A control method and system of an electric machine and a vehicle
By acquiring torque and angle signals to determine the meshing clearance, and superimposing preset torque pulses into the EPS controller to generate torque commands, the steering problem caused by the meshing clearance of the worm gear pair is solved, improving the driving experience and control precision of the electric power steering system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2025-11-28
- Publication Date
- 2026-08-04
AI Technical Summary
After long-term use, the worm gear pair will have increased meshing clearance due to mechanical wear, which will affect steering feel, system performance and control accuracy. Moreover, existing detection methods cannot achieve real-time adaptive compensation.
By acquiring torque and rotation angle signals, the current meshing clearance is determined, and a preset torque pulse is superimposed on the EPS controller to generate a torque command, which drives the motor to rotate past the meshing clearance angle in advance to eliminate the influence of the clearance.
It effectively eliminates the negative impact of meshing clearance, improves steering feel and system performance, and achieves seamless and precise steering response.
Smart Images
Figure CN121375931B_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a method, system and vehicle for controlling an electric motor. Background Technology
[0002] Electric power steering (EPS) is a key component of modern automobiles, providing auxiliary torque via an electric motor to reduce the driver's steering burden. Its core transmission mechanism employs a worm gear pair, offering advantages such as a large transmission ratio and compact structure. However, after prolonged use, mechanical wear in the worm gear pair can lead to increased meshing clearance, negatively impacting steering feel and system performance. Summary of the Invention
[0003] This application aims to address at least one of the technical problems existing in the prior art. To this end, this application proposes a motor control method, system, and vehicle to solve the negative impact caused by meshing clearance.
[0004] To achieve the above objectives, one aspect of this application proposes a motor control method applied to an electric power steering system, the method comprising: Acquire torque signal, steering angle signal, and normal auxiliary torque; The current meshing clearance is determined based on the rotation angle signal; The torque signal is predicted to determine the steering operation; A preset torque pulse is obtained by generating a signal based on the current meshing clearance and the steering operation; The normal auxiliary torque and the preset torque pulse are vector-superimposed to obtain a torque command, so that the motor can operate according to the torque command.
[0005] In some embodiments, determining the current meshing clearance based on the rotation angle signal includes: Obtain the current torque signal and the current steering angle signal; The change in the angle signal is calculated based on the angle signal and the current angle signal. The current meshing clearance is determined based on the torque signal, the current torque signal, and the change in the rotation angle signal.
[0006] In some embodiments, calculating the change in the angle signal based on the angle signal and the current angle signal includes: The difference between the current turning angle signal and the turning angle signal is calculated to obtain the change in the turning angle signal.
[0007] In some embodiments, determining the current meshing clearance based on the torque signal, the current torque signal, and the change in the rotation angle signal includes: When the current torque signal is greater than a first preset threshold and the change in the angle signal is greater than or equal to a second preset threshold, the current meshing clearance is determined to be equal to the change in the angle signal.
[0008] In some embodiments, predicting the torque signal to determine the steering operation includes: The change in torque signal is calculated based on the current torque signal and the torque signal itself. The steering operation is determined based on the change in the torque signal.
[0009] In some embodiments, the step of calculating the change in torque signal based on the current torque signal and the torque signal includes: The difference between the current torque signal and the torque signal is calculated to obtain the change in the torque signal.
[0010] In some embodiments, the method further includes: When the current torque signal is greater than the first preset threshold and the change in the steering angle signal is less than the second preset threshold, it is determined that the electric power steering system is in the clearance stage. When the current torque signal is greater than the first preset threshold and the change in the steering angle signal is greater than or equal to the second preset threshold, the electric power steering system is determined to be in the gap phase.
[0011] To achieve the above objectives, another aspect of this application provides a motor control system, comprising: The signal acquisition module is used to acquire torque signals, steering angle signals, and normal auxiliary torque. The current meshing clearance determination module is used to determine the current meshing clearance based on the rotation angle signal; A steering operation determination module is used to predict the torque signal and determine the steering operation; A preset torque pulse generation module is used to generate a signal based on the current meshing clearance and the steering operation to obtain a preset torque pulse. The torque command acquisition module is used to vector-superimpose the normal auxiliary torque and the preset torque pulse to obtain a torque command, so that the motor can operate according to the torque command.
[0012] To achieve the above objectives, another aspect of the embodiments of this application proposes a vehicle including a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the method described above.
[0013] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the method described above.
[0014] The beneficial effects of this application are as follows: This application discloses a motor control method, system, and vehicle, applied in the field of vehicle technology. The method is applied to an electric power steering system. The method includes: firstly, acquiring a torque signal, a steering angle signal, and a normal auxiliary torque; secondly, determining the current engagement clearance based on the steering angle signal; then, predicting the torque signal to determine the steering operation; then, generating a signal based on the current engagement clearance and the steering operation to obtain a preset torque pulse; and then, vectorically superimposing the normal auxiliary torque and the preset torque pulse to obtain a torque command, so that the motor operates according to the torque command. Therefore, this application can determine the current engagement clearance through the torque signal and the steering angle signal, and determine the preset torque pulse through the current engagement clearance and the steering operation obtained based on the torque signal. Thus, the torque command is obtained by vector superimposing the preset torque pulse and the normal auxiliary torque, so that the motor operates according to the torque command, thereby eliminating the negative impact of engagement clearance. Attached Figure Description
[0015] To more clearly illustrate the technical solutions in the embodiments of this application, the drawings used in the embodiments of this application are described below. It should be understood that the drawings described below are only for the purpose of clearly illustrating some embodiments of the technical solutions in this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.
[0016] Figure 1 This is a flowchart of a motor control method provided in one embodiment of this application; Figure 2 This is a flowchart of a motor control method provided in another embodiment of this application; Figure 3 This is a flowchart of a motor control method provided in another embodiment of this application; Figure 4 This is a flowchart of a motor control method provided in an overall embodiment of this application; Figure 5 This is a schematic diagram of the structure of a motor control system provided in one embodiment of this application. Detailed Implementation
[0017] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.
[0018] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”
[0019] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.
[0020] In some situations, electric power steering systems are a key component of modern automobiles, providing auxiliary torque via an electric motor to reduce the driver's steering burden. Its core transmission mechanism, employing a worm gear pair, offers advantages such as a large transmission ratio and compact structure. However, after prolonged use, mechanical wear in the worm gear pair can lead to increased meshing clearance, negatively impacting steering feel and system performance.
[0021] The following defects exist: 1. Deterioration of steering feel: Play can cause the steering wheel to have "free play" or "free movement" near the center position; when the driver turns the steering wheel slightly, the road feedback cannot be obtained immediately, the steering response is sluggish, the feel is vague, which seriously affects the driving experience and confidence in handling. 2. Impact and abnormal noise: At the moment when the steering torque direction changes (such as when straightening out of a turn), the clearance will cause the worm gear and worm to collide, producing a "click" sound or impact, which will bring noise and discomfort. 3. Decreased control precision: The presence of backlash interferes with the precise torque control of the Electric Power Steering (EPS) controller; the motor commands output by the controller cannot be accurately transmitted to the steering mechanism, resulting in fluctuations in the auxiliary torque and affecting system performance. 4. Delayed maintenance: Current gap detection often relies on offline, manual judgment, which cannot achieve early warning and adaptive compensation during daily vehicle use. It is a post-event maintenance and poses a safety hazard.
[0022] Understandably, the EPS controller is the core component of the electric power steering system. It collects sensor signals and controls the motor output to provide precise steering assistance to the driver, while improving the driving experience and safety.
[0023] The EPS controller mainly consists of the following parts: Input module: Responsible for collecting signals from devices such as torque sensors, vehicle speed sensors, and steering angle sensors. These sensors can monitor information such as the driver's steering operations and vehicle driving status in real time.
[0024] Control unit: This is the core part of the EPS controller. It receives signals collected by the input module, calculates and processes them according to the preset control strategy, and generates control commands.
[0025] Output module: Converts the control commands generated by the control unit into drive signals for the motor, controlling the motor's rotation direction and the amount of assistance.
[0026] Based on the above, this application proposes a motor control method, system, and vehicle, aiming to solve the negative impact of meshing clearance.
[0027] The various embodiments of the motor control method of this application will be further described below with reference to the accompanying drawings.
[0028] like Figure 1 As shown, Figure 1 This is a flowchart of a motor control method provided in one embodiment of this application; the motor control method may include, but is not limited to, steps S110, S120, S130, S140 and S150.
[0029] Step S110: Acquire torque signal, steering angle signal, and normal auxiliary torque; Step S120: Determine the current meshing clearance based on the rotation angle signal; Step S130: Predict the torque signal and determine the steering operation; Step S140: Generate a signal based on the current meshing clearance and steering operation to obtain a preset torque pulse; Step S150: Vector superposition of normal auxiliary torque and preset torque pulse to obtain torque command, so that the motor runs according to the torque command.
[0030] In one embodiment, this application first acquires a torque signal, a steering angle signal, and a normal auxiliary torque; determines the current meshing clearance based on the steering angle signal; secondly, predicts the torque signal to determine a steering operation; then, generates a signal based on the current meshing clearance and the steering operation to obtain a preset torque pulse; finally, vectorically superimposes the normal auxiliary torque and the preset torque pulse to obtain a torque command, causing the motor to operate according to the torque command. Therefore, this application can determine the current meshing clearance through the torque signal and the steering angle signal, and determine the preset torque pulse through the current meshing clearance and the steering operation obtained based on the torque signal. Thus, the torque command is obtained by vectorally superimposing the preset torque pulse and the normal auxiliary torque, causing the motor to operate according to the torque command, thereby eliminating the negative impact of meshing clearance.
[0031] It is understood that the torque signal mentioned above can be the torque signal of the steering wheel, or it can be set according to actual needs. This application embodiment does not specifically limit it.
[0032] Understandably, when a steering operation is anticipated and the current meshing clearance needs to be overcome, a short-duration, low-amplitude threshold torque pulse is generated to drive the motor to quickly rotate through the angle of the current meshing clearance, so that the worm gear and worm can make contact on the force-bearing side in advance, thereby mitigating the negative impact of the meshing clearance.
[0033] Understandably, the aforementioned normal auxiliary torque is calculated by the EPS controller.
[0034] Understandably, this application vector-superimposes the normal auxiliary torque calculated by the EPS controller and the preset torque pulse to obtain a torque command, so that the motor runs according to the torque command, thereby driving the motor to rotate through an angle equivalent to the size of the gap in advance, thereby "eliminating" the gap at the driver's perception level and thus solving the negative impact of meshing gap.
[0035] It is worth noting that this application indirectly identifies the current meshing clearance of the worm gear-worm by analyzing the torque and angle signals during the operation of the electric power steering system. Then, based on the identified clearance value, a preset torque pulse is superimposed on the normal auxiliary torque of the EPS controller to form a final torque command sent to the motor, so as to drive the motor to rotate through an angle equivalent to the clearance size in advance, thereby "eliminating" the clearance at the driver's perception level.
[0036] For example, when a steering operation is predicted and backlash needs to be overcome (such as when the torque signal changes direction), the compensation module immediately generates a short, low-amplitude preset torque pulse. The goal of this preset torque pulse is to drive the motor to quickly rotate through the current meshing backlash angle, so that the worm gear and worm can make contact on the force-bearing side in advance. This preset torque pulse is vector-superimposed with the normal auxiliary torque calculated by the EPS main controller in the torque compensation superimposition unit to form the final torque command sent to the motor, so as to drive the motor to rotate through an angle equivalent to the size of the backlash in advance, thereby "eliminating" the backlash at the driver's perception level.
[0037] like Figure 2 As shown, Figure 2 This is a flowchart of a motor control method provided in another embodiment of this application; regarding the above step S120, it includes, but is not limited to, steps S210, S220 and S230.
[0038] Step S210: Obtain the current torque signal and the current steering angle signal; Step S220: Calculate the change in the angle signal based on the angle signal and the current angle signal; Step S230: Determine the current meshing clearance based on the torque signal, the current torque signal, and the change in the rotation angle signal.
[0039] In another embodiment, step S220 described above includes, but is not limited to, the following steps: The difference between the current corner signal and the corner signal is calculated to obtain the change in the corner signal.
[0040] Understandably, the change in the corner signal is determined by calculating the difference between the current corner signal and the previous corner signal.
[0041] In another embodiment, the motor control method may include, but is not limited to, the following steps: When the current torque signal is greater than the first preset threshold and the change in the steering angle signal is less than the second preset threshold, it is determined that the electric power steering system is in the clearance idle stage. When the current torque signal is greater than the first preset threshold and the change in the steering angle signal is greater than or equal to the second preset threshold, the electric power steering system is determined to be in the intermittent stage.
[0042] It is understandable that if the current torque signal is greater than the first preset threshold and the change in the steering angle signal is less than the second preset threshold, it indicates that the steering wheel rotation angle is very small, and the electric power steering system is in the clearance stage.
[0043] It is understandable that if the current torque signal is greater than the first preset threshold and the change in the steering angle signal is greater than or equal to the second preset threshold, it indicates that the steering wheel has produced a relatively obvious rotation angle, and it is determined that the electric power steering system is in the intermittent stage.
[0044] It is understood that the first preset threshold mentioned above can be 0, or it can be set according to actual needs. This application embodiment does not specifically limit it.
[0045] It is understood that the second preset threshold mentioned above can be set according to actual needs, and this application embodiment does not impose specific limitations on it.
[0046] In another embodiment, step S230 described above includes, but is not limited to, the following steps: When the current torque signal is greater than the first preset threshold and the change in the rotation angle signal is greater than or equal to the second preset threshold, the current meshing clearance is determined to be equal to the change in the rotation angle signal.
[0047] Understandably, when the current torque signal is greater than the first preset threshold and the change in the angle signal is greater than or equal to the second preset threshold, the change in the angle signal is used as the current meshing clearance to determine the numerical value of the meshing clearance.
[0048] For example, if the absolute value of the current torque signal is greater than a first preset threshold and the change in the angle signal is greater than or equal to a second preset threshold, the change in the angle signal is recorded, and the magnitude of the change in the angle signal is used as the numerical value of the current meshing clearance.
[0049] It is understood that the torque signal and current torque signal mentioned above can be the torque signal and current torque signal of the steering wheel, or they can be set according to actual needs. This application embodiment does not specifically limit them.
[0050] Understandably, this application indirectly identifies the current meshing clearance of the worm gear-worm by analyzing the torque and angle signals during the operation of the electric power steering system. Then, based on the identified clearance value, a preset torque pulse is superimposed on the normal auxiliary torque of the EPS controller to form a final torque command sent to the motor, so as to drive the motor to rotate through an angle equivalent to the clearance size in advance, thereby "eliminating" the clearance at the driver's perception level.
[0051] For example, when the electric power steering system detects that the absolute value of the torque signal increases from zero, but the change in the steering angle signal is less than a very small second preset threshold, it determines that the electric power steering system is in the "backlash" stage. The electric power steering system continues to monitor until the steering angle signal begins to change significantly. At this time, the cumulative change in the steering angle signal is recorded, and this change in the steering angle signal is the estimated value of the current engagement clearance.
[0052] For example, when the vehicle completes a left turn and begins to straighten, the torque signal decreases from a positive value to zero and begins to change towards a negative value (indicating an imminent right turn). At the instant the torque signal crosses zero, a negative torque command is immediately generated, and the motor quickly turns the current engagement clearance angle to the right, pre-tightening the gear pair on the right-turn force-bearing side. When the driver continues to turn the steering wheel to the right, the electric power steering system has no play, achieving a seamless and precise response.
[0053] like Figure 3 As shown, Figure 3 This is a flowchart of a motor control method provided in another embodiment of this application; regarding the above step S130, it includes, but is not limited to, steps S310 and S320.
[0054] Step S310: Calculate the change in torque signal based on the current torque signal and the torque signal; Step S320: Determine the steering operation based on the change in torque signal.
[0055] In another embodiment, step S310 described above includes, but is not limited to, the following steps: The difference between the current torque signal and the torque signal is calculated to obtain the change in the torque signal.
[0056] It is understandable that by calculating the difference between the current torque signal and the torque signal, the change in torque signal can be obtained, and thus the steering operation can be predicted and determined based on the change in torque signal.
[0057] It is understood that the torque signal and current torque signal mentioned above can be the torque signal and current torque signal of the steering wheel, or they can be set according to actual needs. This application embodiment does not specifically limit them.
[0058] For example, if the change in torque signal is greater than or equal to a third preset threshold, the steering operation is indicated as a right turn; if the change in torque signal is less than the third preset threshold, the steering operation is indicated as a left turn.
[0059] It is understood that the aforementioned third preset threshold can be 0 or can be set according to actual needs. This application embodiment does not specifically limit it.
[0060] For example, when the vehicle completes a left turn and begins to straighten, the torque signal decreases from a positive value to zero and begins to change towards a negative value, indicating that the steering operation was a right turn.
[0061] Based on the motor control methods of the above embodiments, the overall embodiments of the motor control methods of this application are presented below.
[0062] like Figure 4 As shown, Figure 4 This is a flowchart of a motor control method provided in an overall embodiment of this application.
[0063] 1. Online gap identification module (gap observer): Input signals: Real-time acquisition of the steering wheel torque signal T_s and the power steering motor angle signal θ_m; Identification Logic: When the electric power steering system detects that the absolute value of the torque signal T_s increases from zero, but the change in the steering angle signal θ_m is less than a very small second preset threshold ε, it determines that the electric power steering system is in the "backlash" stage; the electric power steering system continues to monitor until the steering angle signal θ_m begins to change significantly, at which point the cumulative change in the steering angle signal Δθ is recorded, and this change in the steering angle signal Δθ is the estimated value of the current engagement clearance Δθ_gap; Adaptive updates: The gap observer can be run periodically (such as after each ignition cycle) or continuously fine-tuned during use to track dynamic changes in the gap due to temperature and wear.
[0064] 2. Active compensation control module: Compensation timing judgment: Based on the direction and rate of change of the torque signal T_s from the steering wheel, predict the steering operation that the driver is about to begin; Compensation signal generation: When a steering operation is predicted and backlash needs to be overcome (such as when the torque signal T_s changes direction), the compensation module immediately generates a short-duration, low-amplitude preset torque pulse. The goal of this preset torque pulse is to drive the motor to quickly rotate through the current meshing clearance Δθ_gap angle, so that the worm wheel and worm can make contact on the force-bearing side in advance. Compensation signal superposition: This preset torque pulse and the normal auxiliary torque calculated by the EPS main controller are vector superimposed in the torque compensation superposition unit to form the final torque command and send it to the motor.
[0065] It is understood that the embodiments of this application acquire torque signals, angle signals, and the normal auxiliary torque output by the EPS main controller; secondly, determine the current meshing clearance based on the angle signal; then, predict the torque signal to determine the steering operation; then, generate a signal based on the current meshing clearance and the steering operation to obtain a preset torque pulse; then, vector superimpose the normal auxiliary torque and the preset torque pulse to obtain a torque command, so that the motor runs according to the torque command. Therefore, the embodiments of this application can determine the current meshing clearance through torque signals and angle signals, and determine the preset torque pulse through the current meshing clearance and the steering operation obtained based on the torque signal, thereby obtaining a torque command by vector superimposing the preset torque pulse and the normal auxiliary torque, so that the motor runs according to the torque command, thereby eliminating the negative impact of meshing clearance.
[0066] Understandably, this application indirectly identifies the current meshing clearance of the worm gear-worm by analyzing the torque and angle signals during the operation of the electric power steering system. Then, based on the identified clearance value, a preset torque pulse is superimposed on the normal auxiliary torque of the EPS controller to form a final torque command sent to the motor, so as to drive the motor to rotate through an angle equivalent to the clearance size in advance, thereby "eliminating" the clearance at the driver's perception level.
[0067] For example: 1. Electric power steering system initialization: After the vehicle is started, the clearance observer begins to work, and the initial clearance value can be set to zero or an empirical small value; 2. Gap Identification Process: When the vehicle is traveling in a straight line or the steering wheel is slightly moved, the system continuously monitors the torque signal T_s and the steering angle signal θ_m. Assuming the driver begins to turn left, the torque signal T_s becomes positive and increases. During the t0-t1 phase, the change in the steering angle signal θ_m is minimal, and the observer determines this to be the gap phase. At time t1, the steering angle signal θ_m begins to increase linearly. The observer calculates the minute change in the steering angle signal θ_m during the period from t0 to t1 and updates the change in the steering angle signal to the new current meshing gap Δθ_gap. 3. Compensation Execution Process: After the vehicle completes a left turn and begins to straighten, the torque signal T_s decreases from a positive value to zero and then begins to change towards a negative value (indicating an imminent right turn). At the instant the torque signal T_s crosses zero, the compensation controller immediately generates a negative torque command, and the motor rapidly turns the current meshing clearance Δθ_gap angle to the right, pre-tightening the gear pair on the right-turn force-bearing side. When the driver continues to turn the steering wheel to the right, the steering system has no play, achieving a seamless and precise response.
[0068] It is worth noting that this application indirectly identifies the actual meshing clearance value of the worm gear-worm by analyzing the torque signal and angle signal during the operation of the electric power steering system. Then, based on the identified clearance value, a preset torque pulse is superimposed on the normal auxiliary torque of the EPS controller to form a final torque command sent to the motor to drive the motor to rotate through an angle equivalent to the clearance size in advance, thereby "eliminating" the clearance at the driver's perception level.
[0069] Based on the motor control methods of the above embodiments, embodiments of the motor control device of this application are presented below.
[0070] like Figure 5 As shown, Figure 5 This is a schematic diagram of the structure of a motor control system provided in one embodiment of this application. Another embodiment of this application provides a motor control system, including: The signal acquisition module is used to acquire torque signals, steering angle signals, and normal auxiliary torque. The current meshing clearance determination module is used to determine the current meshing clearance based on the rotation angle signal. The steering operation determination module is used to predict the torque signal and determine the steering operation; The preset torque pulse generation module is used to generate a signal based on the current meshing clearance and steering operation to obtain the preset torque pulse; The torque command acquisition module is used to vector-superimpose the normal auxiliary torque and the preset torque pulse to obtain the torque command, so that the motor can run according to the torque command.
[0071] The contents of the above-described motor control method embodiments are all applicable to the motor control system embodiments. The specific functions implemented by the motor control system embodiments are the same as those of the above-described motor control method embodiments, and the beneficial effects achieved are also the same as those achieved by the above-described motor control method embodiments.
[0072] Based on the motor control methods of the above embodiments, embodiments of the vehicle and computer program products of this application are presented below.
[0073] This application also provides a vehicle, including a memory, a processor, and a program stored in the memory and executable on the processor. When the program is executed by the processor, it implements the aforementioned motor control method. Specifically, the vehicle can be a passenger car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.
[0074] Furthermore, one embodiment of this application also provides a computer program product, including a computer program or computer instructions, which are stored in a computer-readable storage medium. A processor of a computer device reads the computer program or computer instructions from the computer-readable storage medium and executes the computer program or computer instructions, causing the computer device to perform the aforementioned motor control method. Exemplarily, the above-described method is executed... Figures 1 to 4 The methods and steps in the text.
[0075] It is worth noting that, since the computer program product of this application embodiment can execute the motor control method of any of the above embodiments, the specific implementation method and technical effect of the computer program product of this application embodiment can refer to the specific implementation method and technical effect of the motor control method of any of the above embodiments.
[0076] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the aforementioned blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.
[0077] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated to the contrary, one or more of the aforementioned functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the realm of conventional skill for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.
[0078] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods described in the various embodiments of this application. 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.
[0079] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-including system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.
[0080] More specific examples (a non-exhaustive list) of computer-readable media include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the aforementioned program can be printed, because the aforementioned program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.
[0081] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.
[0082] In the foregoing description of this specification, the references to terms such as "one embodiment," "another embodiment," or "some embodiments," etc., indicate that a specific feature, structure, material, or characteristic described in connection with an embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.
[0083] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and variations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.
[0084] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.
Claims
1. A method for controlling an electric motor, characterized in that, Applied to an electric power steering system, the method includes: Acquire torque signal, steering angle signal, normal auxiliary torque, current torque signal, and current steering angle signal; The change in the angle signal is calculated based on the angle signal and the current angle signal. The current engagement clearance is determined based on the torque signal, the current torque signal, and the change in the rotation angle signal. The torque signal is predicted to determine the steering operation; A preset torque pulse is obtained by generating a signal based on the current meshing clearance and the steering operation; The normal auxiliary torque and the preset torque pulse are vector-superimposed to obtain a torque command, so that the motor runs according to the torque command; The step of determining the current engagement clearance based on the torque signal, the current torque signal, and the change in the angle signal includes: when the current torque signal is greater than a first preset threshold and the change in the angle signal is greater than or equal to a second preset threshold, determining that the current engagement clearance is equal to the change in the angle signal. The method further includes: when the current torque signal is greater than the first preset threshold and the change in the steering angle signal is less than the second preset threshold, determining that the electric power steering system is in the clearance idle stage; When the current torque signal is greater than the first preset threshold and the change in the steering angle signal is greater than or equal to the second preset threshold, the electric power steering system is determined to be in the gap phase.
2. The method according to claim 1, characterized in that, The step of calculating the change in the angle signal based on the angle signal and the current angle signal includes: The difference between the current turning angle signal and the turning angle signal is calculated to obtain the change in the turning angle signal.
3. The method according to claim 1, characterized in that, The step of predicting the torque signal to determine the steering operation includes: The change in torque signal is calculated based on the current torque signal and the torque signal itself. The steering operation is determined based on the change in the torque signal.
4. The method according to claim 1, characterized in that, The step of calculating the change in torque signal based on the current torque signal and the torque signal includes: The difference between the current torque signal and the torque signal is calculated to obtain the change in the torque signal.
5. A control system for an electric motor, characterized in that, include: The signal acquisition module is used to acquire torque signal, steering angle signal, normal auxiliary torque, current torque signal, and current steering angle signal; The current meshing clearance determination module is used to calculate the change in the angle signal based on the angle signal and the current angle signal; and to determine the current meshing clearance based on the torque signal, the current torque signal, and the change in the angle signal; wherein, determining the current meshing clearance based on the torque signal, the current torque signal, and the change in the angle signal includes: when the current torque signal is greater than a first preset threshold and the change in the angle signal is greater than or equal to a second preset threshold, determining that the current meshing clearance is equal to the change in the angle signal; A steering operation determination module is used to predict the torque signal and determine the steering operation; A preset torque pulse generation module is used to generate a signal based on the current meshing clearance and the steering operation to obtain a preset torque pulse. The torque command acquisition module is used to vector-superimpose the normal auxiliary torque and the preset torque pulse to obtain a torque command, so that the motor can operate according to the torque command; The stage determination module is used to determine that the electric power steering system is in the gap stage when the current torque signal is greater than the first preset threshold and the change in the steering angle signal is less than the second preset threshold; and to determine that the electric power steering system is in the gap stage when the current torque signal is greater than the first preset threshold and the change in the steering angle signal is greater than or equal to the second preset threshold.
6. A vehicle, characterized in that, It includes a memory, a processor, and a program stored in the memory and executable on the processor, wherein the program, when executed by the processor, implements the motor control method as described in any one of claims 1 to 4.
7. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by the processor, it implements the motor control method according to any one of claims 1 to 4.