Pulse torque adjusting method and device, electronic equipment and storage medium

Abstract

The invention provides a pulse torque adjusting method and device, electronic equipment and a storage medium, and relates to the technical field of electric drive systems.The method comprises the steps that under the condition that a torque pulse function is enabled, the latest collected first motor rotating speed is obtained; determining that the pulse torque within the first preset duration is a first pulse torque corresponding to the first motor rotating speed; the pulse torque is positively correlated with the motor speed; if the first rotating speed fluctuation parameter of the motor within the first preset duration is greater than the preset rotating speed fluctuation parameter, determining a second motor rotating speed smaller than the first motor rotating speed; the preset rotating speed fluctuation parameter is a pre-calibrated minimum motor rotating speed fluctuation parameter for sensing vehicle shaking; and adjusting the current pulse torque to be a second pulse torque corresponding to the second motor rotating speed. The current pulse torque is adjusted to the second pulse torque under the condition that the first rotating speed fluctuation parameter is larger than the preset rotating speed fluctuation parameter, the amplitude of torque fluctuation can be reduced, and the risk that the vehicle further shakes is reduced.

Description

Technical Field

[0001] This application relates to the field of electric drive system technology, and in particular to a method, apparatus, electronic device and storage medium for adjusting pulse torque. Background Technology

[0002] In the field of electric drive systems, torque pulse functionality has been introduced to improve system efficiency. Torque pulse functionality converts continuous drive torque into a series of pulsed, high-efficiency torque outputs, shifting the motor's operating point towards its high-efficiency range, thereby significantly reducing energy consumption. Specifically, the corresponding pulse torque (i.e., the optimal efficiency torque at the current motor speed) can be queried based on the motor's current speed. After determining this pulse torque, the inertial torque is generated by adjusting the on / off time of the Insulated Gate Bipolar Transistor (IGBT), making it equivalent to the continuous torque at the current speed, thus improving the efficiency of the electric drive system.

[0003] However, when the motor speed fluctuates greatly, adjusting the pulse torque in real time according to the motor speed will significantly increase the risk of vibration. Summary of the Invention

[0004] The purpose of this application is to provide a method, apparatus, electronic device, and storage medium for adjusting pulse torque to solve the above-mentioned technical problems.

[0005] On the one hand, a method for adjusting pulse torque is provided, including: With the torque pulse function enabled, acquire the latest collected first motor speed; The pulse torque within a first preset duration is determined as the first pulse torque corresponding to the first motor speed; wherein, the pulse torque is positively correlated with the motor speed; If the first speed fluctuation parameter of the motor is greater than the preset speed fluctuation parameter within the first preset time period, then the second motor speed, which is less than the first motor speed, is determined; wherein, the preset speed fluctuation parameter is the minimum motor speed fluctuation parameter for sensing vehicle vibration that is pre-calibrated. Adjust the current pulse torque to the second pulse torque corresponding to the second motor speed.

[0006] In some embodiments, determining the speed of the second motor, which is less than the speed of the first motor, includes: If the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the first preset value is determined as the second motor speed; where N is greater than 1. If the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the second preset value is determined as the second motor speed; wherein, both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

[0007] In some embodiments, after adjusting the pulse torque to the second pulse torque corresponding to the second motor speed, the method further includes: If the torque is increasing, determine whether the second speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the second preset time period; If so, the first motor speed and the third preset value are summed to obtain the third motor speed, and the current pulse torque is adjusted to the third pulse torque corresponding to the third motor speed; wherein, the third preset value is greater than 0; If not, then exit the torque pulse function.

[0008] In some embodiments, determining the speed of the second motor, which is less than the speed of the first motor, includes: If the torque is decreasing, and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than M times the preset speed fluctuation parameter, then the preset minimum speed is determined to be the second motor speed; wherein, the preset minimum speed is the minimum motor speed enabled by the torque pulse function as pre-calibrated, and M is greater than 1.

[0009] In some embodiments, after determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter, then the torque pulse function is exited.

[0010] In some embodiments, after determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is increasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the latest collected speed of the fourth motor is obtained. Adjust the current pulse torque to the fourth pulse torque corresponding to the speed of the fourth motor; Determine whether the third speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the third preset time period; If so, then maintain the current pulse torque as the fourth pulse torque; If not, then determine the speed of the fifth motor which is less than the speed of the fourth motor, and adjust the current pulse torque to the fifth pulse torque corresponding to the speed of the fifth motor.

[0011] In some embodiments, after determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the current pulse torque is maintained as the first pulse torque. Determine whether the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period; If so, then maintain the current pulse torque as the first pulse torque; If not, the current pulse torque is adjusted to a pulse torque that decreases progressively relative to the first pulse torque, until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until it has been adjusted to the preset minimum pulse torque.

[0012] Furthermore, a pulse torque adjustment device is also provided, comprising: The first acquisition module is used to acquire the latest collected first motor speed when the torque pulse function is enabled; The first determining module is used to determine the pulse torque within a first preset time period as the first pulse torque corresponding to the first motor speed; wherein the pulse torque is positively correlated with the motor speed; The second determining module is used to determine a second motor speed that is less than the first motor speed if the first speed fluctuation parameter of the motor is greater than the preset speed fluctuation parameter within the first preset time period; wherein, the preset speed fluctuation parameter is a pre-calibrated minimum motor speed fluctuation parameter for sensing vehicle vibration. The first adjustment module is used to adjust the current pulse torque to the second pulse torque corresponding to the speed of the second motor.

[0013] In some embodiments, the second determining module is specifically used for: If the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the first preset value is determined as the second motor speed; where N is greater than 1. If the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the second preset value is determined as the second motor speed; wherein, both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

[0014] In some embodiments, the apparatus further includes: The first judgment module is used to determine whether the second speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within a second preset time period if the torque is rising. The second adjustment module is used to, if so, sum the first motor speed and the third preset value to obtain the third motor speed, and adjust the current pulse torque to the third pulse torque corresponding to the third motor speed; wherein the third preset value is greater than 0; The exit module is used to exit the torque pulse function if no action is taken.

[0015] In some embodiments, the second determining module is specifically used for: If the torque is decreasing, and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than M times the preset speed fluctuation parameter, then the preset minimum speed is determined to be the second motor speed; wherein, the preset minimum speed is the minimum motor speed enabled by the torque pulse function as pre-calibrated, and M is greater than 1.

[0016] In some embodiments, the exit module is further configured to: If the torque is decreasing and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter, then the torque pulse function is exited.

[0017] In some embodiments, the apparatus further includes: The second acquisition module is used to acquire the latest collected speed of the fourth motor if the torque is increasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter. The third adjustment module is used to adjust the current pulse torque to the fourth pulse torque corresponding to the speed of the fourth motor; The second judgment module is used to determine whether the third speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the third preset time period; The fourth adjustment module is used to maintain the current pulse torque as the fourth pulse torque if the condition is met. The fifth adjustment module is used to determine, if not, the speed of the fifth motor which is less than the speed of the fourth motor, and adjust the current pulse torque to the fifth pulse torque corresponding to the speed of the fifth motor.

[0018] In some embodiments, the apparatus further includes: The sixth adjustment module is used to maintain the current pulse torque as the first pulse torque if the torque is decreasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter. The third judgment module is used to determine whether the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period; The seventh adjustment module is used to maintain the current pulse torque as the first pulse torque if the condition is met. The eighth adjustment module is used to adjust the current pulse torque to a pulse torque that decreases progressively relative to the first pulse torque if no, until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until the preset minimum pulse torque has been adjusted.

[0019] Furthermore, an electronic device is also provided, including a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement any of the methods described above.

[0020] Furthermore, a computer-readable storage medium is also provided, the computer-readable storage medium storing a computer program, which, when executed by at least one processor, implements the method as described above.

[0021] In this embodiment, the pulse torque is maintained at the first pulse torque corresponding to the first motor speed for a first preset duration. If the first speed fluctuation parameter within the first preset duration exceeds the preset speed fluctuation parameter, continuing to maintain the first pulse torque will further exacerbate the vibration risk. Based on this, this embodiment determines a second motor speed that is lower than the first motor speed. Since the pulse torque is positively correlated with the motor speed, the second pulse torque corresponding to the second motor speed is lower than the first pulse torque corresponding to the first motor speed. Therefore, by adjusting the current pulse torque from the first pulse torque to the second pulse torque, the torque fluctuation amplitude can be effectively reduced, thereby reducing the risk of further vehicle vibration. Attached Figure Description

[0022] Figure 1 This is one of the flowcharts illustrating the pulse torque adjustment method provided in this application embodiment; Figure 2 A second schematic flowchart illustrating the pulse torque adjustment method provided in this application embodiment; Figure 3 A schematic diagram of the structure of the pulse torque adjustment device provided in the embodiments of this application; Figure 4 This is a schematic diagram of the structure of an electronic device provided in an embodiment of this application. Detailed Implementation

[0023] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. Based on the embodiments of this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application. Unless otherwise specified, the embodiments and features in the embodiments of this application can be arbitrarily combined with each other. Furthermore, although a logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than that shown here.

[0024] The terms "first" and "second" in the specification, claims, and accompanying drawings of this application are used to distinguish different objects, not to describe a specific order. Furthermore, the term "comprising" and any variations thereof are intended to cover non-exclusive protection. For example, a process, method, system, product, or device that includes a series of steps or units is not limited to the listed steps or units, but may optionally include steps or units not listed, or may optionally include other steps or units inherent to these processes, methods, products, or devices. The term "multiple" in this application can mean at least two, for example, two, three, or more, and the embodiments of this application do not impose limitations.

[0025] This application provides a method, apparatus, electronic device, and storage medium for adjusting pulse torque to address the problem that adjusting pulse torque in real time according to motor speed when motor speed fluctuates greatly will significantly increase the risk of vibration.

[0026] The pulse torque adjustment method of this application embodiment will be described in detail below.

[0027] See Figure 1 , Figure 1 This is one of the flowcharts of a pulse torque adjustment method provided in this application, such as... Figure 1 As shown, the method includes: Step 101: With the torque pulse function enabled, acquire the latest collected first motor speed.

[0028] In this step, the latest collected motor speed needs to be obtained when entering each round of pulse torque adaptive adjustment.

[0029] Step 102: Determine the pulse torque within the first preset duration as the first pulse torque corresponding to the first motor speed.

[0030] The pulse torque is positively correlated with the motor speed. The mapping relationship between motor speed and pulse torque can be pre-calibrated, and the pulse torque corresponding to the motor speed can be obtained by looking up this mapping relationship, including the first pulse torque corresponding to the first motor speed mentioned above.

[0031] In some embodiments, the pulse torque may also be related to other parameters of the motor, such as voltage, and therefore a voltage-motor speed-pulse torque mapping relationship may be pre-defined. In this case, the first pulse torque corresponding to the first motor speed can be obtained by looking up the mapping relationship based on the first motor speed and the current voltage.

[0032] It is worth noting that the purpose of this application's embodiments is to determine the pulse torque, and does not involve the adjustment of the IGBT. Regarding the generation of inertial torque by adjusting the on / off time of the Insulated Gate Bipolar Transistor (IGBT) after the pulse torque is determined, relevant technologies can be consulted.

[0033] Step 103: If the first speed fluctuation parameter of the motor is greater than the preset speed fluctuation parameter within the first preset time period, then determine the speed of the second motor which is less than the speed of the first motor.

[0034] Among them, the preset speed fluctuation parameter is the minimum motor speed fluctuation parameter that is pre-calibrated to detect vehicle vibration.

[0035] Both the first speed fluctuation parameter and the preset speed fluctuation parameter mentioned above can be understood as the absolute value of the motor speed difference.

[0036] The first speed fluctuation parameter can be the real-time speed fluctuation parameter within a first preset time period. The real-time speed fluctuation parameter is determined based on the absolute difference between the speed of the current control cycle and the speed of the previous control cycle, using the following formula: ,in, The rotational speed for the current control cycle. The rotational speed is the value from the previous control cycle. This refers to the speed fluctuation parameters corresponding to the current control cycle. The control cycle described above can be understood as the software running cycle or the control cycle of Pulse Width Modulation (PWM).

[0037] In this step, the first speed fluctuation parameter is greater than the preset speed fluctuation parameter. This can be any control cycle within a first preset time period where the first speed fluctuation parameter is greater than the preset speed fluctuation parameter. The first preset time period can be an integer multiple of the control cycle, such as 100 control cycles or 200 control cycles, etc.

[0038] Intuitively, the preset speed fluctuation parameter is a pre-calibrated minimum motor speed fluctuation parameter that detects vehicle vibration. If the first speed fluctuation parameter exceeds the preset parameter, it indicates that perceptible vibration has occurred. Maintaining the first pulse torque at this point may further exacerbate the vibration, affecting ride stability and comfort. Therefore, the pulse torque should be reduced. Since the torque pulse process is similar to controlling the motor torque to fluctuate in a triangular wave form, reducing the pulse torque can decrease the amplitude of torque fluctuation, thereby reducing the need for efficiency and prioritizing smoothness.

[0039] Therefore, in step 103, the speed of the second motor, which is less than the speed of the first motor, is first determined so that the second pulse torque corresponding to the second motor speed can be determined subsequently. Since the pulse torque is positively correlated with the motor speed, the second pulse torque is less than the first pulse torque.

[0040] It is worth mentioning that the speed of the second motor only needs to be less than the speed of the first motor. Specifically, it can be the speed of the first motor minus a preset value greater than 0.

[0041] Step 104: Adjust the current pulse torque to the second pulse torque corresponding to the second motor speed.

[0042] Since the second pulse torque is less than the first pulse torque, adjusting the current pulse torque from the first pulse torque to the second pulse torque can reduce the amplitude of torque fluctuations and reduce the risk of further aggravation of vehicle vibration.

[0043] In this embodiment, the pulse torque is maintained at the pulse torque corresponding to the first motor speed for a first preset duration. If the first speed fluctuation parameter within the first preset duration is greater than the preset speed fluctuation parameter, maintaining the pulse torque at the first pulse torque may further exacerbate the vibration risk. Therefore, it is necessary to reduce the pulse torque to reduce the torque fluctuation amplitude. Based on this, this embodiment determines a second motor speed that is lower than the first motor speed. Since the pulse torque is positively correlated with the motor speed, the second pulse torque corresponding to the second motor speed is less than the first pulse torque corresponding to the first motor speed. This adjusts the current pulse torque from the first pulse torque to the second pulse torque, which helps to reduce the amplitude of torque fluctuation and reduce the risk of further exacerbation of vehicle vibration.

[0044] In some embodiments, determining a third motor speed that is less than the second motor speed includes: If the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than N times the preset speed fluctuation parameter, then the difference between the second motor speed and the first preset value is determined as the third motor speed; where N is greater than 1.

[0045] If the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the second motor speed and the second preset value is determined as the third motor speed; wherein, both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

[0046] In this embodiment, whether the torque is in the rising phase can be determined by the torque change rate. For example, if the torque change rate is determined to be greater than 0, then the torque is in the rising phase. In this embodiment, being in the torque rising phase includes having a torque change rate greater than 0 within a first preset time period.

[0047] The formula for determining the torque change rate is as follows: In the formula, This indicates the actual execution torque corresponding to the current sampling period. This represents the actual torque executed in the previous sampling period preceding the current sampling period, where t represents the interval between the current and previous sampling periods. The actual torque may need to be determined based on factors such as pulse torque and the driver's actual torque requirement, where the pulse torque is greater than the driver's actual torque requirement.

[0048] In this embodiment, if the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than N times the preset speed fluctuation parameter, it indicates that the jitter is relatively minor. Therefore, there is no need to significantly reduce the pulse torque. Instead, the second motor speed is determined solely based on the difference between the first motor speed and the first preset value (the first preset value is a smaller value). By slightly reducing the pulse torque, jitter suppression can be achieved while preserving the efficiency advantage of the torque pulse function as much as possible. For example, N can be greater than 1 and less than 2, such as 1.5; the first preset value can be 500.

[0049] Furthermore, if the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, it indicates that the vibration is quite severe. If only a small adjustment to the pulse torque is insufficient to alleviate the vibration, the second motor speed (where the second preset value is a larger value) is determined based on the difference between the first motor speed and the second preset value. By significantly reducing the pulse torque, the speed fluctuation is quickly suppressed, ensuring vehicle operational stability. For example, the second preset value could be 1500.

[0050] It is worth mentioning that the torque pulse function has a preset enable range. , In this embodiment, the minimum value of the second motor speed is used to determine the second motor speed. That is, if the difference between the second motor speed and the second preset value is less than... Then take the larger one. The second motor speed; similarly, if the difference between the second motor speed and the first preset value is less than... Then take the larger one. This refers to the speed of the third motor.

[0051] In this embodiment, through the above steps, the speed of the second motor can be determined differently according to the actual severity of the vibration during the torque rise phase. This not only preserves the efficiency advantage of the torque pulse to a large extent when the vibration is slight, but also quickly suppresses fluctuations when the vibration is severe, thus achieving a balance between improving the efficiency of the electric drive system and the stability of vehicle operation.

[0052] In some embodiments, after step 104, the method further includes: If the torque is increasing, determine whether the second speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the second preset time period.

[0053] If so, the first motor speed and the third preset value are summed to obtain the third motor speed, and the current pulse torque is adjusted to the third pulse torque corresponding to the third motor speed; wherein, the third preset value is greater than 0.

[0054] If not, then exit the torque pulse function.

[0055] In this embodiment, after adjusting to the second pulse torque, if the torque is still in the rising phase, it is determined whether the second speed fluctuation parameter within the second preset time period is less than the preset speed fluctuation parameter. If so, it indicates that adjusting to the second pulse torque significantly suppresses the jitter phenomenon, so the pulse torque can be appropriately increased to improve efficiency. If not, it indicates that jitter will still occur even when adjusted to the second pulse torque, so the torque pulse function can be directly exited.

[0056] As an example, the second speed fluctuation parameter mentioned above, which is less than the preset speed fluctuation speed, can be defined as the second speed fluctuation parameter being less than the preset speed fluctuation parameter in each control cycle within a second preset time period. The second preset time period can be an integer multiple of the control cycle, such as 10 control cycles. The third preset value mentioned above can be located between 200 and 300, for example, 250.

[0057] It is worth noting that after adjusting the pulse torque to the third pulse torque, the current round of pulse torque adaptive adjustment can be exited directly to enter the next round of pulse torque adaptive adjustment. Alternatively, the pulse torque can be adjusted to the third pulse torque and maintained for several control cycles before exiting the current round of pulse torque adaptive adjustment.

[0058] In this implementation, by taking the above steps, the pulse torque is increased to improve efficiency when the jitter is suppressed, and the function is directly deactivated if the jitter is not improved. This further balances the efficiency and operational stability of the electric drive system and helps to reduce the risk of continuous jitter caused by pulse torque adjustment.

[0059] In some embodiments, determining the speed of the second motor, which is less than the speed of the first motor, includes: If the torque is decreasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than M times the preset speed fluctuation parameter, then the preset minimum speed is determined to be the second motor speed; wherein, the preset minimum speed is the minimum motor speed enabled by the pre-calibrated torque pulse function, and M is greater than 1.

[0060] The determination of the torque decrease phase is similar to that of the torque increase phase, i.e., it is determined by the real-time torque change rate. In this embodiment, the torque decrease phase includes a torque change rate of less than 0 within a first preset time period.

[0061] Since the torque reduction phase itself is prone to causing vibration, this implementation method directly determines the second motor speed as the preset minimum speed when the first speed fluctuation parameter is greater than the preset speed fluctuation parameter and less than M times the preset speed fluctuation parameter during the torque reduction phase. This allows for the maximum reduction of pulse torque without disabling the torque pulse function, thereby minimizing the amplitude of torque fluctuations. The values ​​of M and N can be equal or unequal; for example, they can both be equal to 1.5.

[0062] It is worth noting that, after adjusting the pulse torque to the pulse torque corresponding to the preset minimum speed, this implementation can directly exit the current round of pulse torque adaptive adjustment to enter the next round of pulse torque adaptive adjustment. Alternatively, the pulse torque can be adjusted to the pulse torque corresponding to the preset minimum speed and maintained for multiple control cycles before exiting the current round of pulse torque adaptive adjustment.

[0063] In this embodiment, the above steps can specifically address the problem of jitter during the torque reduction phase. Under specific speed fluctuation conditions, the speed of the second motor can be directly determined as the minimum motor speed. It retains the torque pulse function while effectively suppressing vibration.

[0064] In some embodiments, after determining that the pulse torque within a first preset duration is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter, then the torque pulse function will be exited.

[0065] In this implementation, when severe vibration occurs during the torque reduction phase (speed fluctuation parameters exceed M times the preset speed fluctuation parameters), the torque pulse function is directly deactivated, which can prevent further deterioration of vibration and ensure the stability of vehicle operation.

[0066] In some embodiments, after determining that the pulse torque within a first preset duration is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is increasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the latest collected speed of the fourth motor is obtained.

[0067] Adjust the current pulse torque to the fourth pulse torque corresponding to the speed of the fourth motor.

[0068] Determine whether the third speed fluctuation parameter of the motor within the third preset time period is less than the preset speed fluctuation parameter.

[0069] If so, then maintain the current pulse torque as the fourth pulse torque.

[0070] If not, determine the speed of the fifth motor, which is less than the speed of the fourth motor, and adjust the current pulse torque to the fifth pulse torque corresponding to the speed of the fifth motor.

[0071] In this embodiment, if the first speed fluctuation parameter is less than the preset fluctuation parameter, it means that there is no perceptible jitter within the first preset time period. Therefore, the latest collected speed of the fourth motor can be obtained, the fourth pulse torque corresponding to the speed of the fourth motor can be obtained, and the current pulse torque can be increased to the fourth pulse torque to improve the efficiency of the electric drive system.

[0072] It is worth mentioning that, in order to ensure stability at the same time, the current pulse torque can be increased to the fourth pulse torque according to a preset gradient, or the pulse torque can be linearly increased to the aforementioned fourth pulse torque according to a preset torque adjustment duration.

[0073] If, after increasing to the fourth pulse torque, the third speed fluctuation parameter for the third preset duration is still less than the preset speed fluctuation parameter, it indicates that there is still no perceptible jitter, and therefore the fourth pulse torque can continue to be maintained. Specifically, it can be maintained for one control cycle before exiting the current round of torque adaptive adjustment to enter the next round of pulse torque adaptive adjustment.

[0074] As an example, the aforementioned third speed fluctuation parameter being less than the preset speed fluctuation speed can mean that the third speed fluctuation parameter is less than the preset speed fluctuation parameter for any control cycle within the third preset time period. The third preset time period can be an integer multiple of the control cycle, and can be equivalent to or different from the second preset time period. For example, the third preset time period is equal to 10 control cycles.

[0075] If, after increasing to the fourth pulse torque, the third speed fluctuation parameter of the motor within the third preset time period does not meet the requirement of being less than the preset speed fluctuation speed, it indicates that there is a perceived jitter, and therefore the pulse torque needs to be reduced. Therefore, this application achieves the reduction of pulse torque by determining a fifth motor speed that is less than the fourth motor speed and adjusting the current pulse torque to the fifth pulse torque corresponding to the fifth motor speed.

[0076] The speed of the fifth motor can be equal to the speed of the fourth motor minus a fourth preset value. Alternatively, the speed of the fifth motor can be equal to the average speed of the fourth motor and the speed of the first motor. Since it is in the torque-increasing phase, the speed of the fourth motor is greater than the speed of the first motor, and therefore the average value mentioned above is less than the speed of the fourth motor.

[0077] It is worth noting that, after adjusting the current pulse torque to the fifth pulse torque, this implementation can directly exit the current round of pulse torque adaptive adjustment to enter the next round of pulse torque adaptive adjustment. Alternatively, it can exit the current round of pulse torque adaptive adjustment after adjusting to the fifth pulse torque and maintaining it for several control cycles.

[0078] In this embodiment, after increasing the pulse torque to the fourth pulse torque, it is further determined whether the third speed fluctuation parameter is less than the preset speed fluctuation parameter, in order to determine whether there is any perceptible jitter after increasing the pulse torque. If there is no jitter, the fourth pulse torque is maintained to enter the next round of torque adaptive adjustment. If jitter occurs, the pulse torque is reduced to stabilize operation. This can suppress the risk of jitter in a timely manner and achieve a dynamic balance between efficiency and stability.

[0079] In some embodiments, after determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the first motor speed, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the current pulse torque is maintained as the first pulse torque.

[0080] Determine whether the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter.

[0081] If so, then maintain the current pulse torque as the first pulse torque.

[0082] If not, adjust the current pulse torque to a pulse torque that decreases progressively relative to the first pulse torque, until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until it has been adjusted to the preset minimum pulse torque.

[0083] In this embodiment, if the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period, it indicates that there is still no perceptible jitter, and the first pulse torque can continue to be maintained during the torque reduction phase. Specifically, after maintaining this for one control cycle, the current round of torque adaptive adjustment is exited to enter the next round of pulse torque adaptive adjustment.

[0084] As an example, the fourth speed fluctuation parameter mentioned above, which is less than the preset speed fluctuation speed, can be defined as the third speed fluctuation parameter being less than the preset speed fluctuation parameter in any control cycle within the fourth preset duration. The fourth preset duration can be an integer multiple of the control cycle, and can be equivalent to or different from the second preset duration. As an example, the fourth preset duration may be equal to 10 control cycles.

[0085] If, after maintaining the first pulse torque, the fourth speed fluctuation parameter of the motor does not meet the requirement of being less than the preset speed fluctuation speed within the fourth preset time period, it indicates that there is a perceived jitter, and therefore the pulse torque needs to be reduced. Based on this, the pulse torque can be adjusted to a pulse torque that decreases progressively relative to the first pulse torque until the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period.

[0086] In some embodiments, adjusting the pulse torque to a pulse torque that decreases progressively relative to the first pulse torque includes: Based on the preset mapping relationship between motor speed and pulse torque, the pulse torque that is less than the first pulse torque is searched step by step, and the pulse torque is adjusted to the currently found pulse torque.

[0087] In this embodiment, the step-by-step search can first find the sixth pulse torque, which is less than the first pulse torque and closest to the first pulse torque. Then, after adjusting the pulse torque to the sixth pulse torque, it is determined whether the fourth speed fluctuation parameter within the fourth preset time period is less than the preset speed fluctuation parameter, or whether it has been adjusted to the minimum pulse torque in the mapping relationship. If yes, the current round of torque pulse adaptive adjustment is exited, or the sixth pulse torque is maintained for one cycle before exiting the current round of torque pulse adaptive adjustment. If no, the search continues to find the seventh pulse torque, which is less than the sixth pulse torque and closest to the sixth pulse torque, and so on, until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until it has been adjusted to the minimum pulse torque.

[0088] In this implementation, considering the characteristics of the torque reduction phase, a strategy is adopted to maintain the current pulse torque when there is no jitter and gradually reduce the torque when jitter occurs. This avoids unnecessary torque adjustments to preserve efficiency and gradually suppresses the risk of jitter, ultimately improving the stability of the electric drive system during the torque reduction phase, thus balancing efficiency and stability.

[0089] To better understand the solutions of the embodiments of this application, the following is combined with... Figure 2 An example is provided.

[0090] See Figure 2 After entering one round of torque pulse adaptive adjustment, it enters... Figure 2 After the activity starts, obtain the preset speed fluctuation parameters. Obtain the latest collected motor speed. Calculate the torque change rate Speed ​​fluctuation parameters .

[0091] Maintain within 200 control cycles The corresponding pulse torque T ( ).

[0092] If it is in the torque increase phase (within 200 control cycles) (greater than 0) and Then obtain the latest collected motor speed. The current pulse torque is linearly increased to [value] within 1 second. The corresponding pulse torque T ( After that, determine whether 10 control cycles have passed. If so, then maintain a control period of T ( After exiting the current round of adaptive torque adjustment, it will proceed to the next round of adaptive torque adjustment; otherwise, the pulse torque will be adjusted to... The corresponding pulse torque T ( Then exit the current round of torque adaptive adjustment.

[0093] If it is in the torque increase phase (within 200 control cycles) (greater than 0) and Then adjust the pulse torque to (Minimum is the preset minimum speed) The corresponding pulse torque T () If it is in the torque increase phase (within 200 control cycles) (greater than 0) Then adjust the pulse torque to (Minimum is the preset minimum speed) The corresponding pulse torque T () After reducing the pulse torque, determine whether 10 control cycles have passed. If so, adjust the pulse torque to... The corresponding pulse torque T ( If not, exit the torque adaptive adjustment for this round; otherwise, exit the torque pulse function directly.

[0094] If it is in the torque reduction phase (within 200 control cycles) (less than 0) and Then maintain T( Determine if 10 control cycles have passed. If so, then maintain a control period of T ( After exiting the current round of torque adaptive adjustment, it will enter the next round of torque adaptive adjustment; otherwise, the adjustment pulse torque will be relative to T( The pulse torque decreases gradually until 10 control cycles are completed. Or it has been adjusted to the preset minimum pulse torque.

[0095] If it is in the torque reduction phase (within 200 control cycles) (less than 0) and Then adjust to the preset minimum speed. The corresponding pulse torque T ( After that, exit the current round of adaptive torque adjustment. If it is in the torque reduction phase (within 200 control cycles)... (less than 0) and Then the torque pulse function will be deactivated.

[0096] It should be understood that although the steps in the flowchart above are shown sequentially as indicated by the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless explicitly stated herein, there is no strict order restriction on the execution of these steps, and they can be executed in other orders. Moreover, at least some steps in the flowchart above may include multiple sub-steps or multiple stages. These sub-steps or stages are not necessarily completed at the same time, but can be executed at different times. The execution order of these sub-steps or stages is not necessarily sequential, but can be performed alternately or in turn with other steps or at least some of the sub-steps or stages of other steps.

[0097] Based on the same inventive concept, please refer to Figure 3As shown, this embodiment provides a pulse torque adjustment device, including: a first acquisition module 301, used to acquire the latest collected first motor speed when the torque pulse function is enabled; a first determination module 302, used to determine the pulse torque within a first preset time period as the first pulse torque corresponding to the first motor speed; wherein, the pulse torque is positively correlated with the motor speed; a second determination module 303, used to determine a second motor speed less than the first motor speed if the first speed fluctuation parameter of the motor within the first preset time period is greater than a preset speed fluctuation parameter; wherein, the preset speed fluctuation parameter is a pre-calibrated minimum motor speed fluctuation parameter for sensing vehicle vibration; and a first adjustment module 304, used to adjust the current pulse torque to the second pulse torque corresponding to the second motor speed.

[0098] In some embodiments, the second determining module 303 is specifically used to: if the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter and less than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the first preset value is determined as the second motor speed; wherein N is greater than 1; if the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the second preset value is determined as the second motor speed; wherein both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

[0099] In some embodiments, the device further includes: a first judgment module, configured to, if in the torque rising phase, determine whether the second speed fluctuation parameter of the motor within a second preset time period is less than the preset speed fluctuation parameter; a second adjustment module, configured to, if yes, sum the first motor speed and a third preset value to obtain a third motor speed, and adjust the current pulse torque to the third pulse torque corresponding to the third motor speed; wherein the third preset value is greater than 0; and an exit module, configured to, if no, exit the torque pulse function.

[0100] In some embodiments, the second determining module 303 is specifically used to: if the torque is decreasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter and less than M times the preset speed fluctuation parameter, then determine the preset minimum speed as the second motor speed; wherein the preset minimum speed is the minimum motor speed that the torque pulse function is enabled in a pre-calibrated manner, and M is greater than 1.

[0101] In some embodiments, the exit module is further configured to: exit the torque pulse function if the torque is decreasing and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter.

[0102] In some embodiments, the device further includes: a second acquisition module, configured to acquire the latest collected fourth motor speed if the torque is increasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter; a third adjustment module, configured to adjust the current pulse torque to the fourth pulse torque corresponding to the fourth motor speed; a second judgment module, configured to judge whether the third speed fluctuation parameter of the motor within a third preset time period is less than the preset speed fluctuation parameter; a fourth adjustment module, configured to maintain the current pulse torque as the fourth pulse torque if yes; and a fifth adjustment module, configured to determine a fifth motor speed less than the fourth motor speed if no, and adjust the current pulse torque to the fifth pulse torque corresponding to the fifth motor speed.

[0103] In some embodiments, the device further includes: a sixth adjustment module, configured to maintain the current pulse torque as the first pulse torque if the torque is decreasing and the first speed fluctuation parameter is less than a preset speed fluctuation parameter; a third judgment module, configured to determine whether the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within a fourth preset time period; a seventh adjustment module, configured to maintain the current pulse torque as the first pulse torque if yes; and an eighth adjustment module, configured to adjust the current pulse torque to a pulse torque that decreases progressively relative to the first pulse torque if no, until the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period, or until a preset minimum pulse torque has been reached.

[0104] It should be understood that, for the sake of brevity, some of the content described in the previous embodiments will not be repeated in this embodiment.

[0105] Based on the same inventive concept, embodiments of this application provide a computer device, which may be a server, and its internal structure diagram may be as follows: Figure 4 As shown, the computer device includes a processor, memory, and a network interface connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The network interface is used to communicate with external terminals via a network connection. When the computer program is executed by the processor, it implements a text classification method.

[0106] Those skilled in the art will understand that Figure 4The structure shown is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation on the computer device to which the present application is applied. Specific computer devices may include more or fewer components than those shown in the figure, or combine certain components, or have different component arrangements.

[0107] Based on the same inventive concept, this application provides a computer device, including a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, it performs the following steps: when the torque pulse function is enabled, it acquires the latest collected first motor speed; determines the pulse torque within a first preset time period as the first pulse torque corresponding to the first motor speed; wherein the pulse torque is positively correlated with the motor speed; if the first speed fluctuation parameter of the motor within the first preset time period is greater than a preset speed fluctuation parameter, it determines a second motor speed that is less than the first motor speed; wherein the preset speed fluctuation parameter is a pre-calibrated minimum motor speed fluctuation parameter for sensing vehicle vibration; and adjusts the current pulse torque to the second pulse torque corresponding to the second motor speed.

[0108] In some embodiments, when the processor executes the computer program, it performs the following steps: if it is in the torque increase phase, and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter and less than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the first preset value is determined as the second motor speed; wherein, N is greater than 1; if it is in the torque increase phase, and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the second preset value is determined as the second motor speed; wherein, both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

[0109] In some embodiments, when the processor executes the computer program, it performs the following steps: if it is in the torque rising phase, it determines whether the second speed fluctuation parameter of the motor within the second preset time period is less than the preset speed fluctuation parameter; if so, it sums the first motor speed with the third preset value to obtain the third motor speed, and adjusts the current pulse torque to the third pulse torque corresponding to the third motor speed; wherein the third preset value is greater than 0; if not, it exits the torque pulse function.

[0110] In some embodiments, when the processor executes a computer program, it performs the following steps: if it is in the torque reduction phase, and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter and less than M times the preset speed fluctuation parameter, then the preset minimum speed is determined to be the second motor speed; wherein, the preset minimum speed is the minimum motor speed that is enabled by the torque pulse function in a pre-calibrated manner, and M is greater than 1.

[0111] In some embodiments, when the processor executes a computer program, it performs the following steps: if it is in the torque reduction phase and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter, then it exits the torque pulse function.

[0112] In some embodiments, when the processor executes the computer program, it performs the following steps: if it is in the torque increase phase and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then it acquires the latest collected fourth motor speed; adjusts the current pulse torque to the fourth pulse torque corresponding to the fourth motor speed; determines whether the third speed fluctuation parameter of the motor within a third preset time period is less than the preset speed fluctuation parameter; if yes, it maintains the current pulse torque as the fourth pulse torque; if no, it determines the speed of the fifth motor which is less than the speed of the fourth motor, and adjusts the current pulse torque to the fifth pulse torque corresponding to the speed of the fifth motor.

[0113] In some embodiments, when the processor executes the computer program, it performs the following steps: if it is in the torque reduction phase and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then maintain the current pulse torque as the first pulse torque; determine whether the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter; if yes, maintain the current pulse torque as the first pulse torque; if no, adjust the current pulse torque to decrease gradually relative to the first pulse torque until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until it has been adjusted to a preset minimum pulse torque.

[0114] Those skilled in the art will understand that all or part of the processes in the above embodiments can be implemented by a computer program instructing related hardware. The computer program can be stored in a non-volatile computer-readable storage medium. When executed, the computer program can include the processes of the embodiments described above. Any references to memory, storage, databases, or other media used in the embodiments provided in this application can include non-volatile and / or volatile memory. Non-volatile memory may include read-only memory (ROM), programmable ROM (PROM), electrically programmable ROM (EPROM), electrically erasable programmable ROM (EEPROM), or flash memory. Volatile memory may include random access memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms, such as static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), dual data rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous link DRAM (SLDRAM), RAMbus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), etc.

[0115] The technical features of the above embodiments can be combined in any way. For the sake of brevity, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, they should be considered to be within the scope of this specification.

[0116] The embodiments described above are merely illustrative of several implementation methods of this application, and while the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the invention patent. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of this application, and these all fall within the protection scope of this application. Therefore, the protection scope of this patent application should be determined by the appended claims.

Claims

1. A method for adjusting pulse torque, characterized in that, The method includes: With the torque pulse function enabled, acquire the latest collected first motor speed; The pulse torque within a first preset duration is determined as the first pulse torque corresponding to the first motor speed; wherein, the pulse torque is positively correlated with the motor speed; If the first speed fluctuation parameter of the motor is greater than the preset speed fluctuation parameter within the first preset time period, then the second motor speed, which is less than the first motor speed, is determined; wherein, the preset speed fluctuation parameter is the minimum motor speed fluctuation parameter for sensing vehicle vibration that is pre-calibrated. Adjust the current pulse torque to the second pulse torque corresponding to the second motor speed.

2. The method for adjusting pulse torque according to claim 1, characterized in that, Determining the speed of the second motor, which is less than the speed of the first motor, includes: If the torque is increasing and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the first preset value is determined as the second motor speed; where N is greater than 1. If the torque is increasing and the first speed fluctuation parameter is greater than N times the preset speed fluctuation parameter, then the difference between the first motor speed and the second preset value is determined as the second motor speed; wherein, both the second preset value and the first preset value are greater than 0, and the second preset value is greater than the first preset value.

3. The method for adjusting pulse torque according to claim 1 or 2, characterized in that, After adjusting the current pulse torque to the second pulse torque corresponding to the second motor speed, the method further includes: If the torque is increasing, determine whether the second speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the second preset time period; If so, the first motor speed and the third preset value are summed to obtain the third motor speed, and the current pulse torque is adjusted to the third pulse torque corresponding to the third motor speed; wherein, the third preset value is greater than 0; If not, then exit the torque pulse function.

4. The method for adjusting pulse torque according to claim 1, characterized in that, Determining the speed of the second motor, which is less than the speed of the first motor, includes: If the torque is decreasing, and the first speed fluctuation parameter is greater than the preset speed fluctuation parameter but less than M times the preset speed fluctuation parameter, then the preset minimum speed is determined to be the second motor speed; wherein, the preset minimum speed is the minimum motor speed enabled by the torque pulse function as pre-calibrated, and M is greater than 1.

5. The method for adjusting pulse torque according to claim 4, characterized in that, After determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the speed of the first motor, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is greater than M times the preset speed fluctuation parameter, then the torque pulse function is exited.

6. The method for adjusting pulse torque according to claim 1, characterized in that, After determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the speed of the first motor, the method further includes: If the torque is increasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the latest collected speed of the fourth motor is obtained. Adjust the current pulse torque to the fourth pulse torque corresponding to the speed of the fourth motor; Determine whether the third speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the third preset time period; If so, then maintain the current pulse torque as the fourth pulse torque; If not, then determine the speed of the fifth motor which is less than the speed of the fourth motor, and adjust the current pulse torque to the fifth pulse torque corresponding to the speed of the fifth motor.

7. The method for adjusting pulse torque according to claim 1, characterized in that, After determining that the pulse torque within the first preset time period is the first pulse torque corresponding to the speed of the first motor, the method further includes: If the torque is decreasing and the first speed fluctuation parameter is less than the preset speed fluctuation parameter, then the current pulse torque is maintained as the first pulse torque. Determine whether the fourth speed fluctuation parameter of the motor is less than the preset speed fluctuation parameter within the fourth preset time period; If so, then maintain the current pulse torque as the first pulse torque; If not, the current pulse torque is adjusted to a pulse torque that decreases progressively relative to the first pulse torque, until the fourth speed fluctuation parameter of the motor within the fourth preset time period is less than the preset speed fluctuation parameter, or until it has been adjusted to the preset minimum pulse torque.

8. A pulse torque regulating device, characterized in that, The device includes: The first acquisition module is used to acquire the latest collected first motor speed when the torque pulse function is enabled; The first determining module is used to determine the pulse torque within a first preset time period as the first pulse torque corresponding to the first motor speed; wherein the pulse torque is positively correlated with the motor speed; The second determining module is used to determine a second motor speed that is less than the first motor speed if the first speed fluctuation parameter of the motor is greater than the preset speed fluctuation parameter within the first preset time period; wherein, the preset speed fluctuation parameter is a pre-calibrated minimum motor speed fluctuation parameter for sensing vehicle vibration. The first adjustment module is used to adjust the pulse torque to the second pulse torque corresponding to the speed of the second motor.

9. An electronic device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program, and the processor executes the computer program to implement the method as described in any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by at least one processor, implements the method as described in any one of claims 1-7.

Images