A torque control method and system based on iterative feedback torque from the motor

Abstract

This invention discloses a torque control method based on iterative feedback torque from a motor, comprising: obtaining the driver's required torque T. X and the actual feedback torque T of the motor F The calculated torque difference is T. X -T F If k min ≤≤k max The control torque T is then calculated. C =T F + and control torque T C Output to motor controller; if < k min Then k min Output to motor controller; if > k max Then k max The output is sent to the motor controller. This invention discloses a torque control system based on iterative feedback torque from the motor. By introducing the actual feedback torque of the motor for dynamic iteration, combined with torque slope control and torque gradient segmented control strategies, precise adjustment of the motor torque output is achieved. Compared with the single control method in the prior art, this invention continuously optimizes the control command through closed-loop feedback, thereby effectively avoiding the problem of excessive torque deviation caused by mismatch between torque command and actual execution, and thus improving the accuracy and stability of torque control.

Description

Technical Field

[0001] This invention relates to the field of electric vehicle power control technology, and in particular to a torque control method and system based on iterative feedback torque from the motor. Background Technology

[0002] Currently, the torque control method for electric vehicles mainly involves obtaining vehicle parameters such as the maximum battery discharge power, current vehicle speed, maximum and minimum transmission torque of the transmission system, and maximum and minimum output torque of the motor through the vehicle controller. After comprehensive analysis and calculation, the control torque or limit torque is obtained, and the torque command is sent directly to the motor controller to control the torque output of the entire vehicle.

[0003] However, existing technologies have the following problems: because torque control is based on theoretical models and parameters, it does not fully consider the dynamic response characteristics of the motor during actual operation. Therefore, when the torque command input to the motor controller is too large or changes too rapidly, it can easily lead to an overcurrent fault in the motor controller. Once an overcurrent fault occurs, the vehicle controller will limit the vehicle's power, seriously affecting the driving experience and overall vehicle power performance.

[0004] To alleviate the aforementioned problems, some existing technologies propose slope control or torque gradient control processing before the torque command is input to the motor controller, i.e., limiting the rate of change of the torque command. However, this type of control is relatively simple and cannot be dynamically adjusted according to the actual operating state of the motor. As a result, the torque command input to the motor controller is still not accurate enough, leading to a deviation between the actual output torque of the motor and the expected torque, ultimately affecting the smoothness and responsiveness of the entire vehicle. Summary of the Invention

[0005] To address the aforementioned technical problems, this invention provides a torque control method and system based on iterative feedback torque from the motor.

[0006] To provide a basic understanding of some aspects of the disclosed embodiments, a brief summary is given below. This summary is not intended as a general commentary, nor is it intended to identify key / important components or to describe the scope of protection of these embodiments. Its sole purpose is to present some concepts in a simple form as a prelude to the detailed description that follows.

[0007] The present invention adopts the following technical solution:

[0008] In a first aspect, the present invention provides a torque control method based on iterative feedback torque of a motor, comprising:

[0009] Obtain the required torque T from the driver X and the actual feedback torque T of the motor FThe torque difference was calculated. =T X -T F ;

[0010] Determine the torque difference Does it satisfy: k min ≤ ≤k max k min k is the lower limit of the torque control slope. max This represents the upper limit of the torque control slope.

[0011] If k satisfies min ≤ ≤k max Then the control torque T is calculated. C =T F + and will control torque T C Output to the motor controller.

[0012] Furthermore, the torque control method based on iterative feedback torque of the motor further includes:

[0013] Determine the torque difference Does it meet the following requirements: <k min If satisfied <k min Then the lower limit value of the torque control slope k will be set. min Output to motor controller;

[0014] Determine the torque difference Does it meet the following requirements: >k max If satisfied >k max Then the upper limit of the torque control slope k will be set. max Output to the motor controller.

[0015] Furthermore, the method previously included: obtaining the upper limit value k of the torque control slope. max ;

[0016] The upper limit value of the torque control slope k is obtained. max The process includes:

[0017] Determine whether the actual feedback torque T of the motor is met. F If the value is greater than the preset threshold, and the judgment result is satisfactory, then the calibrated value will be used as the upper limit value k of the torque control slope. max Output;

[0018] If the judgment result is not satisfied, then the vehicle speed signal or motor speed signal is collected, and the torque gradient value is obtained based on the vehicle speed signal or motor speed signal. The obtained torque gradient value is used as the upper limit value k of the torque control slope. max Output.

[0019] Furthermore, the torque gradient value is obtained by looking up a table, and different vehicle speed signals or motor speed signals correspond to different torque gradient values.

[0020] Furthermore, the control cycle of this method is 10ms, and the control torque T is output every 10ms. C Torque control slope lower limit k min Or the upper limit of the torque control slope k max To the motor controller.

[0021] Secondly, the present invention also provides a torque control system based on iterative feedback torque of the motor, comprising:

[0022] The data acquisition and judgment module is used to obtain the driver's required torque T. X and the actual feedback torque T of the motor F The torque difference was calculated. =T X -T F Determine the torque difference Does it satisfy: k min ≤ ≤k max k min k is the lower limit of the torque control slope. max This represents the upper limit of the torque control slope.

[0023] The calculation output module is used to calculate the output if k satisfies min ≤ ≤k max Then the control torque T is calculated. C =T F + and will control torque T C Output to the motor controller.

[0024] Furthermore, the torque control system based on the actual feedback torque of the motor for iteration also includes:

[0025] The lower limit output module is used to determine the torque difference. Does it meet the following requirements: <k min If satisfied <k min Then the lower limit value of the torque control slope k will be set. min Output to motor controller;

[0026] The upper limit output module is used to determine the torque difference. Does it meet the following requirements: >k max If satisfied >k max Then the upper limit of the torque control slope k will be set. max Output to the motor controller.

[0027] Furthermore, the torque control system based on the actual feedback torque of the motor iteratively includes: an upper limit determination module, used to determine whether the actual feedback torque T of the motor is satisfied. F If the value is greater than the preset threshold, and the judgment result is satisfactory, then the calibrated value will be used as the upper limit value k of the torque control slope. max If the judgment result is not satisfied, then the vehicle speed signal or motor speed signal is collected, and the torque gradient value is obtained based on the vehicle speed signal or motor speed signal. The obtained torque gradient value is used as the upper limit value k of the torque control slope. max Output.

[0028] Furthermore, the torque gradient value is obtained by looking up a table, and different vehicle speed signals or motor speed signals correspond to different torque gradient values.

[0029] Furthermore, the system has a control cycle of 10ms, and outputs a control torque T every 10ms. C Torque control slope lower limit k min Or the upper limit of the torque control slope k max To the motor controller.

[0030] The beneficial effects of this invention are as follows: By introducing the actual feedback torque of the motor for dynamic iteration, and combining torque slope control and torque gradient segmented control strategies, precise adjustment of the motor torque output can be achieved. Compared with the single control method in the prior art, this invention continuously optimizes the control command through closed-loop feedback, thereby effectively avoiding the problem of excessive torque deviation caused by the mismatch between torque command and actual execution, and thus improving the accuracy and stability of torque control. Attached Figure Description

[0031] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0032] Figure 1 This is a flowchart illustrating the torque control method of the present invention, which iteratively operates based on the actual feedback torque of the motor.

[0033] Figure 2 This is a schematic diagram of the process for obtaining the upper limit value of the torque control slope according to the present invention. Detailed Implementation

[0034] The embodiments of the present invention will now be described in detail with reference to the accompanying drawings. It should be understood that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0035] like Figure 1-2 As shown, in some illustrative embodiments, a torque control method based on iterative feedback torque of the motor is provided, including the following steps:

[0036] 101: Obtain the upper limit value k of the torque control slope max .

[0037] The upper limit of the torque control slope, kmax, is an important parameter that determines the rate of torque change. Its acquisition process is as follows:

[0038] 1011: Determine if the actual feedback torque T of the motor is met. F Greater than the preset threshold.

[0039] 1012: If the judgment result is satisfactory, then the system's preset calibration value will be used as the upper limit value of the torque control slope k. max Output. The magnitude of the calibrated value determines the duration of the vehicle's positive or negative torque zeroing process, which is related to whether the vehicle can operate smoothly.

[0040] If the judgment result is not satisfied, the dynamic calculation process begins. The dynamic calculation process is as follows:

[0041] 1013: Collect vehicle speed signal or motor speed signal;

[0042] 1014: Obtain the torque gradient value based on the current vehicle speed signal or motor speed signal, and use the obtained torque gradient value as the upper limit value k of the torque control slope. max Output.

[0043] The torque gradient value is obtained through a lookup table. Different vehicle speed signals or motor speed signals correspond to different torque gradient values. The values ​​in the table are derived experimentally and represent the torque values ​​corresponding to the vehicle speed or motor speed. These values ​​limit how much torque the motor needs to increase or decrease every 10ms cycle. If this value is too large, it will cause the motor to report an overcurrent fault. If the current vehicle speed or motor speed is between two table nodes, the corresponding torque gradient value is calculated using linear interpolation.

[0044] By incorporating vehicle speed or engine speed signals as the basis for torque gradient changes, the torque control slope can adapt to the vehicle's operating conditions. For example, torque changes should be smoother at low speeds to avoid shocks; at high speeds, the slope can be appropriately increased to improve responsiveness. This dynamic adjustment method enhances the system's adaptability, enabling it to adapt to different operating conditions, and avoids the problem of a fixed slope failing to meet the needs of multiple scenarios, thus improving the vehicle's driving smoothness and safety across different speed ranges.

[0045] 102: Obtain the driver's required torque T X and the actual feedback torque T of the motor F The torque difference was calculated. =T X -T F .

[0046] Driver's required torque T X The actual feedback torque T of the motor is calculated by the vehicle controller based on parameters such as accelerator pedal opening, vehicle speed, battery status, and driving mode, reflecting the driver's expectation of power output. F The motor controller provides real-time feedback, indicating the actual torque value currently being output by the motor.

[0047] Torque difference This reflects the deviation between the current torque control target and the actual execution. This is achieved by introducing the actual feedback torque T. F By forming a closed-loop control, the system can sense execution deviations and make dynamic adjustments, avoiding torque runaway problems caused by model errors or interference in open-loop control, thereby improving control accuracy, helping to respond quickly to driver needs, and preventing over-adjustment or under-adjustment.

[0048] 103: Determine the torque difference Does it satisfy: k min ≤ ≤k max k min k is the lower limit of the torque control slope. max The upper limit of the torque control slope, if k is satisfied min ≤ ≤k max Then the control torque T is calculated. C =T F + and will control torque T C Output to the motor controller.

[0049] When the torque difference When the slope is within the range, it indicates that the current rate of torque change is moderate. The system can directly compensate according to the target difference to achieve smooth and fast torque adjustment. This not only improves the torque response speed while ensuring safety, but also avoids unnecessary slope restrictions and optimizes the continuity of power output.

[0050] 104: Determine the torque difference Does it meet the following requirements: <k min If satisfied <k min Then the lower limit value of the torque control slope k will be set. min Output to the motor controller.

[0051] 105: Determine the torque difference Does it meet the following requirements: >k max If satisfied >k max Then the upper limit of the torque control slope k will be set. max Output to the motor controller.

[0052] 106: The motor controller operates according to the updated torque command.

[0053] When the torque difference When the torque exceeds the safe range, the system forcibly limits the rate of torque change to prevent motor overcurrent, stalling, or drastic speed fluctuations caused by sudden changes in torque command. This effectively prevents motor malfunctions caused by excessive or insufficient torque input, thereby improving the system's stability and reliability under extreme conditions and avoiding unpleasant driving experiences such as jerking and impacts during vehicle operation.

[0054] The control cycle of this method is 10ms, meaning that the system executes a complete torque calculation, judgment, and output process every 10ms. The control torque T is output every 10ms. C Torque control slope lower limit k min Or the upper limit of the torque control slope k max To the motor controller.

[0055] The motor controller receives a new torque command (T) in each cycle. C k min or k max It also provides real-time feedback on the actual torque T executed by the motor. F This results in high-frequency iterative control. The short cycle of 10ms ensures the real-time performance and accuracy of the control, enabling rapid response to changes in operating conditions. Moreover, each cycle is adjusted based on the latest feedback torque, achieving dynamic optimization.

[0056] This invention achieves stable, accurate, and safe motor torque output by dynamically adjusting the torque output to the motor controller in a segmented manner and with a slope limit, by real-time acquisition of the difference between the driver's required torque and the actual feedback torque from the motor, combined with the upper and lower limits of the torque control slope. Compared to existing technologies that rely solely on theoretical calculation models or single slope control, this invention can monitor the deviation between the actual output torque of the motor and the target torque in real time, and continuously optimize the control command through closed-loop feedback, thereby avoiding the problem of excessive torque deviation caused by mismatch between torque command and actual execution.

[0057] Under no-load or light-load conditions, traditional torque control methods are prone to drastic fluctuations due to sudden changes in torque input, leading to motor speed fluctuations and causing a slight jerking sensation during vehicle operation, affecting driving comfort. This invention optimizes torque slope and gradient control, making the torque input process smoother and more continuous, effectively suppressing the impact of torque fluctuations on motor speed, thereby improving the smoothness of the vehicle under no-load or low-speed conditions.

[0058] Under heavy load or high-load conditions, a sudden increase in motor input torque can easily lead to motor stall, causing sudden current changes, abnormal motor overheating, and even motor damage, thus affecting its service life. This invention addresses this by using segmented torque gradient control to reasonably limit and smoothly transition torque input under heavy load conditions, avoiding sudden torque changes and shocks, thereby effectively preventing motor stall and sudden current changes.

[0059] This invention is based on an iterative control method for actual feedback torque of the motor. It has strong adaptability and robustness, and can dynamically adjust the torque output strategy according to different operating conditions (such as no-load, heavy load, acceleration and deceleration, sudden road changes, etc.) to ensure that the system can maintain good control performance and stability under various complex operating conditions.

[0060] The present invention also provides a torque control system based on the actual feedback torque of the motor for iteration, including: a data acquisition and judgment module, a calculation and output module, a lower limit output module, an upper limit output module, and an upper limit value judgment module.

[0061] The data acquisition and judgment module is used to obtain the driver's required torque T. X and the actual feedback torque T of the motor F The torque difference was calculated. =T X -T F Determine the torque difference Does it satisfy: k min ≤ ≤k max k min k is the lower limit of the torque control slope.max This is the upper limit of the torque control slope.

[0062] Driver's required torque T X The actual feedback torque T of the motor is calculated by the vehicle controller based on parameters such as accelerator pedal opening, vehicle speed, battery status, and driving mode, reflecting the driver's expectation of power output. F The motor controller provides real-time feedback, indicating the actual torque value currently being output by the motor.

[0063] Torque difference This reflects the deviation between the current torque control target and the actual execution. This is achieved by introducing the actual feedback torque T. F By forming a closed-loop control, the system can sense execution deviations and make dynamic adjustments, avoiding torque runaway problems caused by model errors or interference in open-loop control, thereby improving control accuracy, helping to respond quickly to driver needs, and preventing over-adjustment or under-adjustment.

[0064] The calculation output module is used to calculate the output if k satisfies min ≤ ≤k max Then the control torque T is calculated. C =T F + and will control torque T C Output to the motor controller. When the torque difference... When the slope is within the range, it indicates that the current rate of torque change is moderate. The system can directly compensate according to the target difference to achieve smooth and fast torque adjustment. This not only improves the torque response speed while ensuring safety, but also avoids unnecessary slope restrictions and optimizes the continuity of power output.

[0065] The lower limit output module is used to determine the torque difference. Does it meet the following requirements: <k min If satisfied <k min Then the lower limit value of the torque control slope k will be set. min Output to the motor controller.

[0066] The upper limit output module is used to determine the torque difference. Does it meet the following requirements: >k max If satisfied >k max Then the upper limit of the torque control slope k will be set. max Output to the motor controller.

[0067] When the torque difference When the torque exceeds the safe range, the system forcibly limits the rate of torque change to prevent motor overcurrent, stalling, or drastic speed fluctuations caused by sudden changes in torque command. This effectively prevents motor malfunctions caused by excessive or insufficient torque input, thereby improving the system's stability and reliability under extreme conditions and avoiding unpleasant driving experiences such as jerking and impacts during vehicle operation.

[0068] The control cycle of this system is 10ms, meaning that the system executes a complete torque calculation, judgment, and output process every 10ms. The control torque T is output every 10ms. C Torque control slope lower limit k min Or the upper limit of the torque control slope k max To the motor controller.

[0069] The motor controller receives a new torque command (T) in each cycle. C k min or k max It also provides real-time feedback on the actual torque T executed by the motor. F This results in high-frequency iterative control. The short cycle of 10ms ensures the real-time performance and accuracy of the control, enabling rapid response to changes in operating conditions. Moreover, each cycle is adjusted based on the latest feedback torque, achieving dynamic optimization.

[0070] The upper limit determination module is used to determine whether the actual feedback torque T of the motor is met. F If the value is greater than the preset threshold, and the judgment result is satisfactory, then the calibrated value will be used as the upper limit value k of the torque control slope. max If the judgment result is not satisfied, then the vehicle speed signal or motor speed signal is collected, and the torque gradient value is obtained based on the vehicle speed signal or motor speed signal. The obtained torque gradient value is used as the upper limit value k of the torque control slope. max Output.

[0071] The torque gradient value is obtained by looking up a table. Different vehicle speed signals or motor speed signals correspond to different torque gradient values. If the current vehicle speed or motor speed is between two table nodes, the corresponding torque gradient value is calculated using linear interpolation.

[0072] By incorporating vehicle speed or engine speed signals as the basis for torque gradient changes, the torque control slope can adapt to the vehicle's operating conditions. For example, torque changes should be smoother at low speeds to avoid shocks; at high speeds, the slope can be appropriately increased to improve responsiveness. This dynamic adjustment method enhances the system's adaptability, enabling it to adapt to different operating conditions, and avoids the problem of a fixed slope failing to meet the needs of multiple scenarios, thus improving the vehicle's driving smoothness and safety across different speed ranges.

[0073] The above description is merely a specific embodiment of the present invention, but the scope of protection of the present invention is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the technical scope disclosed in the present invention should be included within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the scope of the claims.

Claims

1. A torque control method based on iteration of actual feedback torque of a motor, characterized by, Comprising: Acquiring a torque control slope upper limit value k max ; The process of acquiring the torque control slope upper limit value k max includes: judging whether the motor actual feedback torque T F is greater than a preset threshold value, if the result of the judgment is that it is satisfied, the calibration quantity is output as the torque control slope upper limit value k max , if the result of the judgment is that it is not satisfied, the vehicle speed signal or the motor speed signal is collected, the torque gradient value is acquired according to the vehicle speed signal or the motor speed signal, and the acquired torque gradient value is output as the torque control slope upper limit value k max . Obtaining driver demand torque T X and motor actual feedback torque T F , calculating torque difference = T X - T F ; judging the torque difference whether the following condition is satisfied: k min ≤ ≤ k max , k min is a torque control slope lower limit value, k max is a torque control slope upper limit value; If k min ≤ ≤k max , the control torque T C is calculated as T F + , and the control torque T C is output to the motor controller. determining a torque difference whether the following condition is satisfied: k min if the following condition is satisfied k min the torque control slope lower limit value k min is output to the motor controller; determining a torque difference value whether the following condition is satisfied: k max if the following condition is satisfied: k max the upper limit value k max of the torque control slope is output to the motor controller; The control cycle of this method is 10 ms, and the control torque T is output every 10 ms C , the torque control slope lower limit value k min or the torque control slope upper limit value k max to the motor controller.

2. The torque control method based on iteration of actual feedback torque of a motor according to claim 1, characterized by, The torque gradient value is obtained by table lookup, and different vehicle speed signals or motor speed signals correspond to different torque gradient values.

3. A torque control system that iterates based on actual feedback torque of a motor, characterized by, Comprising: The upper limit value determination module is configured to determine whether the actual feedback torque T of the motor satisfies the upper limit value F If the determination result is that the upper limit value is satisfied, the calibration value is taken as the upper limit value k of the torque control slope max If the determination result is that the upper limit value is not satisfied, the vehicle speed signal or the motor speed signal is collected, the torque gradient value is obtained according to the vehicle speed signal or the motor speed signal, and the obtained torque gradient value is taken as the upper limit value k of the torque control slope max If the determination result is that the upper limit value is not satisfied, the vehicle speed signal or the motor speed signal is collected, the torque gradient value is obtained according to the vehicle speed signal or the motor speed signal, and the obtained torque gradient value is taken as the upper limit value k of the torque control slope A collection judgment module is configured to acquire a driver demand torque T X and an actual feedback torque T F of the motor, calculate a torque difference value T =T X -T F , and judge whether the torque difference value T satisfies k min ≤ ≤k max , wherein k min is a torque control slope lower limit value, and k max is a torque control slope upper limit value. The computing output module is configured to, if k min ≤ ≤k max , calculate a control torque T C =T F + , and output the control torque T C to the motor controller. a lower limit output module for judging the torque difference whether the following condition is satisfied: k min if the following condition is satisfied: k min the torque control slope lower limit value k min is output to the motor controller; An upper limit output module is configured to determine a torque difference whether the following condition is satisfied: >k max If the following condition is satisfied: >k max the upper limit value k max of the torque control slope is output to the motor controller. The control cycle of the system is 10 ms, and the control torque T is output every 10 ms C , the torque control slope lower limit value k min or the torque control slope upper limit value k max to the motor controller.

4. The torque control system based on iteration of actual feedback torque of an electric motor according to claim 3, characterized by, The torque gradient value is obtained by table lookup, and different vehicle speed signals or motor speed signals correspond to different torque gradient values.

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