Vehicle torque zero-crossing control method and device, electronic equipment, medium and product

Abstract

The invention discloses a vehicle torque zero-crossing control method and device, electronic equipment, a medium and a product. The method comprises: acquiring an actual rotating speed of a motor; calculating torque upper and lower limit values according to the actual rotating speed of the motor; receiving a torque command; and when the absolute value of the torque instruction is smaller than a preset torque threshold value, torque zero-crossing control is conducted on the vehicle according to the torque upper and lower limit values and the torque instruction. The method can solve the problem that the vehicle generates rushing and tooth knocking sound due to the gear clearance when the torque of the electric vehicle crosses zero.

Description

Technical Field

[0001] This application relates to the field of vehicle control technology, specifically to a vehicle torque zero-crossing control method, device, electronic equipment, readable storage medium, and computer program product. Background Technology

[0002] When an electric vehicle is in motion, a change in the direction of the driving torque can cause a sudden change in the rotational inertia of the drive shaft due to gear backlash in the transmission system, leading to an abnormal increase in angular acceleration. When the drive shaft and driven shaft re-engage, the significant difference in rotational speed causes noticeable jerking and knocking noises, severely impacting driving smoothness and comfort. To address this issue, existing technologies often employ open-loop control strategies, such as pre-setting a torque zero-crossing curve through the vehicle controller to achieve torque transition. However, this method requires calibrating a large number of detailed parameters, a complex and time-consuming process, and struggles to maintain ideal control performance under various operating conditions, limiting its practical application. Summary of the Invention

[0003] In view of the above problems, this application provides a vehicle torque zero-crossing control method, device, electronic device, readable storage medium and computer program product, which can solve the problem of electric vehicles jerking and knocking noise caused by gear backlash when the torque crosses zero.

[0004] In a first aspect, this application provides a method for controlling vehicle torque zero crossing, including: Obtain the actual motor speed; Calculate the upper and lower limits of torque based on the actual speed of the motor; Receive torque command; When the absolute value of the torque command is less than a preset torque threshold, the vehicle is subjected to torque zero-crossing control based on the upper and lower torque limits and the torque command.

[0005] In the above technical solution, this method can provide real-time and accurate speed data for torque control based on the actual speed of the motor, ensuring the targeted nature of the control; at the same time, it clarifies the torque adjustment boundary by calculating the upper and lower limits of torque, avoiding the torque from exceeding the reasonable range and aggravating jerking; then, it accurately captures the demand through the torque command input by the user, providing a target reference for zero-crossing control; finally, through torque zero-crossing control, it can accurately adjust the torque at the critical stage when it is close to zero, effectively suppressing jerking and tooth knocking noise, thereby improving driving smoothness, and avoiding the calibration process of complex parameters, making it adaptable to more working conditions.

[0006] In some embodiments, calculating the upper and lower limits of torque based on the actual speed of the motor includes: The actual speed of the motor is smoothed and filtered to obtain the filtered speed value; Calculate the speed limit range based on the filtered speed value and the preset bias value; The upper and lower limits of torque are determined based on the speed limit range and the actual speed of the motor.

[0007] In the above technical solution, the method can ensure the stability of speed data and the accuracy of speed limit range, achieve dynamic and accurate matching of upper and lower torque limits, and avoid torque adjustment deviation.

[0008] In some implementations, calculating the speed limit range based on the filtered speed value and a preset bias value includes: The upper limit of the rotational speed is obtained by calculating the sum of the filtered rotational speed value and the preset bias value. Calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; The speed limit range is determined based on the upper speed limit and the lower speed limit.

[0009] In the above technical solution, this method can quickly and accurately define the clear boundary of the speed limit range, providing a stable and reliable reference benchmark for the subsequent determination of the upper and lower limits of torque, and ensuring the accuracy of the torque control boundary.

[0010] In some implementations, determining the upper and lower torque limits based on the speed limit range and the actual motor speed includes: The actual speed of the motor is compared with the speed limit range to obtain the upper limit error signal and the lower limit error signal; The upper limit value of torque is calculated using the proportional-integral controller and the upper limit error signal; The lower limit value of torque is calculated using the proportional-integral controller and the lower limit error signal; By summing the upper limit and lower limit of torque, the upper and lower limit values ​​of torque are obtained.

[0011] In the above technical solution, the method can achieve closed-loop precise control of the upper and lower limits of torque, improve the matching accuracy of torque boundary with real-time operating conditions, and ensure the timeliness and stability of torque zero-crossing control.

[0012] In some embodiments, the step of performing torque zero-crossing control on the vehicle based on the upper and lower torque limits and the torque command includes: The torque command is limited based on the upper and lower torque limits to obtain a zero-crossing torque command. The vehicle is controlled accordingly based on the zero-crossing torque command.

[0013] In the above technical solution, the method can accurately constrain the torque output range during the zero-crossing stage, avoid gear meshing impact caused by sudden torque changes, thereby effectively suppressing vehicle jerking and tooth knocking noise, and improving driving smoothness.

[0014] In some embodiments, the step of limiting the torque command based on the upper and lower torque limits to obtain a zero-crossing torque command includes: When the torque command is greater than the upper limit value of torque, the value of the torque command is restricted to the upper limit value of torque to obtain a zero-crossing torque command; When the torque command is less than the lower torque limit, the value of the torque command is restricted to the lower torque limit to obtain a zero-crossing torque command.

[0015] In the above technical solution, the method can strictly limit the output boundary of the zero-crossing torque command, avoid the torque from exceeding the reasonable range and causing gear backlash impact, ensure smooth torque transition, and further suppress vehicle jerking and tooth knocking noise.

[0016] Secondly, this application provides a vehicle torque zero-crossing control device, comprising: The acquisition unit is used to acquire the actual speed of the motor. The calculation unit is used to calculate the upper and lower limits of torque based on the actual speed of the motor; The receiving unit is used to receive torque commands; The control unit is used to perform torque zero-crossing control on the vehicle based on the upper and lower limits of torque and the torque command when the absolute value of the torque command is less than a preset torque threshold.

[0017] In the above technical solution, the device can provide real-time and accurate speed data for torque control based on the actual speed of the motor, ensuring the control is targeted; at the same time, it can clarify the torque adjustment boundary by calculating the upper and lower limits of torque, avoiding the torque from exceeding the reasonable range and aggravating jerking; then, it can accurately capture the demand through the torque command input by the user, providing a target reference for zero-crossing control; finally, through torque zero-crossing control, it can accurately adjust the torque at the critical stage when it is close to zero, effectively suppressing jerking and tooth knocking noise, thereby improving driving smoothness, and avoiding the calibration process of complex parameters, making it adaptable to more working conditions.

[0018] In some implementations, the computing unit includes: The filtering subunit is used to perform smoothing filtering on the actual motor speed to obtain the filtered speed value; The calculation subunit is used to calculate the speed limit range based on the filtered speed value and the preset bias value; The sub-unit is used to determine the upper and lower limits of torque based on the speed limit range and the actual speed of the motor.

[0019] In the above technical solution, the method can ensure the stability of speed data and the accuracy of speed limit range, achieve dynamic and accurate matching of upper and lower torque limits, and avoid torque adjustment deviation.

[0020] In some implementations, the calculation subunit is specifically used to calculate the sum of the filtered speed value and the preset bias value to obtain the upper limit of the speed; calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; and determine the speed limit range based on the upper limit and the lower limit of the speed.

[0021] In the above technical solution, this method can quickly and accurately define the clear boundary of the speed limit range, providing a stable and reliable reference benchmark for the subsequent determination of the upper and lower limits of torque, and ensuring the accuracy of the torque control boundary.

[0022] In some implementations, a sub-unit is defined, specifically for comparing the actual motor speed with the speed limit range to obtain an upper limit error signal and a lower limit error signal; calculating the upper limit torque value using a proportional-integral controller and the upper limit error signal; calculating the lower limit torque value using a proportional-integral controller and the lower limit error signal; and summing the upper limit torque value and the lower limit torque value to obtain the upper and lower limit torque values.

[0023] In the above technical solution, the method can achieve closed-loop precise control of the upper and lower limits of torque, improve the matching accuracy of torque boundary with real-time operating conditions, and ensure the timeliness and stability of torque zero-crossing control.

[0024] In some implementations, the control unit includes: The limiting subunit is used to limit the torque command according to the upper and lower torque limits to obtain the zero-crossing torque command. The control subunit is used to control the vehicle accordingly based on the zero-crossing torque command.

[0025] In the above technical solution, the method can accurately constrain the torque output range during the zero-crossing stage, avoid gear meshing impact caused by sudden torque changes, thereby effectively suppressing vehicle jerking and tooth knocking noise, and improving driving smoothness.

[0026] In some implementations, the limiting subunit is specifically used to limit the value of the torque command to the upper limit value when the torque command is greater than the upper limit value, thereby obtaining a zero-crossing torque command; and to limit the value of the torque command to the lower limit value when the torque command is less than the lower limit value, thereby obtaining a zero-crossing torque command.

[0027] In the above technical solution, the method can strictly limit the output boundary of the zero-crossing torque command, avoid the torque from exceeding the reasonable range and causing gear backlash impact, ensure smooth torque transition, and further suppress vehicle jerking and tooth knocking noise.

[0028] Thirdly, this application provides an electronic device including a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle torque zero-crossing control method described in any one of the first aspects.

[0029] Fourthly, this application provides a readable storage medium storing a computer program, which, when executed by a processor, performs the vehicle torque zero-crossing control method described in any one of the first aspects.

[0030] Fifthly, this application provides a computer program product comprising a computer program that, when executed by a processor, performs the vehicle torque zero-crossing control method described in any one of the first aspects.

[0031] The beneficial effect of this application is that it avoids the problem of jerking and knocking noise caused by gear backlash when the torque of an electric vehicle crosses zero. Attached Figure Description

[0032] To more clearly illustrate the technical solutions of the embodiments of this application, the accompanying drawings used in the embodiments of this application will be briefly introduced below. It should be understood that the following drawings only show some embodiments of this application and should not be regarded as a limitation of the scope. For those skilled in the art, other related drawings can be obtained based on these drawings without creative effort.

[0033] Figure 1 This is a flowchart illustrating the vehicle torque zero-crossing control method in some embodiments of this application; Figure 2 This is a flowchart illustrating the vehicle torque zero-crossing control method in some embodiments of this application; Figure 3 This is a logic flowchart of vehicle torque zero-crossing control in some embodiments of this application; Figure 4 This is a schematic diagram of the vehicle torque zero-crossing control device in some embodiments of this application; Figure 5 This is a schematic diagram of the structure of an electronic device in some embodiments of this application. Detailed Implementation

[0034] The embodiments of the technical solution of this application will now be described in detail with reference to the accompanying drawings. These embodiments are only used to more clearly illustrate the technical solution of this application and are therefore merely examples, and should not be used to limit the scope of protection of this application.

[0035] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application pertains; the terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the application; the terms “comprising” and “having”, and any variations thereof, in the specification, claims, and foregoing description of the drawings are intended to cover non-exclusive inclusion.

[0036] In the description of the embodiments of this application, technical terms such as "first" and "second" are used only to distinguish different objects and should not be construed as indicating or implying relative importance or implicitly specifying the number, specific order, or primary and secondary relationship of the indicated technical features. In the description of the embodiments of this application, "multiple" means two or more (including two), similarly, "multiple sets" refers to two or more sets (including two sets), and "multiple pieces" refers to two or more pieces (including two pieces) unless otherwise explicitly defined.

[0037] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of this application. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0038] In the description of the embodiments in this application, the term "and / or" is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this document generally indicates that the preceding and following related objects have an "or" relationship.

[0039] During the operation of an electric vehicle, there is gear backlash between the drive and driven gears. When torque is reversed, the rotational inertia of the drive shaft changes abruptly from the vehicle's overall inertia to the gear's rotational inertia. However, when the torque remains constant, this abrupt change in inertia can lead to an unexpected increase in the drive shaft's angular acceleration. When the input and output shafts mesh again, the significant difference in rotational speed at the shaft ends can easily cause vehicle jerking and gear knocking noises.

[0040] To address this issue, most existing torque zero-crossing methods are open-loop, which only specify a preset torque zero-crossing curve through the VCU. Furthermore, they typically optimize torque control by employing numerous parameter calibrations, thus consuming a significant amount of vehicle calibration time.

[0041] To address the aforementioned technical issues, this application provides a vehicle torque zero-crossing control method. This method calculates upper and lower torque limits based on the actual motor speed; and when the absolute value of the received torque command is less than a preset torque threshold, it performs torque zero-crossing control on the vehicle based on the upper and lower torque limits and the torque command.

[0042] Based on this, the method can avoid the problems of jerking and knocking noise caused by gear backlash when the torque of an electric vehicle crosses zero, thus solving the problems in existing methods.

[0043] like Figure 1 As shown, some embodiments of this application provide a vehicle torque zero-crossing control method, which includes: S101, Obtain the actual motor speed; S102. Calculate the upper and lower limits of torque based on the actual speed of the motor; S103, Receive torque command; S104. When the absolute value of the torque command is less than the preset torque threshold, the vehicle is controlled to cross zero torque according to the upper and lower limits of torque and the torque command.

[0044] In some embodiments, the actual rotational speed of the motor refers to the real-time rotational speed of the motor output shaft during vehicle operation.

[0045] In some embodiments, the torque upper and lower limits refer to the upper and lower limits calculated based on the actual speed of the motor, used to constrain the torque output range during the zero-crossing phase.

[0046] In some embodiments, torque command refers to a command signal triggered by the driver through operation (such as pressing the accelerator pedal or brake pedal) to control the output torque of the motor.

[0047] In some embodiments, the preset torque threshold refers to a pre-set critical torque value used to determine whether the torque is in the zero-crossing stage. When the absolute value of the torque command is less than this value, torque zero-crossing control is triggered.

[0048] In some embodiments, torque zero-crossing control refers to the control process of adjusting the torque command based on the upper and lower limits of torque when the torque command is close to zero (the absolute value is less than a preset torque threshold) in order to avoid sudden torque changes.

[0049] For example, this method can obtain the actual speed of the motor (denoted as n) through a rotary transformer.

[0050] Additionally, this method can also transcribe torque commands as torqset; The preset torque threshold (the torque threshold for entering zero-crossing control) is denoted as Torq_Thd (the critical value for triggering zero-crossing control).

[0051] In the above embodiments, the method can provide real-time and accurate speed data for torque control based on the actual speed of the motor, ensuring the targeted nature of the control; at the same time, by calculating the upper and lower limits of torque, the torque adjustment boundary is clearly defined to avoid the torque exceeding the reasonable range and aggravating jerking; then, the demand is accurately captured by the torque command input by the user, providing a target reference for zero-crossing control; finally, through torque zero-crossing control, precise regulation can be achieved at the critical stage when the torque is close to zero, effectively suppressing jerking and tooth knocking noise, thereby improving driving smoothness, and avoiding the calibration process of complex parameters, making it adaptable to more operating conditions.

[0052] In some embodiments, calculating the upper and lower limits of torque based on the actual speed of the motor includes: The actual motor speed is smoothed and filtered to obtain the filtered speed value; Calculate the speed limit range based on the filtered speed value and the preset bias value; Determine the upper and lower limits of torque based on the speed limit range and the actual speed of the motor.

[0053] For example, the formula for smoothing filtering (low-pass filtering) is shown below: n_LPF(k)=Ts / (tao+Ts)n(k)+tao / (tao+Ts)n_LPF(k-1); Where Ts is the calculation period; tao = 2 * Π * cutoff frequency (tao is obtained through calibration); n_LPF is the filtered rotational speed value; n is the actual speed of the motor (used for comparison with the speed limit range).

[0054] In the above embodiments, the method can ensure the stability of speed data and the accuracy of speed limit range, achieve dynamic and accurate matching of upper and lower torque limits, and avoid torque adjustment deviation.

[0055] In some embodiments, the speed limit range is calculated based on the filtered speed value and a preset bias value, including: The upper limit of the speed is obtained by calculating the sum of the filtered speed value and the preset bias value. Calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; The speed limit range is determined based on the upper and lower speed limits.

[0056] For example, the upper limit of rotational speed is spdlmtUp = n_LPF + Bias; The lower limit of rotational speed is spdlmtDown = n_LPF - Bias; Bias (needs to be calibrated).

[0057] In the above embodiments, the method can quickly and accurately define the clear boundaries of the speed limit range, providing a stable and reliable reference benchmark for the subsequent determination of the upper and lower torque limits, and ensuring the accuracy of the torque control boundary.

[0058] In some embodiments, determining the upper and lower limits of torque based on the speed limit range and the actual speed of the motor includes: By comparing the actual motor speed with the speed limit range, the upper limit error signal and the lower limit error signal are obtained; The upper limit of torque is calculated using a proportional-integral controller and an upper limit error signal; The lower limit of torque is calculated using a proportional-integral controller and a lower limit error signal. By summing the upper and lower torque values, we obtain the upper and lower torque limits.

[0059] For example, the upper limit error signal is: err1 = spdlmtUp-n; Lower limit error signal: err2=spdlmtDown-n; Torque limit: Torqmax=max(0,kperr1+kierr1 / s) (kp=proportional coefficient, ki=integral coefficient, core formula of proportional-integral controller). Torque lower limit: Torqmin=min(0,kperr2+kierr2 / s) (core formula of proportional-integral controller).

[0060] In the above embodiments, the method can achieve closed-loop precise control of the upper and lower limits of torque, improve the matching accuracy of torque boundary with real-time operating conditions, and ensure the timeliness and stability of torque zero-crossing control.

[0061] In some embodiments, torque zero-crossing control of the vehicle is performed based on upper and lower torque limits and torque commands, including: The torque command is limited based on the upper and lower torque limits to obtain the zero-crossing torque command. The vehicle is controlled accordingly based on the zero-crossing torque command.

[0062] For example, the zero-crossing torque command is denoted as torqset_crosszero (obtained by limiting torqset using upper and lower torque limits). Triggering condition: abs(torqset) <Torq_Thd。

[0063] In the above embodiments, the method can accurately constrain the torque output range during the zero-crossing phase, avoid gear meshing impact caused by sudden torque changes, thereby effectively suppressing vehicle jerking and tooth knocking noise, and improving driving smoothness.

[0064] In some embodiments, the torque command is limited according to the upper and lower torque limits to obtain a zero-crossing torque command, including: When the torque command is greater than the torque limit value, the value of the torque command is restricted to the torque limit value, resulting in a zero-crossing torque command; When the torque command is less than the lower torque limit, the value of the torque command is restricted to the lower torque limit, resulting in a zero-crossing torque command.

[0065] For example, the limiting rules are as follows: When torqset >= Torqmax, torqset_crosszero = Torqmax; When torqset <= Torqmin, torqset_crosszero = Torqmin.

[0066] In the above embodiments, the method can strictly limit the output boundary of the zero-crossing torque command, avoid the torque from exceeding the reasonable range and causing gear backlash impact, ensure smooth torque transition, and further suppress vehicle jerking and tooth knocking noise.

[0067] To make the objectives, technical solutions, and advantages of this application clearer, the technical solutions in this application will be clearly and completely described below. In some embodiments, such as Figure 2 As shown, the vehicle torque zero-crossing control method includes: S201. Obtain the actual motor speed; S202. Perform a smoothing filter on the actual motor speed to obtain the filtered speed value; S203. Calculate the sum of the filtered speed value and the preset bias value to obtain the upper limit of the speed; S204. Calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; S205. Determine the speed limit range based on the upper and lower speed limits; S206. Compare the actual motor speed with the speed limit range to obtain the upper limit error signal and the lower limit error signal; S207. Calculate the upper limit value of torque using the proportional-integral controller and the upper limit error signal; S208. Calculate the lower limit value of torque using the proportional-integral controller and the lower limit error signal; S209. Summarize the upper limit and lower limit of torque to obtain the upper and lower limit values ​​of torque; S210, Receive torque command; S211. When the absolute value of the torque command is less than the preset torque threshold, when the torque command is greater than the upper limit of the torque value, the value of the torque command is restricted to the upper limit of the torque value to obtain a zero-crossing torque command; when the torque command is less than the lower limit of the torque value, the value of the torque command is restricted to the lower limit of the torque value to obtain a zero-crossing torque command. S212. Control the vehicle accordingly based on the zero-crossing torque command.

[0068] In some embodiments, Figure 3 A logic flowchart for vehicle torque zero-crossing control is shown. The input to this logic path is the actual motor speed n, which is first processed by a low-pass filter to obtain the filtered speed n_LPF. Then, based on n_LPF and the bias value Bias, the upper and lower speed limits (n_LPF+Bias, n_LPF) are calculated respectively. The upper and lower torque limits Torqmax and Torqmin are obtained through the "Torque Upper / Lower Limit Speed ​​Loop" module. Finally, combined with the "Torque Command", the "Torque Limit Processing" module outputs the final "Zero Crossing Torque", achieving smooth control of the torque zero crossing stage.

[0069] Figure 4 A schematic diagram of a vehicle torque zero-crossing control device is shown. It should be understood that this device is related to... Figure 1 The method executed in the middle corresponds to the steps involved in the aforementioned method. The specific functions and effects of the device can be found in the description above. To avoid repetition, detailed descriptions are omitted here.

[0070] The vehicle torque zero-crossing control device includes: Acquisition unit 310 is used to acquire the actual speed of the motor; The calculation unit 320 is used to calculate the upper and lower limits of torque based on the actual speed of the motor. Receiver unit 330 is used to receive torque commands; The control unit 340 is used to control the vehicle to zero torque based on the upper and lower limits of torque and the torque command when the absolute value of the torque command is less than a preset torque threshold.

[0071] In some embodiments, the computing unit 320 includes: The filter subunit 321 is used to perform smoothing filtering on the actual speed of the motor to obtain the filtered speed value; The calculation subunit 322 is used to calculate the speed limit range based on the filtered speed value and the preset bias value; Subunit 323 is defined to determine the upper and lower limits of torque based on the speed limit range and the actual speed of the motor.

[0072] In some embodiments, the calculation subunit 322 is specifically used to calculate the sum of the filtered speed value and the preset bias value to obtain the upper limit of the speed; calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; and determine the speed limit range based on the upper limit and the lower limit of the speed.

[0073] In some embodiments, the subunit 323 is specifically used to compare the actual speed of the motor with the speed limit range to obtain an upper limit error signal and a lower limit error signal; calculate the upper limit value of torque using the proportional-integral controller and the upper limit error signal; calculate the lower limit value of torque using the proportional-integral controller and the lower limit error signal; and summarize the upper limit value of torque and the lower limit value of torque to obtain the upper and lower limit values ​​of torque.

[0074] In some embodiments, the control unit 340 includes: The limiting subunit 341 is used to limit the torque command according to the upper and lower torque limits to obtain the zero-crossing torque command. The control subunit 342 is used to control the vehicle accordingly based on the zero-crossing torque command.

[0075] In some embodiments, the limiting subunit 341 is specifically used to limit the value of the torque command to the upper limit value when the torque command is greater than the upper limit value, thereby obtaining a zero-crossing torque command; and to limit the value of the torque command to the lower limit value when the torque command is less than the lower limit value, thereby obtaining a zero-crossing torque command.

[0076] like Figure 5 As shown, this application provides an electronic device 400, which includes a processor 401 and a memory 402. The processor 401 and the memory 402 are interconnected and communicate with each other through a communication bus 403 and / or other forms of connection mechanism (not shown). The memory 402 stores a computer program that can be executed by the processor 401. When the computing device is running, the processor 401 executes the computer program to perform the method in any of the aforementioned optional implementations.

[0077] This application provides a computer-readable storage medium storing a computer program, which, when executed by a processor, performs the method in any of the aforementioned optional implementations.

[0078] The computer-readable storage medium can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as Static Random Access Memory (SRAM), Electrically Erasable Programmable Read-Only Memory (EEPROM), Erasable Programmable Read Only Memory (EPROM), Programmable Red-Only Memory (PROM), Read-Only Memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0079] This application provides a computer program product, which includes a computer program that, when run by a processor, executes the method in any of the aforementioned optional implementations.

[0080] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of this application, and not to limit them. Although this application has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some or all of the technical features therein. These modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of this application, and they should all be covered within the scope of the claims and specification of this application. In particular, as long as there is no conflict, the various technical features mentioned in the embodiments can be combined in any way. This application is not limited to the specific embodiments disclosed herein, but includes all technical solutions falling within the scope of the claims.

Claims

1. A method for controlling zero torque crossing of a vehicle, characterized in that, include: Obtain the actual motor speed; Calculate the upper and lower limits of torque based on the actual speed of the motor; Receive torque command; When the absolute value of the torque command is less than a preset torque threshold, the vehicle is subjected to torque zero-crossing control based on the upper and lower torque limits and the torque command.

2. The vehicle torque zero-crossing control method according to claim 1, characterized in that, The calculation of the upper and lower limits of torque based on the actual speed of the motor includes: The actual speed of the motor is smoothed and filtered to obtain the filtered speed value; Calculate the speed limit range based on the filtered speed value and the preset bias value; The upper and lower limits of torque are determined based on the speed limit range and the actual speed of the motor.

3. The vehicle torque zero-crossing control method according to claim 2, characterized in that, The step of calculating the speed limit range based on the filtered speed value and the preset bias value includes: The upper limit of the rotational speed is obtained by calculating the sum of the filtered rotational speed value and the preset bias value. Calculate the difference between the filtered speed value and the bias value to obtain the lower limit of the speed; The speed limit range is determined based on the upper speed limit and the lower speed limit.

4. The vehicle torque zero-crossing control method according to claim 2, characterized in that, The step of determining the upper and lower torque limits based on the speed limit range and the actual motor speed includes: The actual speed of the motor is compared with the speed limit range to obtain the upper limit error signal and the lower limit error signal; The upper limit value of torque is calculated using the proportional-integral controller and the upper limit error signal; The lower limit value of torque is calculated using the proportional-integral controller and the lower limit error signal; By summing the upper limit and lower limit of torque, the upper and lower limit values ​​of torque are obtained.

5. The vehicle torque zero-crossing control method according to claim 1, characterized in that, The step of controlling the vehicle to cross zero torque based on the upper and lower torque limits and the torque command includes: The torque command is limited based on the upper and lower torque limits to obtain a zero-crossing torque command. The vehicle is controlled accordingly based on the zero-crossing torque command.

6. The vehicle torque zero-crossing control method according to claim 5, characterized in that, The step of limiting the torque command according to the upper and lower torque limits to obtain the zero-crossing torque command includes: When the torque command is greater than the upper limit value of torque, the value of the torque command is restricted to the upper limit value of torque to obtain a zero-crossing torque command; When the torque command is less than the lower torque limit, the value of the torque command is restricted to the lower torque limit to obtain a zero-crossing torque command.

7. A vehicle torque zero-crossing control device, characterized in that, The vehicle torque zero-crossing control device includes: The acquisition unit is used to acquire the actual speed of the motor. The calculation unit is used to calculate the upper and lower limits of torque based on the actual speed of the motor; The receiving unit is used to receive torque commands; The control unit is used to perform torque zero-crossing control on the vehicle based on the upper and lower limits of torque and the torque command when the absolute value of the torque command is less than a preset torque threshold.

8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor running the computer program to cause the electronic device to perform the vehicle torque zero-crossing control method according to any one of claims 1 to 6.

9. A readable storage medium, characterized in that, The readable storage medium stores a computer program, which, when executed by a processor, performs the vehicle torque zero-crossing control method according to any one of claims 1 to 6.

10. A computer program product, characterized in that, The computer program product includes a computer program that, when executed by a processor, performs the vehicle torque zero-crossing control method as described in any one of claims 1 to 6.

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