Control method and device of range extender, range extender and computer readable storage medium

Abstract

The invention relates to a control method and device of a range extender, the range extender and a computer readable storage medium, and relates to the technical field of new energy automobiles. The control method comprises the steps that disturbance information of an engine is determined according to the difference between the target rotating speed of the engine in the range extender and the actual rotating speed of the engine; according to the disturbance information of the engine, the current torque of a motor in the range extender is adjusted to obtain target torque; and controlling the motor to work according to the target torque. According to the technical scheme, the control accuracy of the range extender can be improved.

Description

TECHNICAL FIELD

[0001] The present disclosure relates to the technical field of new energy vehicles, and in particular to a control method of a range extender, a control device of a range extender, a range extender, and a computer readable storage medium. BACKGROUND

[0002] The power output of a new energy vehicle (for example, a hybrid vehicle) is derived from an engine and an electric motor. For a range extended vehicle, the engine in the range extended vehicle is controlled in terms of speed. Since the engine does not need to directly drive the vehicle, a small displacement engine with a low number of cylinders is usually selected.

[0003] In the related art, methods such as adding mechanical structures, establishing a power transmission mathematical model from the electric motor to the end of the transmission shaft, and designing a torque offset function are usually used to suppress torque pulsation. SUMMARY

[0004] The present inventors have found that the above method for suppressing torque pulsation has limited accuracy, which cannot accurately compensate for the output torque of the electric motor, resulting in poor accuracy of range extender control.

[0005] In view of this, the present disclosure provides a control technology scheme for a range extender, which can improve the accuracy of range extender control.

[0006] According to some embodiments of the present disclosure, a control method of a range extender is provided, including: determining disturbance information of an engine in the range extender according to a difference between a target speed of the engine and an actual speed of the engine; adjusting a current torque of an electric motor in the range extender to obtain a target torque according to the disturbance information of the engine; and controlling the electric motor to work according to the target torque.

[0007] In some embodiments, a first correspondence relationship between the speed of the engine and time is smoothed to obtain a second correspondence relationship between the speed and time, the first correspondence relationship being determined according to a speed instruction of the engine; a target speed corresponding to a current time is determined according to the second correspondence relationship; and the disturbance information of the engine is determined according to a difference between the target speed and the actual speed.

[0008] In some embodiments, a relationship between the disturbance information and the difference is determined according to a size of the difference, different relationships corresponding to different gains, the gain being used to determine a degree of change of the disturbance information with the difference; and the disturbance information is determined according to the relationship between the disturbance information and the difference and the difference.

[0009] In some embodiments, the relationship between the disturbance information and the difference is determined as a first relationship in response to an absolute value of the difference being greater than a threshold value; and the relationship between the disturbance information and the difference is determined as a second relationship in response to the absolute value of the difference being less than or equal to the threshold value, the second relationship corresponding to a gain greater than a gain corresponding to the first relationship.

[0010] In some embodiments, the first relationship is a nonlinear relationship.

[0011] In some embodiments, a torque ripple of the engine is determined according to the disturbance information of the engine; a compensation torque of the motor is determined according to the torque ripple of the engine; and the current torque of the motor is adjusted according to the compensation torque.

[0012] In some embodiments, the compensation torque is determined according to the characteristic information of the torque ripple and the actual speed of the engine.

[0013] In some embodiments, the characteristic information of the torque ripple includes an amplitude of the torque ripple and a phase of the torque ripple, a frequency of the torque ripple is determined according to the actual speed, a frequency of the compensation torque is determined according to the frequency of the torque ripple, an amplitude of the compensation torque and a phase of the compensation torque are determined according to the amplitude of the torque ripple and the phase of the torque ripple, and the compensation torque is determined according to the frequency of the compensation torque, the amplitude of the compensation torque and the phase of the compensation torque.

[0014] In some embodiments, the current torque of the motor is determined according to a difference between the target speed and the actual speed.

[0015] According to some other embodiments of the present disclosure, a control device of a range extender is provided, including: a determination unit configured to determine disturbance information of an engine in the range extender according to a difference between a target speed of the engine and an actual speed of the engine; an adjustment unit configured to adjust a current torque of a motor in the range extender to obtain a target torque according to the disturbance information of the engine; and a control unit configured to control the motor to operate according to the target torque.

[0016] In some embodiments, the determination unit performs smoothing processing on a first corresponding relationship between the speed of the engine and time to obtain a second corresponding relationship between the speed of the engine and time, the first corresponding relationship being determined according to a speed instruction of the engine; determines the target speed corresponding to a current time according to the second corresponding relationship; and determines the disturbance information of the engine according to the difference between the target speed and the actual speed.

[0017] In some embodiments, the determination unit determines a relationship between the disturbance information and the difference according to a size of the difference, different relationships corresponding to different gains, the gain being used to determine a degree of change of the disturbance information with the difference; and determines the disturbance information according to the relationship between the disturbance information and the difference and the difference.

[0018] In some embodiments, the determining unit determines that the relationship between the disturbance information and the difference is a first relationship in response to an absolute value of the difference being greater than a threshold value, and determines that the relationship between the disturbance information and the difference is a second relationship in response to the absolute value of the difference being less than or equal to the threshold value, the gain corresponding to the second relationship being greater than the gain corresponding to the first relationship.

[0019] In some embodiments, the first relationship is a nonlinear relationship.

[0020] In some embodiments, the adjusting unit determines a torque ripple of the engine according to the disturbance information of the engine, determines a compensation torque of the motor according to the torque ripple of the engine, and adjusts a current torque of the motor according to the compensation torque.

[0021] In some embodiments, the adjusting unit determines the compensation torque according to the characteristic information of the torque ripple and an actual speed of the engine.

[0022] In some embodiments, the characteristic information of the torque ripple includes an amplitude of the torque ripple and a phase of the torque ripple, the adjusting unit determines a frequency of the torque ripple according to the actual speed, determines a frequency of the compensation torque according to the frequency of the torque ripple, determines an amplitude of the compensation torque and a phase of the compensation torque according to the amplitude of the torque ripple and the phase of the torque ripple, and determines the compensation torque according to the frequency of the compensation torque, the amplitude of the compensation torque, and the phase of the compensation torque.

[0023] In some embodiments, the current torque of the motor is determined according to a difference between the target speed and the actual speed.

[0024] According to still some embodiments of the present disclosure, there is provided a control device of a range extender, comprising: a memory; and a processor coupled to the memory, the processor being configured to execute the control method in any one of the above embodiments based on instructions stored in the memory device.

[0025] According to yet some embodiments of the present disclosure, there is provided a range extender comprising the control device of any one of the above embodiments.

[0026] According to still some embodiments of the present disclosure, there is provided a computer-readable storage medium having stored thereon a computer program, the program being executed by a processor to implement the control method in any one of the above embodiments.

[0027] According to still some embodiments of the present disclosure, there is also provided a computer program product comprising instructions which, when executed by a processor, cause the processor to perform the control method according to any one of the above embodiments.

[0028] In the above embodiment, by collecting the actual speed of the engine in real time, the disturbance information of the engine is adaptively determined, and the disturbance information of the engine is converted into an influence on the current torque of the motor to adjust the current torque of the motor. In this way, the target torque of the motor can be more accurately determined according to the actual state of the current engine, thereby improving the accuracy of the range extender control. BRIEF DESCRIPTION OF DRAWINGS

[0029] The accompanying drawings, which form a part of the specification, illustrate embodiments of the present disclosure and, together with the description, serve to explain the principles of the present disclosure.

[0030] Reference will now be made to the drawings, which depict various embodiments of the present disclosure, in order to explain the principles of the present disclosure. The present disclosure is not limited to the embodiments depicted in the drawings.

[0031] Figure 1 Flowcharts illustrating some embodiments of the control method of the range extender of the present disclosure;

[0032] Figure 2 Flowcharts illustrating some other embodiments of the control method of the range extender of the present disclosure;

[0033] Figure 3 Schematic diagrams illustrating some embodiments of the control method of the range extender of the present disclosure;

[0034] Figure 4 Schematic diagrams illustrating some other embodiments of the control method of the range extender of the present disclosure;

[0035] Figure 5 Block diagrams illustrating some embodiments of the control device of the range extender of the present disclosure;

[0036] Figure 6 Block diagrams illustrating some other embodiments of the control device of the range extender of the present disclosure;

[0037] Figure 7 Block diagrams illustrating some other embodiments of the control device of the range extender of the present disclosure;

[0038] Figure 8 Block diagrams illustrating some embodiments of the range extender of the present disclosure. DETAILED DESCRIPTION

[0039] Various exemplary embodiments of the present disclosure will now be described in detail below with reference to the accompanying drawings. Note that the relative arrangement, numerical expressions, and values of the components and steps set forth in these embodiments are not intended to limit the scope of the present disclosure, unless otherwise specifically stated.

[0040] It should be understood, however, that the sizes of the components shown in the drawings are not intended to be limiting, and are merely used to facilitate description.

[0041] The following description of at least one exemplary embodiment is merely exemplary in nature and is in no way intended to limit the disclosure or its application or uses.

[0042] Techniques, methods, and apparatus known to those of ordinary skill in the relevant art can not be discussed in detail herein, but should be considered as part of the specification.

[0043] In all of the examples shown and discussed herein, any specific values should be interpreted as merely exemplary, and not as a limitation. Other examples of the exemplary embodiments can therefore have different values.

[0044] It should be noted that like reference numerals and letters in the various figures indicate like elements, and thus, discussions of some items in one figure can equally apply to like items in other figures.

[0045] As mentioned above, a small displacement engine with a low number of cylinders will generate greater torque pulsation, which will affect the output of the motor, and the hysteresis characteristics and slow response of the engine, as well as the noise, vibration, and harshness (NVH) problems faced by the range extender during operation, will all cause the range extender to have speed fluctuations. Therefore, it is necessary to control the generator torque to actively compensate for the torque pulsation of the engine, so as to suppress the speed fluctuations of the range extender.

[0046] However, the control accuracy of the control method in the related art is limited, and there are also problems such as complex process, high cost, etc. For example, the control accuracy of the method of analyzing the torsional vibration characteristics of the range extender by establishing a power transmission mathematical model from the motor to the end of the transmission shaft is limited by the accuracy of the mathematical model; the accuracy of the method of establishing a torque offset function by looking up the current speed and torque of the engine to compensate for the output torque of the motor is limited by the calculation of the torque offset function, and it is difficult to completely offset the torque pulsation of the engine.

[0047] To address at least one of the above problems, the present disclosure provides a control method for a range extender, which does not require additional mechanical structures, and by real-time acquisition of the actual speed of the engine, adaptively determines the disturbance information of the engine, and converts the disturbance information of the engine into an influence on the current torque of the motor, to adjust the current torque of the motor. In this way, by controlling the motor torque to actively compensate for the torque pulsation of the engine, the target torque of the motor can be more accurately determined according to the actual state of the engine to suppress the speed fluctuations of the range extender, thereby improving the accuracy of the control of the range extender.

[0048] For example, the technical solutions of the present disclosure can be implemented by the following embodiments.

[0049] Figure 1A flow chart showing some embodiments of the control method of the range extender of the present disclosure.

[0050] As shown in FIG. 1, in step 110, disturbance information of the engine is determined according to a difference between a target speed of the engine in the range extender and an actual speed of the engine. Figure 1 For example, the speed instruction of the engine and the current actual speed signal can be collected in real time under various working conditions of the range extender, and the target speed of the engine can be determined according to the speed instruction.

[0051] In step 120, the current torque of the motor in the range extender is adjusted according to the disturbance information of the engine to obtain a target torque. For example, the disturbance information can reflect the torque pulsation of the engine.

[0052] In step 130, the motor is controlled to work according to the target torque.

[0053] In the above embodiments, the disturbance information of the engine is adaptively determined by collecting the actual speed of the engine in real time, and the disturbance information of the engine is converted into an influence on the current torque of the motor to adjust the current torque of the motor. In this way, the target torque of the motor can be more accurately determined according to the actual state of the engine, thereby improving the accuracy of the control of the range extender.

[0054] The determination method of the disturbance information in step 110 is exemplarily described below through some embodiments.

[0055] In some embodiments, the first corresponding relationship between the speed of the engine and time is smoothed to obtain a second corresponding relationship between the speed and time; the target speed corresponding to the current time is determined according to the second corresponding relationship; and the disturbance information of the engine is determined according to a difference between the target speed and the actual speed. For example, the first corresponding relationship between the speed of the engine and time can be determined according to the speed instruction of the engine.

[0056] For example, the first corresponding relationship can be smoothed by designing a first-order tracking differentiator (TD) to obtain the second corresponding relationship, so that the speed of the engine determined according to the first corresponding relationship is converted into the target speed determined by the second corresponding relationship at the current time. The expression of the first-order TD is as follows:

[0057] (1)

[0058] (2)

[0059] ​In formula (1), m is an adjustable parameter, the size of m determines the tracking accuracy of the tracking differentiator, k is an adjustable gain of the command speed; a1 is a nonlinear saturation factor, which is a nonlinear saturation function .

[0060] In this way, the speed command is tracked by the first-order TD, the first correspondence between the speed of the engine and the time is converted into a second correspondence, the engine can be controlled at a smoother and more stable target speed, which provides a guarantee for the subsequent observation and estimation process of the disturbance information of the engine, thereby improving the accuracy of the range extender control.

[0061] In some embodiments, according to the size of the difference, the relationship between the disturbance information and the difference is determined, different relationships correspond to different gains, and the gain is used to determine the degree of change of the disturbance information with the difference; the disturbance information is determined according to the relationship between the disturbance information and the difference and the difference. For example, the disturbance information of the system can be observed and estimated by designing an extended state observer.

[0062] For example, a second-order extended state observer (ESO) can be designed according to the following method to observe and estimate the disturbance information of the engine. The tracking signal of the actual torque ripple of the engine (i.e. the amplitude and phase of the torque ripple) can be calculated by the second-order ESO, and the disturbance information z2 estimated by the system at the next time is calculated by the second-order ESO, and the expression of the second-order ESO is:

[0063] (3)

[0064] In formula (3), β1 and β2 are adjustable parameters that affect the dynamic compensation effect; a1 and a2 are nonlinear saturation factors in the nonlinear function, reflecting the effect of nonlinear parameter tracking control of the controlled object; is a filter factor, i.e. the length of the linear segment of the nonlinear function; b is an adjustable parameter, which is a compensation factor that can determine the strength of the compensation disturbance; z1 can be the target speed obtained by the first-order TD , representing the tracking of the torque corresponding to the output command of the range extender, n is the actual speed of the engine, e is the speed tracking error, i.e. the difference between the target speed and the actual speed. By jointly solving formula (3), the amplitude and phase of the torque ripple of the engine can be obtained.

[0065] For example, the values of β1 and β2 can be determined by the system-related parameter b, the value of b can be between 10 50, the product of b and β1 or β2 is approximately equal to 100, and b is approximately 10 times β1 or β2; a1 and a2 can be 0 1 between, may be between 0 0.5, the selection of the above parameter values can be further adjusted and determined according to the disturbance compensation effect of the system, so as to enhance the overall tracking effect of the second-order ESO on the engine torque pulsation of the range extender and the adaptability to system model uncertainty and disturbance.

[0066] In this way, the disturbance information of the engine is observed and estimated by the second-order ESO. The characteristic information of the engine torque pulsation can be more accurately obtained, thereby effectively suppressing the torque pulsation of the system and improving the accuracy of the range extender control.

[0067] In some embodiments, the above nonlinear function fal function expression can be:

[0068] (4)

[0069] For example, in response to the absolute value of the difference being greater than the threshold value (case of formula (4) ), it is determined that the relationship between the disturbance information and the difference is a first relationship, and referring to formula (4), the first relationship can be a nonlinear relationship; in response to the absolute value of the difference being less than or equal to the threshold value (case of formula (4) ), it is determined that the relationship between the disturbance information and the difference is a second relationship, and the gain corresponding to the second relationship is greater than the gain corresponding to the first relationship.

[0070] In the above embodiments, compared with the overshoot of the speed and torque that occurs in the control by the linear controller, by using the nonlinear function and selecting appropriate nonlinear parameters, the controlled system can better achieve smooth response following of the engine speed and torque, thereby improving the stability and accuracy of the range extender control.

[0071] The following is an example of how to compensate for the current torque of the motor according to the torque pulsation of the engine solved in step 120.

[0072] In some embodiments, according to the disturbance information of the engine, the torque pulsation of the engine is determined; according to the torque pulsation of the engine, the compensation torque of the motor is determined; and according to the compensation torque, the current torque of the motor is adjusted. For example, the current torque of the motor is determined according to the difference between the target speed and the actual speed, and the current torque T intial of the motor can be determined by a proportional-integral controller according to the difference between the current motor speed and the target speed.

[0073] Thus, by estimating the torque ripple of the engine in real time and compensating the current torque of the motor, the compensation torque of the motor can be adaptively adjusted, so as to correct the current torque of the motor, which is conducive to the cooperation between the engine and the motor, and further improves the accuracy of the range extender control.

[0074] In some embodiments, the compensation torque is determined according to the characteristic information of the torque ripple and the actual speed of the engine. For example, the characteristic information of the torque ripple includes the amplitude of the torque ripple and the phase of the torque ripple.

[0075] In some embodiments, the frequency of the torque ripple can be determined according to the actual speed, and the frequency of the compensation torque is determined according to the frequency of the torque ripple.

[0076] For example, the frequency of the torque ripple of the engine can be calculated by the formula f ripple =n×k / 60, where f ripple is the frequency of the torque ripple of the engine, n is the actual speed of the engine, and k is a dimensionless coefficient related to the structure and working process of the engine, which determines the mapping relationship between the frequency of the torque ripple and the actual speed, and reflects the excitation order of the engine crankshaft system under periodic disturbance torque. When the frequency of the disturbance torque coincides with the natural frequency of the system, resonance is triggered, which leads to crankshaft shaking or even breakage.

[0077] For example, for a four-cylinder four-stroke engine, each cylinder completes one ignition every two revolutions. For one working cycle, each cylinder does work once, and a total of 4 times, and the ignition frequency is 1 / 2 of the speed, so the frequency of the torque ripple is twice the actual speed of the engine, that is, k=2.

[0078] In some embodiments, the amplitude of the compensation torque and the phase of the compensation torque are determined according to the amplitude of the torque ripple and the phase of the torque ripple, for example, the amplitude of the compensation torque can be equal to the amplitude of the torque ripple, and the phase of the compensation torque can be opposite to the phase of the torque ripple.

[0079] In some embodiments, the compensation torque can be determined according to the frequency of the compensation torque, the amplitude of the compensation torque and the phase of the compensation torque. For example, a sinusoidal pulse signal source can be given as the initial form of the compensation torque, and the frequency, amplitude and phase determined in the above embodiments are used to determine the compensation torque T cmp .

[0080] For example, the pulse signal source can also be a square wave signal or other types of sinusoidal signals.

[0081] Thus, by generating a compensation torque opposite in phase and equal in amplitude to the torque ripple, the compensation torque of the motor can be more accurately generated, and the torque ripple of the engine can be more effectively offset, so as to improve the accuracy of the range extender control.

[0082] In some embodiments, the current torque T intial of the motor can be adjusted according to the current torque T cmp of the motor and the compensation torque T total obtained by the above-mentioned embodiments as the final target torque T total of the motor with the effect of suppressing the torque ripple of the engine. intial For example, T cmp =T ripple +T.

[0083] In the above-mentioned embodiments, by collecting the actual speed and the speed command of the engine in real time, the disturbance information of the engine is adaptively determined according to the difference between the target speed determined by the speed command and the actual speed, and the current torque of the motor is adjusted according to the disturbance information of the engine to suppress the influence of the torque ripple of the engine on the current torque of the motor. In this way, the target torque of the motor can be more accurately determined according to the actual state of the engine, thereby improving the accuracy of the range extender control.

[0084] The control method of the range extender of the present disclosure will be described below by way of example with reference to the embodiments in the accompanying drawings. Figure 2

[0085] Figure 2 The flowchart shows another embodiment of the control method of the range extender of the present disclosure.

[0086] As shown in FIG. 2, in step 210, the speed command of the engine is collected in real time under each working condition of the range extender to determine the speed n Figure 2 corresponding to the speed command and the actual speed n of the engine corresponding to the actual speed signal of the engine.

[0087] In step 220, an extended state observer is designed to observe and estimate the torque ripple and disturbance of the engine based on the engine speed command collected in step 210 and the actual speed of the engine.

[0088] In step 230, the amplitude and phase of the torque ripple of the engine are obtained by the extended state observer designed in step 220.

[0089] In step 240, a sinusoidal ripple signal source is given as the compensation torque signal of the motor, and the frequency of the ripple signal source is determined according to the actual speed of the engine. For example, the frequency of the torque ripple of the engine can be calculated by the formula f ripple =n×k / 60.

[0090] In step 250, the compensation torque command T of the motor is determined by combining the amplitude and phase of the engine torque pulsation obtained by the extended state observer in step 230, and the frequency of the engine torque pulsation calculated in step 240. cmp For example, the amplitude of the compensating torque can be equal to the amplitude of the torque pulsation, and the phase of the compensating torque can be opposite to the phase of the torque pulsation.

[0091] In step 260, the current torque T of the motor can be used as a reference. intial The compensated torque command T obtained through the above embodiments cmp The superposition of these factors results in the target torque T of the motor, which ultimately suppresses engine torque pulsation. total For example, T total =T intial +T cmp .

[0092] In the above embodiments, by real-time acquisition of the engine's actual speed and speed command, and based on the difference between the target speed determined by the speed command and the actual speed, the engine's disturbance information is adaptively determined, and the motor's current torque is adjusted according to the engine's disturbance information to suppress the influence of engine torque pulsation on the motor's current torque. This allows for a more accurate determination of the motor's target torque based on the current engine's actual state, thereby improving the accuracy of the range extender control.

[0093] Figure 3 Schematic diagrams illustrating some embodiments of the control method for the range extender of this disclosure are shown.

[0094] Figure 3 This is a diagram of the overall control structure for range extender torsional vibration suppression based on an extended state observer. (Refer to...) Figure 3 First, the proportional-integral (PI) controller calculates the actual motor speed n based on the motor's angular velocity ω and the speed corresponding to the speed command. The difference between them, the controller outputs the current torque command signal T of the motor. intial Furthermore, by combining ESO (Electronic Stability and Environment) data, the amplitude and phase of the engine's pulsating torque are observed, and the motor's compensating torque T is determined by adjusting the selected sinusoidal pulsating signal source. cmp This, in turn, outputs the target torque T of the motor, which can suppress torque pulsation. total .

[0095] In the above embodiments, by estimating the engine's torque pulsation in real time using ESO and compensating for the motor's current torque, the motor's compensation torque can be adaptively adjusted, thereby correcting the motor's current torque. The following describes... Figure 4The above technical solutions for estimating and suppressing the torque pulsation of the engine are exemplarily illustrated by the embodiments in the foregoing.

[0096] Figure 4 A schematic diagram showing another embodiment of the control method of the range extender of the present disclosure.

[0097] With reference to Figure 4 , the output rotational speed of the range extender after the suppression of the torque pulsation (i.e., the torsional vibration) by the ESO is smoother and more stable relative to the output rotational speed of the range extender without the suppression. In this way, the estimation of the disturbance of the system by the ESO and the cooperation between the engine and the motor reduce the rotational speed fluctuation of the range extender, thereby improving the accuracy of the control of the range extender.

[0098] Figure 5 A block diagram showing some embodiments of the control device of the range extender of the present disclosure.

[0099] As shown in Figure 5 , the control device 5 of the range extender comprises: a determination unit 51 configured to determine disturbance information of the engine according to a difference between a target rotational speed of the engine and an actual rotational speed of the engine in the range extender; an adjustment unit 52 configured to adjust a current torque of the motor in the range extender to obtain a target torque according to the disturbance information of the engine; and a control unit 53 configured to control the motor to work according to the target torque.

[0100] In some embodiments, the determination unit 51 performs smoothing processing on a first correspondence between the rotational speed of the engine and time to obtain a second correspondence between the rotational speed and time, the first correspondence being determined according to a rotational speed instruction of the engine; determines a target rotational speed corresponding to a current time according to the second correspondence; and determines the disturbance information of the engine according to a difference between the target rotational speed and the actual rotational speed.

[0101] In some embodiments, the determination unit 51 determines a relationship between the disturbance information and the difference according to a size of the difference, different relationships corresponding to different gains, the gain being used to determine a degree of change of the disturbance information with the difference; and determines the disturbance information according to the relationship between the disturbance information and the difference and the difference.

[0102] In some embodiments, the determination unit 51 determines that the relationship between the disturbance information and the difference is a first relationship in response to an absolute value of the difference being greater than a threshold value; and determines that the relationship between the disturbance information and the difference is a second relationship in response to the absolute value of the difference being less than or equal to the threshold value, the gain corresponding to the second relationship being greater than the gain corresponding to the first relationship.

[0103] In some embodiments, the first relationship is a nonlinear relationship.

[0104] In some embodiments, the adjusting unit 52 determines the torque ripple of the engine according to the disturbance information of the engine; determines the compensation torque of the motor according to the torque ripple of the engine; and adjusts the current torque of the motor according to the compensation torque.

[0105] In some embodiments, the adjusting unit 52 determines the compensation torque according to the characteristic information of the torque ripple and the actual speed of the engine.

[0106] In some embodiments, the characteristic information of the torque ripple includes the amplitude of the torque ripple and the phase of the torque ripple, and the adjusting unit 52 determines the frequency of the torque ripple according to the actual speed; determines the frequency of the compensation torque according to the frequency of the torque ripple; determines the amplitude of the compensation torque and the phase of the compensation torque according to the amplitude of the torque ripple and the phase of the torque ripple; and determines the compensation torque according to the frequency of the compensation torque, the amplitude of the compensation torque and the phase of the compensation torque.

[0107] In some embodiments, the current torque of the motor is determined according to the difference between the target speed and the actual speed.

[0108] In the above embodiments, the actual speed of the engine is collected in real time, the disturbance information of the engine is adaptively determined, and the disturbance information of the engine is converted into the influence on the current torque of the motor to adjust the current torque of the motor. In this way, the target torque of the motor can be more accurately determined according to the actual state of the current engine, thereby improving the accuracy of the range extender control.

[0109] Figure 6 A block diagram showing another embodiment of the control device of the range extender of the present disclosure.

[0110] As Figure 6 shown, the control device 6 of this embodiment includes a memory 61 and a processor 62 coupled to the memory 61, and the processor 62 is configured to execute the control method in any one of the embodiments of the present disclosure based on the instructions stored in the memory 61.

[0111] The memory 61 may, for example, include a system memory, a fixed non-volatile storage medium, etc. The system memory may, for example, store an operating system, an application program, a Boot Loader, a database, and other programs, etc.

[0112] Figure 7 A block diagram showing still another embodiment of the control device of the range extender of the present disclosure.

[0113] As Figure 7As shown, the control device 7 of this embodiment includes a memory 710 and a processor 720 coupled to the memory 710. The processor 720 is configured to execute the control method of any of the foregoing embodiments based on instructions stored in the memory 710.

[0114] The memory 710 may include, for example, system memory, fixed non-volatile storage media, etc. The system memory stores, for example, the operating system, application programs, boot loader, and other programs.

[0115] The control device 7 may also include an input / output interface 730, a network interface 740, and a storage interface 750. These interfaces 730, 740, and 750, as well as the memory 710 and processor 720, can be connected via, for example, a bus 760. The input / output interface 730 provides a connection interface for input / output devices such as a monitor, mouse, keyboard, touchscreen, microphone, and speakers. The network interface 740 provides a connection interface for various networked devices. The storage interface 750 provides a connection interface for external storage devices such as SD cards and USB flash drives.

[0116] Figure 8 Block diagrams illustrating some embodiments of the range extenders disclosed herein are shown.

[0117] like Figure 8 As shown, the range extender 8 in this embodiment includes the control device 81 of the range extender in any of the above embodiments.

[0118] Those skilled in the art will understand that embodiments of this disclosure can be provided as methods, systems, or computer program products. Therefore, this disclosure can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this disclosure can take the form of a computer program product embodied on one or more computer-usable non-transitory storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0119] The control method, control device, range extender, and computer-readable storage medium according to this disclosure have been described in detail. To avoid obscuring the concept of this disclosure, some details known in the art have not been described. Those skilled in the art will fully understand how to implement the technical solutions disclosed herein based on the above description.

[0120] The methods and systems of the present disclosure can be implemented in a number of ways. For example, the methods and systems of the present disclosure can be implemented via software, hardware, firmware, or any combination of software, hardware, and firmware. The above described order of steps for the methods is merely for illustration, and the steps of the methods of the present disclosure are not limited to the order specifically described above unless otherwise specifically stated. Furthermore, in some embodiments, the present disclosure can also be implemented as a program recorded in a recording medium, which includes machine readable instructions for implementing the methods according to the present disclosure. Thus, the present disclosure also covers a recording medium storing a program for executing the methods according to the present disclosure.

[0121] While certain specific embodiments of the present disclosure have been described in detail, those skilled in the art should understand that they are merely examples and are not intended to limit the scope of the present disclosure. Those skilled in the art should understand that modifications can be made to the above embodiments without departing from the scope and spirit of the present disclosure.

Claims

1. A control method of a range extender, comprising: determining disturbance information of an engine in the range extender according to a difference between a target speed of the engine and an actual speed of the engine; adjusting a current torque of an electric machine in the range extender to obtain a target torque according to the disturbance information of the engine; controlling the electric machine to operate according to the target torque.

2. The control method according to claim 1, wherein The determining of the disturbance information of the engine according to the difference between the target speed of the engine and the actual speed of the engine comprises: smoothing a first correspondence between the speed of the engine and time to obtain a second correspondence between the speed of the engine and time, the first correspondence being determined according to a speed instruction of the engine; determining a target speed corresponding to a current time according to the second correspondence; determining the disturbance information of the engine according to a difference between the target speed and the actual speed.

3. The control method according to claim 1, wherein The determining of the disturbance information of the engine according to the difference between the target speed of the engine and the actual speed of the engine comprises: determining a relationship between the disturbance information and the difference according to a size of the difference, different relationships corresponding to different gains, the gain being used to determine a degree of change of the disturbance information with the difference; determining the disturbance information according to the relationship between the disturbance information and the difference and the difference.

4. The control method according to claim 3, wherein The determining of the relationship between the disturbance information and the difference according to the size of the difference comprises: in response to an absolute value of the difference being greater than a threshold, determining the relationship between the disturbance information and the difference as a first relationship; in response to the absolute value of the difference being less than or equal to the threshold, determining the relationship between the disturbance information and the difference as a second relationship, the gain corresponding to the second relationship being greater than the gain corresponding to the first relationship.

5. The control method according to claim 4, wherein The first relationship is a nonlinear relationship.

6. The control method according to any one of claims 1 to 5, wherein The adjusting of the current torque of the electric machine according to the disturbance information of the engine comprises: determining a torque ripple of the engine according to the disturbance information of the engine; determining a compensation torque of the electric machine according to the torque ripple of the engine; adjusting the current torque of the electric machine according to the compensation torque.

7. The control method according to claim 6, wherein The determining of the compensation torque of the electric machine according to the torque ripple of the engine comprises: determining the compensation torque according to characteristic information of the torque ripple and the actual speed of the engine.

8. The control method according to claim 7, wherein The characteristic information of the torque ripple comprises an amplitude of the torque ripple and a phase of the torque ripple, The determining of the compensation torque according to the characteristic information of the torque ripple and the actual speed of the engine comprises: determining a frequency of the torque ripple according to the actual speed; determining a frequency of the compensation torque according to the frequency of the torque ripple; determining an amplitude of the compensation torque and a phase of the compensation torque according to the amplitude of the torque ripple and the phase of the torque ripple; determining the compensation torque according to the frequency of the compensation torque, the amplitude of the compensation torque and the phase of the compensation torque.

9. The control method according to any one of claims 1-5, wherein the current torque of the motor is determined according to a difference between the target speed and the actual speed.

10. A control device of a range extender, comprising: a determination unit configured to determine disturbance information of an engine in the range extender according to a difference between a target speed of the engine and an actual speed of the engine; an adjustment unit configured to adjust a current torque of a motor in the range extender to obtain a target torque according to the disturbance information of the engine; and a control unit configured to control the motor to operate according to the target torque.

11. A control device of a range extender, comprising: a memory; and a processor coupled to the memory, the processor configured to execute the control method according to any one of claims 1-9 based on instructions stored in the memory.

12. A range extender, comprising: the control device according to claim 10 or 11.

13. A computer readable storage medium having stored thereon a computer program, which, when executed by a processor, implements the control method according to any one of claims 1-9.

14. A computer program product comprising instructions which, when executed by a processor, cause the processor to carry out the control method according to any one of claims 1-9. ​

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