Torque control method and device
By employing a three-stage torque control method, the problem of tooth surface knocking and vibration in the electric vehicle transmission system has been solved, improving power response performance and driving experience, and achieving smooth transition and rapid response of motor torque.
Patent Information
- Application Number
- CN202511007579.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2025-07-22
- Publication Date
- 2025-11-07
AI Technical Summary
When the motor torque is reversed, the drivetrain of an electric vehicle experiences tooth surface knocking and vibration, affecting drivability. Furthermore, existing torque filtering methods sacrifice power response performance.
A three-stage torque control method is adopted, including the first torque change quickly passing through the backlash zone, the second torque change reducing the impact of tooth surface contact, and the third torque change quickly following driving needs by adjusting the motor torque to the required torque.
It reduces backlash while improving power response performance, ensuring a smooth driving experience and linear power output.
Smart Images
Figure CN120902550A_ABST
Abstract
Description
TECHNICAL FIELD
[0001] The present application relates to the technical field of vehicle control, in particular to a torque control method and device. BACKGROUND
[0002] Since the transmission system of an electric vehicle is usually connected rigidly and there is a large gap between gears, when the torque of the motor reverses (for example, from driving to braking, the torque of the motor reverses from positive to negative; from braking to driving, the torque of the motor reverses from negative to positive), the tooth surface of the transmission system will knock during reversing, causing the transmission system to vibrate, which will affect the drivability of the vehicle. At present, the torque is usually filtered to reduce the torque passing through the gap interval, thereby reducing the vibration, but this will sacrifice part of the power response and affect the acceleration performance, resulting in poor driving experience. SUMMARY
[0003] The present application provides a torque control method to solve the problem that the tooth surface knocking and vibration elimination are incompatible with the power response performance in the prior art, and improves the torque control effect in the over-gear gap area.
[0004] In a first aspect, the present application provides a torque control method, comprising:
[0005] obtaining a current torque and a required torque of a motor;
[0006] when the current torque and the required torque are opposite, performing a first torque change on the current torque of the motor;
[0007] when the current torque of the motor changes to a first threshold value, performing a second torque change on the current torque of the motor, wherein the first threshold value is in the same direction as the required torque;
[0008] when the current torque of the motor changes to a second threshold value, performing a third torque change on the current torque of the motor to control the current torque of the motor to change to the required torque.
[0009] Optionally, the current torque is a positive torque, the required torque is a negative torque, and the first torque change is a reverse change from a positive torque to a negative torque.
[0010] Optionally, the current torque is a negative torque, the required torque is a positive torque, and the first torque change is a reverse change from a negative torque to a positive torque.
[0011] Optionally, the second threshold value is opposite to the required torque, or the second threshold value is in the same direction as the required torque.
[0012] Optionally, when the second threshold value is opposite to the required torque,
[0013] If the demand torque is a negative torque, the first threshold is a negative torque, the second threshold is a positive torque, and the second torque change is a reverse change from a negative torque to a positive torque.
[0014] If the demand torque is a positive torque, the first threshold is a positive torque, the second threshold is a negative torque, and the second torque change is a reverse change from a positive torque to a negative torque.
[0015] Optionally, when the demand torque is a negative torque and the second threshold is a positive torque, the third torque change is a reverse change from a positive torque to a negative torque; when the demand torque is a positive torque and the second threshold is a negative torque, the third torque change is a reverse change from a negative torque to a positive torque.
[0016] Optionally, when the second threshold and the demand torque are in the same direction,
[0017] If the demand torque is a negative torque, the first threshold is a negative torque, the second threshold is a negative torque, and the second torque change is a same direction change from a negative torque to a negative torque.
[0018] If the demand torque is a positive torque, the first threshold is a positive torque, the second threshold is a positive torque, and the second torque change is a same direction change from a positive torque to a positive torque.
[0019] Optionally, when the demand torque is a negative torque and the second threshold is a negative torque, the third torque change is a same direction change from a negative torque to a negative torque; when the demand torque is a positive torque and the second threshold is a positive torque, the third torque change is a same direction change from a positive torque to a positive torque.
[0020] Optionally, before the current torque of the motor is changed by the third torque change to control the current torque of the motor to change to the demand torque, the torque control method further comprises:
[0021] detecting that the duration of the second torque change reaches a preset duration.
[0022] Optionally, the first torque change is performed at a first change rate, the second torque change is performed at a second change rate, and the third torque change is performed at a third change rate.
[0023] In a second aspect, the present application further provides a torque control device, comprising:
[0024] a torque acquisition module, configured to acquire a current torque and a demand torque of a motor;
[0025] a first change module, configured to perform a first torque change on the current torque of the motor when the current torque and the demand torque are in opposite directions;
[0026] a second changing module, configured to perform a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value, wherein the first threshold value is in the same direction as the demand torque;
[0027] a third changing module, configured to perform a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque.
[0028] In a third aspect, the present application also provides an electronic device, including a memory, a processor, and a computer program stored in the memory and executable on the processor, and the processor implements the method in the first aspect when executing the computer program.
[0029] In a fourth aspect, the present application also provides a non-transitory computer readable storage medium, having a computer program stored thereon, and the computer program is executable by a processor to implement the method in the first aspect.
[0030] In a fifth aspect, the present application also provides a computer program product, including a computer program, and the computer program is executable by a processor to implement the method in the first aspect.
[0031] The torque control method and device provided by the present application can perform a first torque change on the current torque of the motor when detecting that the current torque of the motor is opposite to the demand torque, perform a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value, wherein the first threshold value is in the same direction as the demand torque, and perform a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque, thereby quickly passing through the tooth gap area in the first torque change, reducing the tooth surface fitting impact in the second torque change, and quickly following the driving demand in the third torque change, so that the overall power response can be improved while reducing the tooth gap knocking. BRIEF DESCRIPTION OF DRAWINGS
[0032] In order to more clearly illustrate the technical solutions in the present application or prior art, the following will briefly introduce the drawings needed in the embodiments or prior art description. Obviously, the drawings in the following description are some embodiments of the present application, and those skilled in the art can also obtain other drawings according to these drawings without creative labor.
[0033] Figure 1 is a flowchart of the torque control method provided by the embodiments of the present application;
[0034] Figure 2 is a torque curve diagram provided by the embodiments of the present application;
[0035] Figure 3 is a structural schematic diagram of a torque control device provided by an embodiment of the present application.
[0036] Figure 4 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. DETAILED DESCRIPTION
[0037] For the purpose, technical solutions and advantages of the present application to be clearer, the technical solutions in the present application will be described clearly and completely below with reference to the drawings in the present application. Obviously, the described embodiments are some of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by a person of ordinary skill in the art without creative labor fall within the scope of protection of the present application.
[0038] Figure 1 is a flowchart of a torque control method provided by an embodiment of the present application. With reference to Figure 1 , an embodiment of the present application provides a torque control method, the execution subject of which can be a torque control device or a control system of a vehicle. The device can be realized in the form of hardware and / or software. The device or system can be arranged in a terminal or a server. The terminal can include a vehicle terminal or a user terminal. The server can be a server in communication with the vehicle, which is not specifically limited. The following takes the control system as an example for description. The method can include the following steps.
[0039] Step 110: obtaining a current torque and a demand torque of a motor.
[0040] Step 120: when the current torque and the demand torque are opposite, performing a first torque change on the current torque of the motor.
[0041] Step 130: when the current torque of the motor changes to a first threshold value, performing a second torque change on the current torque of the motor, wherein the first threshold value is in the same direction as the demand torque.
[0042] Step 140: when the current torque of the motor changes to a second threshold value, performing a third torque change on the current torque of the motor, so as to control the current torque of the motor to change to the demand torque.
[0043] In step 110, the control system can obtain a current torque and a demand torque of a motor.
[0044] The demand torque of the motor refers to a torque calculated based on a driving demand of the vehicle. The driving demand of the vehicle can include, but is not limited to, an operation intention of the driver (such as an accelerator pedal opening degree, a gear, a brake pedal stroke, etc.), a real-time state of the vehicle (such as a vehicle speed, a state of charge of the battery, etc.), and a dynamics model of the vehicle, etc.
[0045] Optionally, the control system can analyze the driver demand torque from the accelerator pedal opening degree as the demand torque of the motor.
[0046] Optionally, the control system can send a torque request to the motor controller, and the motor controller can feed back the current speed and the current torque of the motor to the control system. Because the driving gear is the gear on the motor side, the current speed of the driving gear is the same as the current speed of the motor.
[0047] In step 120, when the current torque and the demand torque are opposite, the control system can perform a first torque change on the current torque of the motor.
[0048] It can be understood that in the transmission system of the electric vehicle, the gears are hard connected, and the gears are not completely engaged, and there is a gear gap. Generally, the gear on the motor side is defined as the driving gear, and the gear on the tire side is defined as the driven gear. In the driving working condition, the torque of the motor is a positive torque, and the driving gear drives the driven gear to accelerate; and in the recovery working condition, the torque of the motor is a negative torque, and the driving gear pulls the driven gear to decelerate. The working condition in which the torque of the motor changes from the negative torque to the positive torque or from the positive torque to the negative torque is referred to as the zero-crossing working condition. At this time, the tooth surfaces of the driving gear and the driven gear can be in contact, and if there is a large speed difference between the two gears at the moment of contact between the tooth surfaces, the tooth surfaces will knock and vibrate, and a clear impact feeling will be brought.
[0049] The key of the tooth surface knocking and vibration intensity is the impact kinetic energy and momentum at the time of tooth surface contact, and the impact kinetic energy and momentum are directly related to the speed difference between the driving tooth and the driven tooth, that is, the impact kinetic energy and momentum will increase with the increase of the speed difference. Because in the non-gear gap area, the driving tooth and the driven tooth are in the contact state, and there is no speed difference; and in the gear gap area, the driving tooth and the driven tooth are in the separation state; the process of passing through the gear gap is the process that the driving tooth and the driven tooth are from contact to separation and then to contact again, and the speed difference between the driving tooth and the driven tooth at the time of contact again is too large, which will bring the tooth surface knocking and vibration. The speed difference is related to the torque control of the driving gear in the whole process of passing through the gear gap.
[0050] Currently, a common method is to control the active tooth to perform a relatively small positive or negative torque during the entire over-tooth gap process to avoid the active tooth rotating too much or too little, thereby avoiding too large a difference in rotating speed between the active and driven teeth. However, this method will relatively prolong the time of the over-tooth gap process, weaken the power response, and thus cause the driver to have a nonlinear power output and a non-following foot during driving, and so on.
[0051] Therefore, to solve the above problems, in the embodiments of the present application, the control system can use three-stage control to optimize the torque control in the over-tooth gap area to reduce the tooth gap knocking and improve the power response. The three-stage control includes a first stage, i.e., torque control in the initial stage of the transmission system reversing; a second stage, i.e., torque control in the preparation stage of re-engaging teeth; and a third stage, i.e., torque control in the re-engaging teeth stage.
[0052] Specifically, when the control system detects that the current torque and the required torque are opposite, it is determined that the transmission system will have a tooth surface knocking problem, and at this time, the torque control method provided in the present application can be used to solve the problem, i.e., first, in the initial stage of the transmission system reversing, the control system can control the torque of the motor to perform a first torque change from the time when the active and driven teeth change from engagement to separation.
[0053] The first torque change can be understood as the first adjustment of the current torque of the motor, so that the torque of the motor can quickly change from negative to positive or from positive to negative, so that the rotating speed of the motor quickly rises or falls and quickly passes through the tooth gap area.
[0054] Alternatively, when the vehicle changes from a driving state to a braking state, the required torque of the motor will change from positive to negative, and at this time, the required torque will be opposite to the current torque of the motor. When the vehicle changes from a braking state to a driving state, the required torque of the motor will change from negative to positive, and at this time, the required torque will be opposite to the current torque of the motor. It is required that the opposite of the torque in the present application refers to the opposite of positive and negative.
[0055] Alternatively, the control system can determine whether the active and driven teeth are in the state of changing from engagement to separation through the rotating speed difference between the active and driven teeth or the angular acceleration of the active tooth. For example, when the rotating speed difference between the active and driven teeth is greater than a preset rotating speed difference, such as 40 rpm, it can be considered that the active and driven teeth are in the state of changing from engagement to separation. For another example, when the angular acceleration of the active tooth is greater than a preset angular acceleration, it can be considered that the active and driven teeth are in the state of changing from engagement to separation. Wherein, the rotating speed difference between the active and driven teeth = the rotating speed of the active tooth - the rotating speed of the driven tooth, and the angular acceleration of the active tooth = the torque of the active tooth / the moment of inertia of the active tooth.
[0056] The preset rotating speed difference and the preset angular acceleration can be reasonably set according to the actual situation, which is not limited here.
[0057] In step 130, after the motor torque undergoes the first torque change, the control system can perform a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value.
[0058] After the control system performs the first torque change in the first stage, the current torque of the motor gradually changes to the first threshold value, and then enters the second stage, i.e., the re-gearing preparation stage, to control the torque of the motor to perform the second torque change.
[0059] The first threshold value is in the same direction as the demand torque and in the opposite direction of the current torque before the first torque change, i.e., the first torque change is a reverse change from negative to positive or from positive to negative, so as to change the current torque of the motor to the first threshold value in the opposite direction. At this time, the torque of the motor will pass through zero.
[0060] The first threshold value can be reasonably set according to actual conditions, which is not limited here. For example, the first threshold value can be 10 Nm or -10 Nm.
[0061] The second torque change can be understood as a second adjustment on the current torque of the motor, so that the torque of the motor can quickly decrease or increase to a torque suitable for gearing, and the motor speed can quickly decrease or increase, so as to reduce the speed difference between the driving and driven gears.
[0062] It should be noted that the trend of the second torque change (e.g., the torque gradually decreases) is opposite to the trend of the first torque change (e.g., the torque gradually increases). Specifically, the first torque change can adjust the torque value of the motor in a direction close to the demand torque, and the second torque change can adjust the torque value of the motor in a direction away from the demand torque.
[0063] Optionally, when the first torque change increases or decreases the torque of the motor to the first threshold value, the second torque change can decrease or increase the torque of the motor to pass through zero to be opposite to the first threshold value and the demand torque, or can decrease or increase the torque of the motor to not pass through zero to be in the same direction as the first threshold value and the demand torque. This is not limited here.
[0064] In step 140, after the motor torque undergoes the second torque change, the control system can perform a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque.
[0065] After the control system performs the second torque change in the second stage, the current torque of the motor gradually changes to the second threshold value, and then enters the third stage, i.e., the re-gearing stage, to control the torque of the motor to perform the third torque change, so as to control the current torque of the motor to change to the demand torque.
[0066] The second threshold value can be reasonably set according to actual conditions, and is not limited herein. For example, the second threshold value can be 5 Nm or -5 Nm.
[0067] The third torque change can be understood as a third adjustment to the current torque of the motor, so that the torque of the motor can gradually recover to the demand torque, so that the motor can quickly follow the driving demand.
[0068] It should be noted that the change trend of the third torque change (such as gradually increasing torque) is opposite to the change trend of the second torque (such as gradually decreasing torque). Specifically, the third torque change can adjust the torque value of the motor in the direction close to the demand torque, and the second torque change can adjust the torque value of the motor in the direction away from the demand torque.
[0069] Optionally, when the second torque change gradually decreases or increases the torque of the motor to the second threshold value, the second torque change can gradually increase or decrease the torque of the motor to the demand torque.
[0070] The zero-crossing condition of the third torque change can be determined by the second torque change. If the second torque change decreases or increases the torque of the motor to the zero-crossing condition and is opposite to the demand torque, then when the third torque change increases or decreases the torque of the motor to the demand torque again, the zero-crossing condition will occur again. If the second torque change decreases or increases the torque of the motor to the non-zero-crossing condition and is in the same direction as the demand torque, then when the third torque change increases or decreases the torque of the motor to the demand torque, the zero-crossing condition will not occur.
[0071] The torque control method provided in the present application can detect that the current torque of the motor is opposite to the demand torque, and can first perform a first torque change on the current torque of the motor in a first stage, i.e., at the beginning of the transmission system reversing. When the current torque of the motor changes to a first threshold value in a second stage, i.e., at the beginning of the re-engagement preparation, a second torque change is performed on the current torque of the motor. Then, when the current torque of the motor changes to a second threshold value in the second stage, i.e., at the re-engagement stage, a third torque change is performed on the current torque of the motor, so as to control the current torque of the motor to change to the demand torque. Thus, the first stage can quickly pass through the backlash zone, the second stage can reduce the tooth surface engagement impact, and the third stage can quickly follow the driving demand, so that the overall power response can be improved while reducing the backlash impact.
[0072] In one embodiment, taking the current torque of the motor as a positive torque and the demand torque of the motor as a negative torque as an example, the first torque change in the first stage can be a reverse change from a positive torque to a negative torque, i.e., the control system can quickly change the current torque of the motor from positive to negative, so that the motor speed can quickly decrease and quickly pass through the backlash zone.
[0073] Since the demand torque is a negative torque, the first threshold value, which is in the same direction as the demand torque, is also a negative torque. Therefore, when the control system performs the first torque change on the current torque of the motor, the current torque of the motor is gradually decreased from a positive torque until it decreases to the first threshold value (for example, -10 Nm), and enters the second stage of torque control to increase the torque of the motor again. The absolute value of the first threshold value is less than the absolute value of the demand torque.
[0074] Optionally, the second torque change in the second stage can be a reverse change from a negative torque to a positive torque, or a same direction change from a negative torque to another negative torque. That is, the control system can increase the current torque of the motor, which has been changed to a negative torque, to rapidly increase the motor speed, so as to reduce the speed difference between the driving and driven gears.
[0075] When the control system performs the second torque change on the current torque of the motor, the current torque of the motor is gradually increased from a negative torque until it increases to the second threshold value (for example, 5 Nm or -5 Nm), and then enters the third stage of torque control to decrease the torque of the motor again. The absolute value of the second threshold value is less than the absolute value of the demand torque. The absolute value of the second threshold value can be less than or greater than the absolute value of the first threshold value, which is not limited here.
[0076] It can be understood that if the increase amplitude is large enough, the torque of the motor in the second stage will increase to a positive torque, that is, the second threshold value is a positive torque, which is opposite to the demand torque. At this time, the second torque change is a reverse change from a negative torque to a positive torque. If the increase amplitude is not large enough, the torque of the motor is still a negative torque, that is, the second threshold value is a negative torque, which is in the same direction as the demand torque. At this time, the second torque change is a same direction change from a negative torque to a negative torque.
[0077] Optionally, the third torque change in the third stage can be a reverse change from a positive torque to a negative torque, or a same direction change from a negative torque to a negative torque. That is, the control system can decrease the current torque of the motor, which has been changed by the second torque change, until it decreases to the demand torque to rapidly follow the driving demand.
[0078] It can be understood that if the second threshold value, to which the torque of the motor in the second stage increases, is a positive torque, the torque of the motor will pass through zero when it returns to the negative demand torque in the third stage. At this time, the third torque change is a reverse change from a positive torque to a negative torque. If the second threshold value, to which the torque of the motor in the second stage increases, is a negative torque, the torque of the motor will not pass through zero because it returns to the negative demand torque in the third stage. At this time, the third torque change is a same direction change from a negative torque to a negative torque.
[0079] Optionally, the control system can automatically enter the third stage of re-rubbing teeth after the duration of the second stage of re-rubbing teeth preparation reaches a preset duration. That is, the duration of the second stage of torque change needs to reach a preset duration.
[0080] Specifically, after the duration of the second stage of re-rubbing teeth preparation reaches a preset duration t (obtained according to actual knocking and shaking perception calibration), the control system can automatically exit the second stage of re-rubbing teeth and enter the third stage of re-rubbing teeth.
[0081] Optionally, when the second torque change is performed in the second stage, if the current torque of the motor gradually rises to the second threshold value and the duration of entering the second stage has not yet reached the preset duration, the control system can control the torque of the motor at the second threshold value. After detecting that the duration of entering the second stage reaches the preset duration, the control system automatically enters the third stage to perform a third torque change on the current torque of the motor to control the current torque of the motor to change to the required torque.
[0082] Optionally, the torque change rate in each stage in the present application is controllable, and the torque change rate when switching between stages is controllable. As an example, the first torque change is performed at a first change rate, the second torque change is performed at a second change rate, and the third torque change is performed at a third change rate. The first change rate, the second change rate, and the third change rate can be the same or different, and can be pre-set according to actual conditions, which is not limited here.
[0083] In one embodiment, taking an example in which the current torque of the motor is a negative torque and the required torque of the motor is a positive torque, the first torque change in the first stage can be a reverse change from a negative torque to a positive torque. That is, the control system can quickly change the current torque of the motor from negative to positive, so that the motor speed quickly rises and quickly passes through the tooth gap area.
[0084] Since the required torque is a positive torque, the first threshold value in the same direction as the required torque is also a positive torque. Therefore, when the control system performs the first torque change on the current torque of the motor, the current torque of the motor is gradually increased from a negative torque until it rises to the first threshold value (such as 10 Nm), and enters the second stage of torque control to again decrease the torque of the motor. The absolute value of the first threshold value is less than the absolute value of the required torque.
[0085] For example, please refer to Figure 2 , Figure 2 is a torque curve diagram provided by an embodiment of the present application. In the first stage ①, the control system gradually increases the current torque of the motor from a negative torque until it rises to a positive torque value (i.e., the first threshold value, such as 10 Nm) and then enters the second stage ② of torque control to again decrease the torque of the motor.
[0086] Optionally, the second torque change in the second stage can be a reverse change from a positive torque to a negative torque, or a same direction change from a positive torque to another positive torque. That is, the control system can lower the current torque of the motor which has been changed to a positive torque, so as to rapidly lower the motor speed, and reduce the difference between the driving and driven gear speeds.
[0087] When the control system performs the second torque change on the current torque of the motor, the current torque of the motor is gradually lowered from a positive torque until it is lowered to a second threshold value (for example, 5 Nm or -5 Nm), and then enters the torque control in the third stage to again increase the torque of the motor. The absolute value of the second threshold value is smaller than the absolute value of the required torque. The absolute value of the second threshold value can be smaller than the absolute value of the first threshold value, or can be greater than the absolute value of the first threshold value, which is not limited here.
[0088] It can be understood that if the lowering amplitude is large enough, the torque of the motor in the second stage will be lowered to a negative torque, that is, the second threshold value is a negative torque, which is opposite to the required torque, and at this time the second torque change is a reverse change from a positive torque to a negative torque; if the lowering amplitude is not large enough, it is still a positive torque, that is, the second threshold value is a positive torque, which is in the same direction as the required torque, and at this time the second torque change is a same direction change from a positive torque to a positive torque.
[0089] Exemplarily, taking the second threshold value as a negative torque as an example, please refer to Figure 2 , Figure 2 is a schematic diagram of a torque curve provided by an embodiment of the present application. In the second stage ②, the control system gradually lowers the current torque of the motor from a positive torque until it is lowered to a negative torque value, that is, a second threshold value such as -5 Nm, and then enters the torque control in the third stage ③ to again increase the torque of the motor.
[0090] Optionally, the third torque change in the third stage can be a reverse change from a negative torque to a positive torque, or a same direction change from a positive torque to a positive torque. That is, the control system can again increase the current torque of the motor after the second torque change, until it is increased to the required torque, so as to rapidly follow the driving demand.
[0091] It can be understood that if the second threshold value to which the torque of the motor is lowered in the second stage is a negative torque, when the torque of the motor is restored to a positive required torque in the third stage, the torque of the motor will pass through a zero point, and at this time the third torque change is a reverse change from a negative torque to a positive torque. As shown in Figure 2 , after the control system lowers the current torque of the motor to a negative torque value, that is, a second threshold value such as -5 Nm in the second stage ②, the control system again gradually increases the current torque of the motor from a negative torque until it is increased to the required torque in the third stage ③.
[0092] If the second threshold value to which the motor torque of the second stage decreases is positive torque, since the demand torque recovered in the third stage is still positive torque, the motor torque will not pass zero point, and the third torque change is the same direction change from positive torque to positive torque.
[0093] Optionally, the control system needs to reach a preset duration in the duration of the second torque change in the second stage. As shown in Figure 2 When the control system enters the second stage ②, i.e., the tooth reattachment preparation period, the duration reaches the preset duration t, the control system can automatically exit the second stage ② tooth reattachment accuracy period and enter the third stage ③ tooth reattachment period.
[0094] Optionally, when the second torque change is performed in the second stage, if the current torque of the motor gradually decreases to the second threshold value, the duration of entering the second stage has not reached the preset duration, the control system can control the torque of the motor at the second threshold value, and after detecting that the duration of entering the second stage reaches the preset duration, the control system automatically enters the third stage to perform the third torque change on the current torque of the motor, so as to control the current torque of the motor to rise and recover to the demand torque.
[0095] In this way, the torque control method provided by the application can optimize the torque control in the tooth gap area through three-stage control, so that the first stage can quickly pass through the tooth gap area, the second stage can reduce the tooth surface fitting impact, and the third stage can quickly follow the driving demand, so that the overall torque control can reduce the tooth gap impact while improving the power response.
[0096] The torque control device provided by the application will be described below. The torque control device described below can be referred to in correspondence with the torque control method described above.
[0097] Figure 3 is a structural schematic diagram of the torque control device provided by the embodiment of the application. Referring to Figure 3 The torque control device provided by the embodiment of the application can include:
[0098] The torque acquisition module 310 is configured to acquire the current torque and the demand torque of the motor.
[0099] The first change module 320 is configured to perform a first torque change on the current torque of the motor when the current torque and the demand torque are opposite.
[0100] The second change module 330 is configured to perform a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value, wherein the first threshold value and the demand torque are in the same direction.
[0101] The third change module 340 is configured to perform a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque.
[0102] The torque control device provided by the embodiments of the present application can perform a first torque change on the current torque of the motor when the current torque of the motor is opposite to the demand torque, perform a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value, wherein the first threshold value is in the same direction as the demand torque, and perform a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque. Therefore, the first torque change can quickly pass through the tooth gap area, the second torque change can reduce the tooth surface fitting impact, and the third torque change can quickly follow the driving demand, so that the overall power response can be improved while reducing the tooth gap impact.
[0103] Specifically, the torque control device provided by the embodiments of the present application can implement all the method steps achieved by the method embodiments and achieve the same technical effects. Therefore, the same parts and beneficial effects of the method embodiments will not be described in detail.
[0104] Figure 4 FIG. 1 is a structural schematic diagram of an electronic device provided by an embodiment of the present application. As shown in FIG. 1, the electronic device can include a processor 410, a communications interface 420, a memory 430, and a communications bus 440, wherein the processor 410, the communications interface 420, and the memory 430 can complete mutual communication through the communications bus 440. Figure 4 The processor 410 can invoke the logic instructions in the memory 430 to perform a torque control method, for example, including:
[0105] obtaining a current torque of a motor and a demand torque;
[0106] performing a first torque change on the current torque of the motor when the current torque is opposite to the demand torque;
[0107] performing a second torque change on the current torque of the motor when the current torque of the motor changes to a first threshold value, wherein the first threshold value is in the same direction as the demand torque;
[0108] performing a third torque change on the current torque of the motor when the current torque of the motor changes to a second threshold value, so as to control the current torque of the motor to change to the demand torque.
[0109] Further, the logic instructions in the memory 430 described above can be implemented in the form of software functional units and sold or used as independent products, and can be stored in a computer readable storage medium. Based on such understanding, the technical solutions of the present application essentially or the parts that make contributions to the prior art or parts of the technical solutions 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, a server, or a network device, etc.) to perform all or part of the steps of the methods described in the various embodiments of the present application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and various media that can store program codes.
[0110] In another aspect, the present application also provides a non-transitory computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the steps of the torque control method provided by the above-mentioned methods, for example including:
[0111] obtaining a current torque and a demand torque of the motor;
[0112] when the current torque and the demand torque are opposite, performing a first torque change on the current torque of the motor;
[0113] when the current torque of the motor changes to a first threshold value, performing a second torque change on the current torque of the motor, wherein the first threshold value is in the same direction as the demand torque;
[0114] when the current torque of the motor changes to a second threshold value, performing a third torque change on the current torque of the motor to control the current torque of the motor to change to the demand torque.
[0115] In yet another aspect, the present application also provides a computer program product, the computer program product comprising a computer program, the computer program being storable on a non-transitory computer readable storage medium, and the computer being capable of executing the steps of the torque control method provided by the above-mentioned methods when the computer program is executed by a processor, for example including:
[0116] obtaining a current torque and a demand torque of the motor;
[0117] when the current torque and the demand torque are opposite, performing a first torque change on the current torque of the motor;
[0118] when the current torque of the motor changes to a first threshold value, performing a second torque change on the current torque of the motor, wherein the first threshold value is in the same direction as the required torque;
[0119] when the current torque of the motor changes to a second threshold value, performing a third torque change on the current torque of the motor to control the current torque of the motor to change to the required torque.
[0120] The apparatus embodiments described above are merely illustrative, wherein the units described as separate components can or can not be physically separate, and the components displayed as units can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected to achieve the purpose of the embodiment scheme according to actual needs. Those skilled in the art can understand and implement without creative labor.
[0121] From the above description of the embodiments, those skilled in the art can clearly understand that the embodiments can be realized by means of software plus the necessary general hardware platform, and of course can also be realized by hardware. Based on such understanding, the above technical solutions can be embodied in the form of a software product, which can be stored in a computer readable storage medium, such as a ROM / RAM, a magnetic disk, an optical disk, etc., and includes a number of instructions to make a computer device (which can be a personal computer, a server, or a network device, etc.) execute the methods described in the various embodiments or some parts of the embodiments.
[0122] In addition, it should be noted that the terms "first", "second", etc. in the embodiments of the present application are used to distinguish similar objects, and are not used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchanged under appropriate circumstances, so that the embodiments of the present application can be implemented in an order other than that illustrated or described herein, and the objects distinguished by "first", "second" are generally a class, not limited to the number of objects, for example, the first object can be one or more.
[0123] In the embodiments of the present application, the term "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B, which can represent the existence of A alone, the existence of A and B together, and the existence of B alone. The character " / " generally represents an "or" relationship between the associated objects before and after it.
[0124] The "determining B based on A" in the embodiments of the present application means that A is considered as a factor when determining B. It is not limited to "determining B based on A only", but also includes "determining B based on A and C", "determining B based on A, C and E", "determining C based on A, and determining B based on C further", and the like. In addition, it can also include A as a condition for determining B, for example, "when A meets the first condition, determining B using the first method"; for example, "when A meets the second condition, determining B"; for example, "when A meets the third condition, determining B based on the first parameter"; and the like. Of course, A can also be a condition for determining B, for example, "when A meets the first condition, determining C using the first method, and determining B further based on C"; and the like.
[0125] The term "a plurality of" in the embodiments of the present application means two or more, and other quantifiers are similar.
[0126] Finally, it should be noted that: the above embodiments are only used to illustrate the technical solutions of the present application, and not to limit them; although the present application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that: it can still modify the technical solutions recorded in the foregoing embodiments, or make equivalent replacement for part of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application.
Claims
1. A torque control method characterized by, The method comprises: acquiring a current torque and a required torque of a motor; when the current torque and the required torque are opposite, performing a first torque change on the current torque of the motor; when the current torque of the motor changes to a first threshold value, performing a second torque change on the current torque of the motor, wherein the first threshold value is in the same direction as the required torque; when the current torque of the motor changes to a second threshold value, performing a third torque change on the current torque of the motor to control the current torque of the motor to change to the required torque.
2. The torque control method according to claim 1, characterized by, The current torque is a positive torque, the required torque is a negative torque, and the first torque change is a reverse change from a positive torque to a negative torque; or the current torque is a negative torque, the required torque is a positive torque, and the first torque change is a reverse change from a negative torque to a positive torque.
3. The torque control method according to claim 1, characterized by, The second threshold value is opposite to the required torque, or the second threshold value is in the same direction as the required torque.
4. The torque control method according to claim 3, characterized by, When the second threshold value is opposite to the required torque, If the required torque is a negative torque, the first threshold value is a negative torque, the second threshold value is a positive torque, and the second torque change is a reverse change from a negative torque to a positive torque; If the required torque is a positive torque, the first threshold value is a positive torque, the second threshold value is a negative torque, and the second torque change is a reverse change from a positive torque to a negative torque.
5. The torque control method according to claim 4, characterized by, When the required torque is a negative torque and the second threshold value is a positive torque, the third torque change is a reverse change from a positive torque to a negative torque; When the required torque is a positive torque and the second threshold value is a negative torque, the third torque change is a reverse change from a negative torque to a positive torque.
6. The torque control method according to claim 3, characterized by, When the second threshold value is in the same direction as the required torque, If the required torque is a negative torque, the first threshold value is a negative torque, the second threshold value is a negative torque, and the second torque change is a same-direction change from a negative torque to a negative torque; If the required torque is a positive torque, the first threshold value is a positive torque, the second threshold value is a positive torque, and the second torque change is a same-direction change from a positive torque to a positive torque.
7. The torque control method according to claim 6, characterized by, When the required torque is a negative torque and the second threshold value is a negative torque, the third torque change is a same-direction change from a negative torque to a negative torque; when the required torque is a positive torque and the second threshold value is a positive torque, the third torque change is a same-direction change from a positive torque to a positive torque.
8. The torque control method according to any one of claims 1 to 7, characterized by, Before performing the third torque change on the current torque of the motor to control the current torque of the motor to change to the required torque, the method further comprises: detecting that the duration of the second torque change reaches a preset duration.
9. The torque control method according to any one of claims 1 to 7, characterized by, The first torque change is performed at a first change rate, the second torque change is performed at a second change rate, and the third torque change is performed at a third change rate.
10. An electronic device comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, The processor implements the torque control method according to any one of claims 1 to 9 when executing the computer program.