and the initial motor control power is used as the center point of the adjustment power interval, and the adjustment power interval is divided into intervals according to a preset exponential function. A number of predicted power values ​​can be obtained in one solution. By selecting a number of predicted power values ​​that are smaller than the available power value of the target motor and the minimum power difference between the available power value and the available power value as the target predicted power value, a predicted power value that is closer to the optimal solution can be accurately found, thereby improving the solution efficiency.

[0080] Based on the above Figure 1 、 Figure 2 The specific implementation of the method shown in this embodiment provides a motor control device, such as Figure 4 As shown, the device includes: a determination module 31, a division module 32, and a selection module 33;

[0081] a determination module 31, configured to determine an adjustment power interval of a target motor and determine an initial motor control power of the target motor;

[0082] a division module 32 for dividing the adjustment power interval into intervals according to a preset exponential function with the initial motor control power as the center point of the adjustment power interval to obtain a plurality of predicted power values;

[0083] The selection module 33 is used to select the available power value of the target motor that is smaller than the available power value of the target motor from the several predicted power values, and the minimum power difference between the several predicted power values ​​and the available power value as the target predicted power value, so as to use the target motor control power corresponding to the target predicted power value to control the target motor at the next moment.

[0084] In a specific application scenario, the determination module 31 may be used to obtain the available power value of the target motor and the power adjustment amount of the target motor;

[0085] The difference between the available power value and the power adjustment amount is determined as the left endpoint of the power adjustment interval, and the available power value is determined as the right endpoint of the power adjustment interval.

[0086] In a specific application scenario, the dividing module 32 can be configured to divide the adjustment power interval according to a preset exponential function with the initial motor control power as the center point of the adjustment power interval, to obtain a plurality of motor control powers.

[0087] The plurality of motor control powers are input into a power prediction model to obtain a plurality of predicted power values, wherein the power prediction model is configured to predict the plurality of motor control powers according to a parameter relationship between historical motor control powers and historical motor operation data corresponding to the historical motor control powers, to obtain the plurality of predicted power values.

[0088] In a specific application scenario, the preset exponential function includes a first preset exponential function and a second preset exponential function, and the dividing module 32 can be configured to divide the adjustment power interval corresponding to the center point to the right end point of the adjustment power interval according to the first preset exponential function with the initial motor control power as the center point of the adjustment power interval, to obtain a plurality of motor control powers, wherein the first preset exponential function is a growth exponential function used to represent a change trend of the motor control power.

[0089] The adjustment power interval corresponding to the center point to the left end point of the adjustment power interval is divided according to the second preset exponential function with the initial motor control power as the center point of the adjustment power interval, to obtain a plurality of motor control powers, wherein the second preset exponential function is a decay exponential function used to represent a change trend of the motor control power.

[0090] In a specific application scenario, the device further includes a judging module 34, a control module 35, and an executing module 36.

[0091] The judging module 34 is configured to judge whether the target predicted power value is greater than or equal to a preset power value, and the power difference between the preset power value and the available power value is less than a preset difference value.

[0092] The control module 35 is configured to control the target motor by using a target motor control power corresponding to the target predicted power value if the target predicted power value is greater than or equal to the preset power value.

[0093] The executing module 36 is configured to repeat the following iterative steps until the target predicted power value is greater than or equal to the preset power value, to control the target motor by using a target motor control power corresponding to the target predicted power value, if the target predicted power value is less than the preset power value.

[0094] Step 1: determining an adjustment power interval of a target motor control power corresponding to the target predicted power value which is less than the preset power value.

[0095] Step 2: taking the target motor control power as a center point of the adjustment power interval, performing interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of predicted power values;

[0096] Step 3: selecting a target predicted power value from the plurality of predicted power values that is less than the available power value and has the minimum power difference with the available power value;

[0097] Step 4: determining whether the target predicted power value is greater than or equal to the preset power value, and if the target predicted power value is less than the preset power value, repeating steps 1, 2, 3 and 4 until the target predicted power value is greater than or equal to the preset power value.

[0098] In a specific application scenario, the execution module 36 can be configured to determine a first motor control power and a second motor control power adjacent to the target motor control power corresponding to the target predicted power value.

[0099] Comparing the first motor control power and the second motor control power;

[0100] Determining a smaller adjustment power of the first motor control power and the second motor control power as a left end point of the adjustment power interval, and determining a larger adjustment power of the first motor control power and the second motor control power as a right end point of the adjustment power interval.

[0101] In a specific application scenario, the execution module 36 can be configured to take the target motor control power as a center point of the adjustment power interval, perform interval division on the adjustment power interval corresponding to the right end point from the center point to the right end point of the adjustment power interval according to a first preset exponential function, to obtain a plurality of motor control powers.

[0102] Taking the target motor control power as a center point of the adjustment power interval, performing interval division on the adjustment power interval corresponding to the left end point from the center point to the left end point of the adjustment power interval according to a second preset exponential function, to obtain a plurality of motor control powers.

[0103] It should be noted that other corresponding descriptions of the functions of the motor control device provided in this embodiment can be referred to the corresponding descriptions of the methods in Figure 1 and Figure 2 , which will not be repeated here.

[0104] Based on the above, as described in Figure 1 and Figure 2The method shown, accordingly, the present disclosure also provides a computer readable storage medium, which stores a computer program, the computer program is executed by the processor to realize the above-mentioned as Figure 1 and Figure 2 The method shown.

[0105] Based on such understanding, the technical scheme of the present disclosure can be embodied in the form of a software product, which can be stored in a non-volatile storage medium (which can be a CD-ROM, a U disk, a mobile hard disk, etc.), including a plurality of instructions for causing a computer device (which can be a personal computer, a server, or a network device, etc.) to execute the method of various implementation scenarios of the present disclosure.

[0106] Based on the above-mentioned as Figure 1 and Figure 2 The method shown, and Figure 4 The virtual device embodiment shown, in order to realize the above-mentioned purpose, the present disclosure embodiment also provides an electronic device, which can be configured at the side of the vehicle (such as electric vehicle), the device includes a storage medium and a processor; the storage medium is used to store computer programs; the processor is used to execute computer programs to realize the above-mentioned as Figure 1 and Figure 2 The method shown.

[0107] Optionally, the above-mentioned entity device can also include a user interface, a network interface, a camera, a radio frequency (Radio Frequency, RF) circuit, a sensor, an audio circuit, a WI-FI module, etc. The user interface can include a display screen (Display), an input unit such as a keyboard (Keyboard), etc. The optional user interface can also include a USB interface, a card reader interface, etc. The network interface can optionally include a standard wired interface, a wireless interface (such as a WI-FI interface), etc.

[0108] Those skilled in the art can understand that the above-mentioned entity device structure provided by the present disclosure does not constitute a limitation on the entity device, which can include more or fewer components, or combine certain components, or different component arrangements.

[0109] The storage medium can also include an operating system, a network communication module. The operating system is a program that manages the hardware and software resources of the above-mentioned entity device, supports the running of information processing programs and other software and / or programs. The network communication module is used to realize the communication between the components inside the storage medium, and the communication with other hardware and software in the information processing entity device.

[0110] Through the description of the above embodiments, those skilled in the art can clearly understand that the disclosure can be realized by means of software with a necessary general hardware platform, or by hardware. The motor control method, device and electronic equipment provided by the disclosure, compared with the prior art, the disclosure determines the adjustment power interval of the target motor, and determines the initial motor control power of the target motor; taking the initial motor control power as the center point of the adjustment power interval, the adjustment power interval is divided according to the preset exponential function, to obtain a plurality of predicted power values; selecting a plurality of predicted power values less than the available power value of the target motor, and the minimum power difference between the plurality of predicted power values and the available power value as the target predicted power value, so as to control the target motor at the next moment by using the target motor control power corresponding to the target predicted power value. For the embodiments of the disclosure, the exponential method is mainly used, the initial motor control power is taken as the center point of the adjustment power interval, the adjustment power interval is divided according to the preset exponential function, a plurality of predicted power values can be obtained in one solving time, by selecting a plurality of predicted power values less than the available power value of the target motor, and the minimum power difference between the plurality of predicted power values and the available power value as the target predicted power value, so as to accurately find the predicted power value closer to the optimal solution, and improve the solving efficiency.

[0111] It should be noted that, in this document, the terms such as "first" and "second" are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the term "comprising" or any other variant thereof is intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such a process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of additional identical elements in the process, method, article or device including the element.

[0112] The above is only a specific embodiment of the present application, which enables those skilled in the art to understand or implement the present application. Various modifications of these embodiments will be apparent to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to these embodiments herein, but will conform to the widest scope consistent with the principles and novel features applied herein.

Claims

1. A method of controlling an electric machine, characterized by, The method comprises: determining an adjustment power interval of a target motor, and determining an initial motor control power of the target motor; taking the initial motor control power as a center point of the adjustment power interval, and performing interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of predicted power values; selecting a target predicted power value from the plurality of predicted power values, the target predicted power value being smaller than an available power value of the target motor and having a minimum power difference with the available power value; and controlling the target motor at a next time by using a target motor control power corresponding to the target predicted power value.

2. The method of claim 1, wherein, The method further comprises: obtaining an available power value of the target motor and a power adjustment amount of the target motor; determining a difference between the available power value and the power adjustment amount as a left end point of the adjustment power interval, and determining the available power value as a right end point of the adjustment power interval.

3. The method of claim 1, wherein, The method further comprises: taking the initial motor control power as a center point of the adjustment power interval, and performing interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of motor control powers; inputting the plurality of motor control powers into a power prediction model to obtain the plurality of predicted power values, wherein the power prediction model is used to perform power prediction on the plurality of motor control powers according to a parameter relationship between historical motor control powers and historical motor operation data corresponding to the historical motor control powers, so as to obtain the plurality of predicted power values.

4. The method of claim 3, wherein, The preset exponential function comprises a first preset exponential function and a second preset exponential function. The method further comprises: taking the initial motor control power as a center point of the adjustment power interval, and performing interval division on an adjustment power interval corresponding to a right end point of the adjustment power interval from the center point to the right end point according to a first preset exponential function to obtain a plurality of motor control powers, wherein the first preset exponential function is a growth exponential function used to represent a change trend of motor control power; taking the initial motor control power as a center point of the adjustment power interval, and performing interval division on an adjustment power interval corresponding to a left end point of the adjustment power interval from the center point to the left end point according to a second preset exponential function to obtain a plurality of motor control powers, wherein the second preset exponential function is a decay exponential function used to represent a change trend of motor control power.

5. The method of claim 1, wherein, The method further comprises: determining whether the target predicted power value is greater than or equal to a preset power value, the preset power value having a power difference with the available power value smaller than a preset difference value; and If the target predicted power value is greater than or equal to the preset power value, the target motor is controlled by using a target motor control power corresponding to the target predicted power value. If the target predicted power value is less than the preset power value, the following iterative steps are repeatedly performed until the target predicted power value is greater than or equal to the preset power value, so as to control the target motor by using a target motor control power corresponding to the target predicted power value: Step 1: determining an adjustment power interval of a target motor control power corresponding to the target predicted power value less than the preset power value; Step 2: taking the target motor control power as a center point of the adjustment power interval, and performing interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of predicted power values; Step 3: selecting, from the plurality of predicted power values, a target predicted power value less than the available power value and having a minimum power difference with the available power value; Step 4: determining whether the target predicted power value is greater than or equal to the preset power value, and if the target predicted power value is less than the preset power value, repeatedly performing steps 1, 2, 3 and 4 until the target predicted power value is greater than or equal to the preset power value.

6. The method of claim 5, wherein, The determination of the adjustment power interval of the target motor control power corresponding to the target predicted power value less than the preset power value comprises: determining a first motor control power and a second motor control power adjacent to the target motor control power corresponding to the target predicted power value; comparing the first motor control power and the second motor control power; determining a smaller adjustment power in the first motor control power and the second motor control power as a left end point of the adjustment power interval, and determining a larger adjustment power in the first motor control power and the second motor control power as a right end point of the adjustment power interval.

7. The method of claim 5, wherein, The interval division of the adjustment power interval according to the preset exponential function, taking the target motor control power as the center point of the adjustment power interval, to obtain a plurality of predicted power values, comprises: performing interval division on an adjustment power interval from the center point to a right end point of the adjustment power interval according to a first preset exponential function, taking the target motor control power as the center point of the adjustment power interval, to obtain a plurality of motor control powers; performing interval division on an adjustment power interval from the center point to a left end point of the adjustment power interval according to a second preset exponential function, taking the target motor control power as the center point of the adjustment power interval, to obtain a plurality of motor control powers.

8. An electric motor control device characterized by comprising: The device comprises: a determination module configured to determine an adjustment power interval of a target motor, and determine an initial motor control power of the target motor; a division module configured to take the initial motor control power as a center point of the adjustment power interval, and perform interval division on the adjustment power interval according to a preset exponential function to obtain a plurality of predicted power values; and a control module configured to control the target motor by using a target motor control power corresponding to the target predicted power value. The selecting module is configured to select, from the plurality of predicted power values, an available power value of the target motor, and select, as a target predicted power value, a minimum power difference between the available power value and the plurality of predicted power values, so as to control the target motor at the next time by using a target motor control power corresponding to the target predicted power value.

9. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the method in claims 1-7.

10. A vehicle characterized by comprising: Comprising: The motor control method according to any one of claims 1-7, or the apparatus according to claim 8, or the computer readable storage medium according to claim 9. The motor control method according to any one of claims 1-7, or the apparatus according to claim 8, or the computer readable storage medium according to claim 9.

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