Motor control method and device, electric vehicle and storage medium

Abstract

The application provides a motor control method and device, an electric vehicle and a storage medium, and relates to the technical field of vehicle control. The method comprises the following steps: acquiring current running data of the vehicle; determining whether to enable a pulse torque control strategy according to the current running data; if it is determined to enable the pulse torque control strategy, dynamically adjusting current control parameters of the motor according to the current running data, wherein the current control parameters comprise a pulse frequency and a pulse torque amplitude; generating a current control instruction of the motor according to the current control parameters of the motor, and transmitting the current control instruction to the motor to drive the motor to output a pulse torque. The pulse control strategy provided by the application can effectively improve the dynamic response performance of the system, improve the low-speed running stability, reduce the energy consumption and heat generation, enhance the adaptability to external load disturbance, and realize high-precision motion control without increasing the hardware cost, and is especially suitable for a motor with high requirements for response speed, energy efficiency and control precision.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and more specifically, to a motor control method, device, electric vehicle, and storage medium. Background Technology

[0002] With the rapid development of new energy vehicles, optimizing the efficiency of electric drive systems has become one of the key factors in improving the vehicle's range and power performance. During vehicle operation, the efficiency of the electric motor varies significantly under different operating conditions, especially at low speeds and low torque, where the efficiency of the electric drive system drops noticeably, becoming one of the main bottlenecks affecting the vehicle's range.

[0003] Currently, the mainstream motor control method adopts a continuous and smooth torque output control strategy to ensure the smoothness of vehicle operation and driving comfort.

[0004] However, with this control method, the motor cannot operate in its efficient range under low torque conditions, resulting in energy waste and affecting the vehicle's range. Summary of the Invention

[0005] The purpose of this invention is to address the shortcomings of the prior art by providing a motor control method, device, electric vehicle, and storage medium to solve the technical problems existing in the prior art.

[0006] To achieve the above objectives, the technical solutions adopted in the embodiments of this application are as follows: In a first aspect, embodiments of this application provide a motor control method, the method comprising: Obtain the vehicle's current operating data; Based on the current operating data, determine whether to enable the pulse torque control strategy; If it is determined that the pulse torque control strategy is enabled, the current control parameters of the motor are dynamically adjusted according to the current operating data. The current control parameters include: pulse frequency and pulse torque amplitude. Based on the current control parameters of the motor, a current control command for the motor is generated and transmitted to the motor to drive the motor to output pulse torque.

[0007] Optionally, the current operating data includes: motor operating parameters, which include: current speed and target torque; The step of determining whether to enable the pulse torque control strategy based on the current operating data includes: Obtain the current speed, target torque, and preset threshold range of the motor; Determine whether the current rotational speed and the target torque both fall within the threshold range; If so, then the pulse torque control strategy will be enabled.

[0008] Optionally, the current operating data includes: motor operating parameters and vehicle operating mode, wherein the motor operating parameters include: current speed and target torque; The step of determining whether to enable the pulse torque control strategy based on the current operating data includes: The current speed, target torque, preset threshold range, and current operating mode of the vehicle of the motor are obtained. If the current speed and the target torque are both detected to be within the threshold range, and the current operating mode of the vehicle is economy mode, then the pulse torque control strategy is activated.

[0009] Optionally, the current operating data includes: motor operating parameters, which include: current speed and target torque; The step of dynamically adjusting the current control parameters of the motor based on the current operating data includes: Obtain a pre-built control parameter table, wherein the control parameter table records the pulse frequency and pulse torque amplitude under the optimal operating state of the motor at different speeds and target torques; Using the current speed and target torque as query conditions, the current control parameters corresponding to the motor are found from the control parameter table, wherein the control parameters include: pulse frequency and pulse torque amplitude.

[0010] Optionally, generating the current control command for the motor based on the current control parameters of the motor includes: A carrier signal is generated to produce pulse torque, wherein the carrier signal is a triangular wave signal or a sawtooth wave signal; Based on the target torque in the motor's operating parameters and the pulse torque in the current control parameters, the duty cycle of the motor's output pulse torque is obtained; A pulse width modulation waveform is generated based on the duty cycle of the carrier signal and the pulse torque; The current control command for the motor is generated based on the pulse width modulation waveform.

[0011] Optionally, generating a pulse width modulation waveform based on the duty cycle of the carrier signal and the pulse torque includes: Obtain the preset compensation coefficient; The product of the compensation coefficient and the duty cycle is used as the compensation duty cycle; The pulse width modulation waveform is generated based on the carrier signal and the compensation duty cycle.

[0012] Optionally, transmitting the current control command to the motor to drive the motor to output pulse torque includes: When the motor starts to output pulse torque, a preset maximum torque rise rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque. When the motor stops outputting pulse torque, a preset maximum torque reduction rate is used to control the pulse torque output by the motor to gradually decrease from the current value to a preset value.

[0013] Optionally, the method further includes: If it is determined that the pulse torque control strategy is not enabled, then the motor outputs an initial continuous torque.

[0014] Secondly, embodiments of this application also provide a motor control device, the device comprising: The acquisition module is used to acquire the vehicle's current operating data in real time. The determination module is used to determine whether to enable the pulse torque control strategy based on the current operating data; An adjustment module is used to dynamically adjust the current control parameters of the motor based on the current operating data if it is determined that the pulse torque control strategy is enabled. The current control parameters include: pulse frequency and pulse torque amplitude. The generation module is used to generate the current control command for the motor based on the current control parameters of the motor. The drive module is used to transmit the current control command to the motor to drive the motor to output pulse torque.

[0015] Thirdly, embodiments of this application provide an electric vehicle, wherein the electronic device includes a memory for storing one or more programs; and a processor. When the one or more programs are executed by the processor, the above-described motor control method is implemented.

[0016] Fourthly, embodiments of this application provide a computer-readable storage medium having a computer program stored thereon, which, when executed by a processor, implements the above-described motor control method.

[0017] The beneficial effects of this application are: This application provides a motor control method, device, electric vehicle, and storage medium. In this application, the activation of a pulse torque control strategy is determined based on the vehicle's current operating data. The pulse torque control strategy is only activated when preset conditions are met, avoiding misuse and effectively suppressing the risk of NVH deterioration. Then, when the pulse torque control strategy is activated, the continuous torque demand is converted into a periodic alternating output of zero torque and high-amplitude pulse torque. The equivalent torque output is achieved using PWM modulation principles, reducing inverter and motor losses while improving the efficiency of the electric drive system. Furthermore, by dynamically adjusting the pulse frequency and pulse torque amplitude, the vibration and noise problems caused by pulse control are effectively mitigated, achieving synergistic optimization of efficiency and driving comfort. Compared to existing continuous torque control methods, the pulse control strategy proposed in this application can effectively improve the system's dynamic response performance, improve low-speed operation stability, reduce energy consumption and heat generation, enhance adaptability to external load disturbances, and achieve high-precision motion control without increasing hardware costs. It is particularly suitable for motors with high requirements for response speed, energy efficiency, and control accuracy. Attached Figure Description

[0018] To more clearly illustrate the technical solutions of the embodiments of the present invention, the accompanying drawings used in the embodiments will be briefly introduced below. It should be understood that the following drawings only show some embodiments of the present invention and should not be regarded as a limitation on the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0019] Figure 1 A schematic flowchart illustrating a motor control method provided in an embodiment of this application; Figure 2 A flowchart illustrating another motor control method provided in an embodiment of this application; Figure 3 A flowchart illustrating yet another motor control method provided in an embodiment of this application; Figure 4 A flowchart illustrating another motor control method provided in an embodiment of this application; Figure 5 A flowchart illustrating yet another motor control method provided in an embodiment of this application; Figure 6 A flowchart illustrating another motor control method provided in an embodiment of this application; Figure 7 This is a schematic diagram showing the torque accuracy after compensation, provided in an embodiment of this application. Figure 8 A flowchart illustrating yet another motor control method provided in an embodiment of this application; Figure 9 A schematic diagram of pulse torque control provided in an embodiment of this application; Figure 10 A schematic diagram illustrating the slope limitation of pulse torque variation provided in an embodiment of this application; Figure 11 This is a schematic diagram of the structure of a motor control device provided in an embodiment of this application; Figure 12 This is a structural schematic diagram of an electric vehicle provided in an embodiment of this application. Detailed Implementation

[0020] To make the objectives, technical solutions, and advantages of the embodiments of this application clearer, the technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. It should be understood that the accompanying drawings in this application are for illustrative and descriptive purposes only and are not intended to limit the scope of protection of this application. Furthermore, it should be understood that the schematic drawings are not drawn to scale. The flowcharts used in this application illustrate operations implemented according to some embodiments of this application. It should be understood that the operations in the flowcharts may not be implemented in sequence, and steps without logical contextual relationships may be reversed or implemented simultaneously. In addition, those skilled in the art, guided by the content of this application, may add one or more other operations to the flowcharts, or remove one or more operations from the flowcharts.

[0021] Furthermore, the described embodiments are merely some, not all, of the embodiments of this application. The components of the embodiments of this application described and illustrated herein can typically be arranged and designed in various different configurations. Therefore, the following detailed description of the embodiments of this application provided in the accompanying drawings is not intended to limit the scope of the claimed application, but merely to illustrate selected embodiments of the application. All other embodiments obtained by those skilled in the art based on the embodiments of this application without inventive effort are within the scope of protection of this application.

[0022] It should be noted that the term "comprising" will be used in the embodiments of this application to indicate the presence of the features declared thereafter, but does not exclude the addition of other features.

[0023] First, the background technology involved in this application will be introduced.

[0024] In related technologies, the mainstream motor control method adopts a continuous and smooth torque output control strategy to ensure the smooth operation of the vehicle and driving comfort.

[0025] However, under low speed and low torque conditions, the efficiency of the motor and inverter is relatively low, which affects the overall vehicle range.

[0026] To address the aforementioned issues, this application proposes a motor control method that replaces traditional continuous torque control with pulse torque control, enabling the motor to output zero torque and pulse torque, thereby improving the efficiency of the automotive electric drive system.

[0027] The motor control method provided in this application will be described in detail through the following embodiments.

[0028] refer to Figure 1 The diagram shown is a schematic flowchart of the motor control method provided in this application. Figure 1 As shown, the main control unit on an electric vehicle can be the executing entity of this method, such as... Figure 1 As shown, the method includes: S101. Obtain the vehicle's current operating data.

[0029] For example, the current operating data of the vehicle can be acquired in real time or periodically.

[0030] The vehicle's current operating data may include the vehicle mode and the motor's operating parameters, which may include speed, actual output torque, DC bus voltage / current, etc.

[0031] S102. Based on the current operating data, determine whether to enable the pulse torque control strategy.

[0032] The pulse torque control strategy transforms the traditional continuous torque output command into a discontinuous output mode that alternates between periodic "zero torque" and "non-zero amplitude pulse torque." By adjusting parameters such as pulse frequency and duty cycle, the average torque is made equivalent to the target torque. The average torque is the average value of the pulse torque over one or more modulation cycles, and its value is determined by both the pulse torque amplitude and duty cycle. By adjusting the duty cycle and frequency, and introducing a compensation mechanism, the average torque can accurately track the target torque, thereby maintaining the consistency of the vehicle's power performance.

[0033] In one feasible approach, the collected current operating data is used to determine whether the pulse torque control strategy needs to be enabled. By setting this condition, it can be ensured that pulse torque control is only enabled when system efficiency can be improved and the overall vehicle NVH performance is acceptable, thus balancing energy efficiency optimization and driving comfort.

[0034] Optionally, in traditional control strategies, if the vehicle's driving state is detected as low-speed and light-load (such as slow urban driving or constant-speed cruising) based on current operating data, the traditional motor control system still needs to continuously output small but continuous torque to overcome rolling resistance and transmission losses in order to achieve smooth operation of the vehicle under low-speed and light-load conditions. However, under low-speed and light-load conditions, the efficiency of the motor and inverter is low, resulting in unnecessary energy waste. This application introduces a criterion for whether to enable the pulse torque control strategy, which converts continuous small torque into intermittent high-amplitude pulse torque while maintaining the consistency between the average output torque and the target torque, and shuts down the inverter power module in the zero-torque range, effectively reducing switching and conduction losses, thereby improving the overall efficiency of the electric drive system.

[0035] S103. If the pulse torque control strategy is determined to be enabled, the current control parameters of the motor are dynamically adjusted based on the current operating data.

[0036] The current control parameters include: pulse frequency and pulse torque amplitude, torque slope limit, duty cycle compensation coefficient, and current loop proportional-integral controller (PI) parameters.

[0037] It should be noted that the pulse torque control strategy converts continuous torque into equivalent pulse torque in the form of PWM, which can transform low torque conditions into zero torque and high torque conditions. Specifically, at zero torque, the inverter power module can be completely shut down, reducing inverter switching and conduction losses, while also reducing motor losses. At high torque, both the motor and inverter exhibit higher efficiency. Therefore, the pulse torque scheme can improve the efficiency of the electric drive system.

[0038] However, directly using pulse torque control will lead to the deterioration of the vehicle's NVH, including vehicle vibration, high-frequency noise, etc., which will affect the driving experience.

[0039] To address this issue, this application proposes a method to dynamically adjust the pulse frequency and pulse torque amplitude of the motor based on current operating data. In other words, the pulse frequency and pulse torque amplitude of the motor change dynamically in real time, realizing the "adaptive optimization" of the pulse torque control strategy. Under complex and ever-changing actual driving conditions, this approach balances the high efficiency, low noise, high precision, and good driving experience of the electric drive system, solving the problem that traditional fixed parameter control cannot effectively drive while improving the driving experience.

[0040] S104. Based on the current control parameters of the motor, generate the current control command for the motor and transmit the current control command to the motor to drive the motor to output pulse torque.

[0041] In one feasible approach, current control commands for the motor can be generated based on the motor's current control parameters and transmitted to the motor to determine the motor's output pulse torque, thereby adjusting the motor's output torque. Therefore, in this application, when the pulse torque control strategy is activated, continuous torque demand is transformed into periodic alternating outputs of zero torque and high-amplitude pulse torque. Equivalent torque output is achieved using PWM modulation principles, reducing inverter and motor losses while improving the efficiency of the electric drive system. Furthermore, by dynamically adjusting the pulse frequency and pulse torque amplitude, vibration and noise issues caused by pulse control are effectively mitigated, achieving synergistic optimization of efficiency and driving comfort.

[0042] In summary, this application provides a motor control method. Based on the vehicle's current operating data, it determines whether to activate a pulse torque control strategy. The pulse torque control strategy is only activated when preset conditions are met, avoiding misuse and effectively suppressing the risk of NVH deterioration. When the pulse torque control strategy is activated, continuous torque demand is converted into periodic alternating outputs of zero torque and high-amplitude pulse torque. The equivalent torque output is achieved using PWM modulation, reducing inverter and motor losses while improving the efficiency of the electric drive system. Furthermore, by dynamically adjusting the pulse frequency and pulse torque amplitude, vibration and noise problems caused by pulse control are effectively mitigated, achieving synergistic optimization of efficiency and driving comfort. Compared to existing continuous torque control methods, the pulse control strategy proposed in this application effectively improves the system's dynamic response performance, enhances low-speed operation stability, reduces energy consumption and heat generation, strengthens adaptability to external load disturbances, and achieves high-precision motion control without increasing hardware costs. It is particularly suitable for motors with high requirements for response speed, energy efficiency, and control accuracy.

[0043] Optionally, the current operating data includes: motor operating parameters, wherein the motor operating parameters include: current speed and target torque; refer to Figure 2 As shown, step S102 above includes: S201. Obtain the current speed of the motor, the target torque, and the preset threshold range.

[0044] The threshold range is set according to the following principles: (a) the electric drive efficiency can be improved after pulse control is enabled; (b) the vehicle noise, vibration and NVH performance are acceptable; (c) the motor operates in the non-weakening magnetic range.

[0045] Optionally, the threshold range includes: a speed threshold range and a target torque threshold range.

[0046] Among them, the speed threshold range usually refers to a lower speed range (e.g., 0~2000 rpm). Since the efficiency of the motor and inverter is low when the vehicle is running at low speed, pulse torque has more energy-saving potential.

[0047] Target torque threshold range: This refers to the smaller output torque requirement (e.g., the target torque is between 5% and 20% of the rated torque). Under low torque conditions, the overall system efficiency is low. Pulse torque control allows the motor to intermittently output high torque and zero torque the rest of the time, thus enabling the motor and inverter to operate in their high-efficiency range and improving average efficiency. Specifically, pulse torque control is only activated when the target torque is within a preset target torque threshold range, which is 5% to 20% of the rated torque. For extremely low torque requests below 5%, it can be selectively activated based on a trade-off between overall vehicle NVH performance and efficiency.

[0048] Therefore, in this application, dual thresholds are set to determine whether to enable the pulse torque control strategy, so as to prevent misuse of the pulse control strategy and effectively suppress the risk of NVH deterioration.

[0049] S202. Determine whether the current speed and target torque both fall within the threshold range.

[0050] S203. If yes, then confirm that the pulse torque control strategy is enabled.

[0051] In one feasible approach, if the current engine speed falls within the engine speed threshold range and the target torque falls within the target torque threshold range, thus satisfying the preset "low speed and low torque" condition, then it is determined that the pulse torque control strategy needs to be activated. On the other hand, if the current engine speed does not fall within the engine speed threshold range or the target torque does not fall within the target torque threshold range, that is, if the current vehicle speed is very high or the power demand is high (such as rapid acceleration), then the pulse torque control strategy is not activated, and the traditional continuous torque control is still used to ensure performance and stability.

[0052] Therefore, in this embodiment, the decision to enable the pulse torque control strategy is based on the current speed and the target torque. This ensures that pulse torque is only enabled when it can significantly improve the efficiency of the electric drive system, avoiding the use of pulse torque under unsuitable operating conditions, which could lead to NVH deterioration (such as vibration and noise) or affect the driving experience, thus improving the safety and adaptability of the control strategy.

[0053] Optionally, the current operating data includes: motor operating parameters and vehicle operating mode; the motor operating parameters include: current speed and target torque; reference Figure 3 As shown, step S102 above includes: S301. Obtain the current speed of the motor, the target torque, the preset threshold range, and the current operating mode of the vehicle.

[0054] The vehicle's current operating modes include: Eco mode and Sport mode.

[0055] Economy mode refers to a driving mode for electric vehicles, also known as "energy-saving mode" or "ECO mode." In this mode, the vehicle control system optimizes and adjusts factors such as motor output torque, air conditioning power, and energy recovery intensity to minimize energy consumption and extend driving range. In this embodiment, "economy mode" is used as one of the criteria for determining whether to enable pulse torque control. That is, the pulse torque control strategy is only allowed to be activated when the vehicle is in economy mode, thereby prioritizing the improvement of the energy efficiency of the electric drive system while ensuring driving comfort.

[0056] Sport mode refers to another driving mode for electric vehicles, typically emphasizing power performance and responsiveness. In this mode, the motor provides higher output power and faster torque response to achieve stronger acceleration and a more exhilarating driving experience. Because this mode prioritizes dynamic performance over energy efficiency, energy-saving control strategies that prioritize efficiency (such as the pulse torque control described in this application) are generally not activated. In this embodiment, if the vehicle is in Sport mode, pulse torque control will not be activated even if other conditions are met, to avoid NVH problems caused by torque fluctuations affecting driving quality.

[0057] S302. If the current speed and target torque are both within the threshold range, and the vehicle's current operating mode is economy mode, then the pulse torque control strategy is activated.

[0058] In another feasible approach, in addition to considering the current speed and target torque, the vehicle's current operating mode is also introduced. If the current speed falls within the speed threshold range, the target torque falls within the target torque threshold range, and the driver selects the economy mode, the pulse torque control strategy is activated. This avoids the accidental triggering of scenarios that affect sportiness or comfort, and achieves an intelligent balance between system efficiency optimization and personalized driving experience.

[0059] Optionally, if the current speed falls within the speed threshold range and the target torque falls within the target torque threshold range, but the vehicle is in Sport mode and the user expects a smooth response, in this case, the pulse torque control strategy is not activated, and the system still maintains traditional continuous control to ensure smooth power response and effectively suppress the risk of NVH deterioration.

[0060] Therefore, in this embodiment, by considering the motor's current speed, target torque, pre-set threshold range, and the vehicle's current operating mode, and based on a multi-condition joint judgment to determine whether to activate the pulse torque control strategy, the strategy can be activated only under specific operating conditions where the electric drive system efficiency is low and NVH fluctuations are permissible, while ensuring driving smoothness. This not only improves energy utilization efficiency but also avoids vibration and noise problems caused by pulse torque under unsuitable operating conditions, achieving synergistic optimization of efficiency improvement and ride quality. Simultaneously, combined with the selection of driving mode, it demonstrates intelligent response to user intent, enhancing the practicality and safety of the control strategy.

[0061] Optionally, the current operating data includes: motor operating parameters, which include: current speed and target torque; reference. Figure 4 As shown, step S103 above, which dynamically adjusts the current control parameters of the motor based on the current operating data, includes: S401. Obtain the pre-built control parameter table.

[0062] The control parameter table records the pulse frequency and pulse torque amplitude under the optimal operating conditions of the motor at different speeds and target torques.

[0063] Optionally, the process of constructing the control parameter table includes: The system collects the actual control parameters output by the motor under different operating parameters; it constructs a mapping relationship between each operating parameter and the corresponding actual control parameter; based on the mapping relationship, it generates a control parameter table, which uses the target torque as the row index and the speed as the column index. The control parameter table stores the corresponding maximum pulse torque and pulse frequency.

[0064] S402. Using the current speed and target torque as query conditions, find the current control parameters corresponding to the motor from the control parameter table.

[0065] The control parameters include pulse frequency and pulse torque amplitude.

[0066] Optionally, this application proposes that different pulse frequencies can be implemented in each control cycle, which can reduce noise and jitter at a fixed frequency. The range and center point of the pulse frequency need to be obtained through vehicle testing and are related to the vehicle's weight, the structure of the electric drive and transmission systems, and the motor's operating conditions.

[0067] In one feasible approach, if the pulse torque control strategy is allowed, then based on the current speed and target torque, a suitable pulse frequency and pulse torque are selected from the control parameter table by looking up a table, and the retrieved pulse frequency and pulse torque are used as the current control parameters corresponding to the motor.

[0068] The selection criteria include: (a) acceptable overall vehicle noise, vibration and NVH performance; and (b) improved efficiency of the electric drive system.

[0069] Optionally, refer to Figure 5 As shown, step S104 above includes: S501, Generate a carrier signal for generating pulse torque.

[0070] The carrier signal is either a triangular wave signal or a sawtooth wave signal.

[0071] S502. Based on the target torque in the motor's operating parameters and the pulse torque in the current control parameters, obtain the duty cycle of the motor's output pulse torque.

[0072] The duty cycle of the pulse torque is used to determine the proportion of time for "output pulse torque" in each cycle.

[0073] S503. Generate a pulse width modulation waveform based on the duty cycle of the carrier signal and the pulse torque.

[0074] One can determine when to turn the pulse on / off by using the pulse width modulation waveform.

[0075] S504. Generate the current control command for the motor based on the pulse width modulation waveform.

[0076] In one feasible approach, a triangular wave or sawtooth wave is generated as the carrier wave for PWM modulation, facilitating the use of the carrier wave as a time reference. Then, based on the target torque and the pulse torque, the duty cycle (Duty = target torque / pulse torque) is calculated. Finally, the timing of the pulse torque is calculated by comparing the duty cycle and the carrier wave, generating a pulse torque command input to the motor, driving the motor to perform switching actions. This achieves accurate output of the equivalent average torque, ensuring control accuracy while improving the electric drive system under low load.

[0077] Optionally, refer to Figure 6 As shown, step S503 above includes: S601. Obtain the preset compensation coefficient.

[0078] Optionally, when pulse torque control is activated, the duty cycle of the pulse torque needs to be reasonably limited, that is, the duty cycle is indirectly limited by limiting the magnitude of the pulse torque. Therefore, controlling the duty cycle within a reasonable range can reduce vehicle vibration and high-frequency noise. A duty cycle that is too low will lead to more pronounced NVH problems, while a duty cycle that is too high will affect system efficiency. Generally, the duty cycle is set within the range of 20%-50%, and the compensation coefficient can be obtained by optimizing parameters based on NVH performance during vehicle testing.

[0079] S602. The product of the compensation coefficient and the duty cycle is used as the compensation duty cycle.

[0080] S603. Generate a pulse width modulation waveform based on the carrier signal and the compensation duty cycle.

[0081] In one feasible approach, torque accuracy compensation is required after pulse torque control is activated. For example... Figure 7 Since the current response requires a certain amount of time to reach the target value, without compensation under a step current command, the torque accuracy will deteriorate, affecting the actual driving experience. Therefore, in this embodiment, the duty cycle is compensated by multiplying the duty cycle by a gain coefficient (i.e., a compensation coefficient) and generating a pulse width modulation waveform based on the carrier signal and the compensated duty cycle. This increases the duration of the pulse torque, compensating for the torque reduction caused by the current response delay, thereby achieving torque accuracy compensation.

[0082] Optionally, this application supports reasonable restrictions on the duty cycle under different operating conditions to optimize the NVH performance of the vehicle.

[0083] Optionally, refer to Figure 8 As shown, in step S104 above, transmitting the current control command to the motor to drive the motor to output pulse torque includes: S801: When the drive motor starts to output pulse torque, the preset maximum torque rise rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque.

[0084] S802. When the drive motor stops outputting pulse torque, the preset maximum torque reduction rate is used to control the pulse torque output by the motor to gradually decrease from the current value to the preset value.

[0085] For example, the preset value can be zero.

[0086] Optionally, refer to Figure 9 As shown, after pulse torque control is enabled, the torque command input to the motor switches from continuous target torque to pulse torque. Since the amplitude of the pulse torque is 2-5 times that of the target torque, shocks or jitters will occur during the switching process. Therefore, it is necessary to limit the slope of the pulse torque change. Specifically, when pulse torque control is enabled, the pulse torque amplitude is limited to be close to the target torque, and then the pulse torque is gradually increased to the set value by limiting the slope. Similarly, when pulse torque control is disabled, the pulse torque amplitude can be slowly reduced to the target torque, and then the pulse torque control can be disabled. This can reduce the jitter and noise caused by rapid torque changes when enabling or disabling pulse torque control. Figure 10 As shown; at the same time, it is necessary to limit the slope of the final torque command to avoid shocks or vibrations caused by too rapid torque changes.

[0087] Optionally, this application supports slope limiting for pulse torque variation and slope limiting for final torque command variation to optimize vehicle NVH performance.

[0088] Therefore, in this embodiment, when the drive motor starts to output pulse torque, a preset maximum torque increase rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque; when the drive motor stops outputting pulse torque, a preset maximum torque decrease rate is used to control the pulse torque output by the motor to gradually decrease from the current value to the preset value. This can reduce the jitter and noise caused by rapid torque changes when the pulse torque control is turned on or off.

[0089] Optionally, the method further includes: If it is determined that the pulse torque control strategy is not enabled, then the motor outputs an initial continuous torque.

[0090] In another feasible approach, if it is determined that pulse torque control strategy should not be enabled—that is, when the current operating condition or driving mode does not meet the conditions for enabling pulse torque control (e.g., excessive speed, excessive torque, or being in sport mode)—then the pulse torque control strategy is not activated, and the traditional motor control method is used. This involves directly using the driver's desired target torque as a command, continuously and smoothly outputting it to the motor and inverter, avoiding the vibration, noise, and power response delay issues that might arise from pulse control. This not only ensures smooth handling and ride comfort in different driving scenarios but also improves the robustness and safety of the control system.

[0091] Optionally, when the motor is operating near zero torque, the inverter switching action can be turned off, and pulse torque or continuous torque can be responded to when the torque command exceeds the threshold. The motor control scheme proposed in this application can further improve efficiency. Alternatively, pulse torque control can be turned on to avoid the deterioration of NVH caused by frequent pulse torque switching in and out.

[0092] Optionally, refer to Figure 11 The diagram shown is a structural schematic of a motor control device provided in an embodiment of this application. The device includes: The acquisition module 1101 is used to acquire the current operating data of the vehicle in real time; The determining module 1102 is used to determine whether to enable the pulse torque control strategy based on the current operating data; The adjustment module 1103 is used to dynamically adjust the current control parameters of the motor based on the current operating data if it is determined that the pulse torque control strategy is enabled. The current control parameters include: pulse frequency and pulse torque amplitude. The generation module 1104 is used to generate the current control command of the motor based on the current control parameters of the motor; The drive module 1105 is used to transmit the current control command to the motor to drive the motor to output pulse torque.

[0093] Optionally, the current operating data includes: motor operating parameters, which include: current speed and target torque; The determining module 1102 is specifically used for: Obtain the current speed, target torque, and preset threshold range of the motor; Determine whether the current rotational speed and the target torque both fall within the threshold range; If so, then the pulse torque control strategy will be enabled.

[0094] Optionally, the current operating data includes: motor operating parameters and vehicle operating mode, wherein the motor operating parameters include: current speed and target torque; The determining module 1102 is specifically used for: The current speed, target torque, preset threshold range, and current operating mode of the vehicle of the motor are obtained. If the current speed and the target torque are both detected to be within the threshold range, and the current operating mode of the vehicle is economy mode, then the pulse torque control strategy is activated.

[0095] Optionally, the current operating data includes: motor operating parameters, which include: current speed and target torque; The adjustment module 1103 is specifically used for: Obtain a pre-built control parameter table, wherein the control parameter table records the pulse frequency and pulse torque amplitude under the optimal operating state of the motor at different speeds and target torques; Using the current speed and target torque as query conditions, the current control parameters corresponding to the motor are found from the control parameter table, wherein the control parameters include: pulse frequency and pulse torque amplitude.

[0096] Optionally, the generation module 1104 is specifically used for: A carrier signal is generated to produce pulse torque, wherein the carrier signal is a triangular wave signal or a sawtooth wave signal; Based on the target torque in the motor's operating parameters and the pulse torque in the current control parameters, the duty cycle of the pulse torque to be output by the motor is obtained; A pulse width modulation waveform is generated based on the duty cycle of the carrier signal and the pulse torque. The current control command for the motor is generated based on the pulse width modulation waveform.

[0097] Optionally, the generation module 1104 is specifically used for: Obtain the preset compensation coefficient; The product of the compensation coefficient and the duty cycle is used as the compensation duty cycle; The pulse width modulation waveform is generated based on the carrier signal and the compensation duty cycle.

[0098] Optionally, the drive module 1105 is specifically used for: When the motor starts to output pulse torque, a preset maximum torque rise rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque. When the motor stops outputting pulse torque, a preset maximum torque reduction rate is used to control the pulse torque output by the motor to gradually decrease from the current value to a preset value.

[0099] Optionally, the drive module 1105 is further configured to: If it is determined that the pulse torque control strategy is not enabled, then the motor outputs an initial continuous torque.

[0100] Figure 12 This is a schematic diagram of the structure of an electric vehicle provided in an embodiment of this application. The electric vehicle integrates a main control unit for executing the motor control method provided in the above embodiment. The main control unit in the electric vehicle can be a computing device with data processing function.

[0101] The electric vehicle includes: processor 1201 and memory 1202.

[0102] The memory 1202 is used to store programs, and the processor 1201 calls the programs stored in the memory 1202 to execute the above method embodiments. The specific implementation and technical effects are similar, and will not be described again here.

[0103] Optionally, the present invention also provides a program product, such as a computer-readable storage medium, including a program that, when executed by a processor, is used to perform the above-described method embodiments.

[0104] In the several embodiments provided by this invention, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of units is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.

[0105] The units described as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.

[0106] Furthermore, the functional units in the various embodiments of the present invention can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or in the form of hardware plus software functional units.

[0107] The integrated units implemented as software functional units described above can be stored in a computer-readable storage medium. These software functional units, stored in a storage medium, include several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) or processor to execute some steps of the methods described in the various embodiments of the present invention. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0108] The above description is merely a preferred embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

[0109] It will be apparent to those skilled in the art that this application is not limited to the details of the exemplary embodiments described above, and that this application can be implemented in other specific forms without departing from the spirit or essential characteristics of this application. Therefore, the embodiments should be considered illustrative and non-limiting in all respects, and the scope of this application is defined by the appended claims rather than the foregoing description. Thus, all variations falling within the meaning and scope of equivalents of the claims are intended to be included within this application. No reference numerals in the claims should be construed as limiting the scope of the claims.

Claims

1. A motor control method, characterized in that, The method includes: Obtain the vehicle's current operating data; Based on the current operating data, determine whether to enable the pulse torque control strategy; If it is determined that the pulse torque control strategy is enabled, the current control parameters of the motor are dynamically adjusted according to the current operating data. The current control parameters include: pulse frequency and pulse torque amplitude. Based on the current control parameters of the motor, a current control command for the motor is generated and transmitted to the motor to drive the motor to output pulse torque; The step of generating the current control command for the motor based on the current control parameters of the motor includes: A carrier signal is generated to produce pulse torque, wherein the carrier signal is a triangular wave signal or a sawtooth wave signal; Based on the target torque in the motor's operating parameters and the pulse torque in the current control parameters, the duty cycle of the motor's output pulse torque is obtained; A pulse width modulation waveform is generated based on the duty cycle of the carrier signal and the pulse torque; Based on the pulse width modulation waveform, the current control command for the motor is generated; The step of transmitting the current control command to the motor to drive the motor to output pulse torque includes: When the motor starts to output pulse torque, a preset maximum torque rise rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque. When the motor stops outputting pulse torque, a preset maximum torque reduction rate is used to control the pulse torque output by the motor to gradually decrease from the current value to a preset value.

2. The method according to claim 1, characterized in that, The current operating data includes: the motor's operating parameters, which include: the current speed and the target torque; The step of determining whether to enable the pulse torque control strategy based on the current operating data includes: Obtain the current speed, target torque, and preset threshold range of the motor; Determine whether the current rotational speed and the target torque both fall within the threshold range; If so, then the pulse torque control strategy will be enabled.

3. The method according to claim 1, characterized in that, The current operating data includes: the motor's operating parameters and the vehicle's operating mode. The motor's operating parameters include: the current speed and the target torque. The step of determining whether to enable the pulse torque control strategy based on the current operating data includes: The current speed, target torque, preset threshold range, and current operating mode of the vehicle of the motor are obtained. If the current speed and the target torque are both detected to be within the threshold range, and the current operating mode of the vehicle is economy mode, then the pulse torque control strategy is activated.

4. The method according to claim 1, characterized in that, The current operating data includes: the motor's operating parameters, which include: the current speed and the target torque; The step of dynamically adjusting the current control parameters of the motor based on the current operating data includes: Obtain a pre-built control parameter table, wherein the control parameter table records the pulse frequency and pulse torque amplitude under the optimal operating state of the motor at different speeds and target torques; Using the current speed and target torque as query conditions, the current control parameters corresponding to the motor are found from the control parameter table, wherein the control parameters include: pulse frequency and pulse torque amplitude.

5. The method according to claim 1, characterized in that, The step of generating a pulse width modulation waveform based on the duty cycle of the carrier signal and the pulse torque includes: Obtain the preset compensation coefficient; The product of the compensation coefficient and the duty cycle is used as the compensation duty cycle; The pulse width modulation waveform is generated based on the carrier signal and the compensation duty cycle.

6. The method according to any one of claims 1-5, characterized in that, The method further includes: If it is determined that the pulse torque control strategy is not enabled, then the motor outputs an initial continuous torque.

7. A motor control device, characterized in that, The device includes: The acquisition module is used to acquire the vehicle's current operating data in real time. The determination module is used to determine whether to enable the pulse torque control strategy based on the current operating data; An adjustment module is used to dynamically adjust the current control parameters of the motor based on the current operating data if it is determined that the pulse torque control strategy is enabled. The current control parameters include: pulse frequency and pulse torque amplitude. The generation module is used to generate the current control command for the motor based on the current control parameters of the motor. The drive module is used to transmit the current control command to the motor to drive the motor to output pulse torque; The generation module is specifically used for: A carrier signal is generated to produce pulse torque, wherein the carrier signal is a triangular wave signal or a sawtooth wave signal; Based on the target torque in the motor's operating parameters and the pulse torque in the current control parameters, the duty cycle of the motor's output pulse torque is obtained; A pulse width modulation waveform is generated based on the duty cycle of the carrier signal and the pulse torque; Based on the pulse width modulation waveform, the current control command for the motor is generated; The driving module is specifically used for: When the motor starts to output pulse torque, a preset maximum torque rise rate is used to control the pulse torque output by the motor to gradually increase from the initial value to the target torque. When the motor stops outputting pulse torque, a preset maximum torque reduction rate is used to control the pulse torque output by the motor to gradually decrease from the current value to a preset value.

8. An electric vehicle, characterized in that, include: The system includes a processor, a storage medium, and a bus, wherein the storage medium stores machine-readable instructions executable by the processor, and when the electric vehicle is in operation, the processor communicates with the storage medium via the bus, and the processor executes the machine-readable instructions to perform the steps of the method as described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The storage medium stores a computer program, which is executed by a processor to perform the method as described in any one of claims 1-6.

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