Torque control method, device, equipment, storage medium and program product
By adjusting the pulse width and the pulse width variation coefficient to generate the target pulse modulation signal, the problems of vehicle vibration and NVH were solved, and the driving comfort of the vehicle was improved.
Patent Information
- Application Number
- CN202411122798.7
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-08-15
- Publication Date
- 2026-03-03
AI Technical Summary
Existing torque control methods based on pulse modulation signals cannot effectively solve vehicle vibration and NVH problems, thus affecting vehicle driving comfort.
By adjusting the pulse width and pulse width variation coefficient, a target pulse modulation signal is generated so that its area within a single cycle is the same as the preset area, thereby reducing torque changes at the start and end of the pulse and avoiding step changes.
It fundamentally reduces vehicle vibration and NVH issues, improving vehicle driving comfort.
Smart Images
Figure CN121602876A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of motor control technology, and in particular to torque control methods, devices, equipment, storage media, and program products. Background Technology
[0002] Currently, torque control based on pulse modulation signals can cause NVH (noise, vibration, and harshness) or vibration problems that affect the overall vehicle comfort. To solve these problems, torque control is usually based on pulse sequences.
[0003] Although torque control based on pulse sequences can effectively disperse or reduce harmonic energy at specific frequencies in the power spectrum and alleviate resonance at specific frequencies, it cannot fundamentally change the vehicle vibration or NVH problems caused by the step-like changes in the torque command signal, thus affecting the driving comfort of the vehicle. Summary of the Invention
[0004] The main objective of this application is to provide a torque control method, apparatus, device, storage medium, and program product, which aims to solve the technical problem of low driving comfort in vehicles.
[0005] To achieve the above objectives, this application proposes a torque control method, the method comprising:
[0006] In response to a torque control command, a target pulse width is determined based on a preset pulse width and a preset pulse width variation coefficient, wherein the target pulse width is greater than the preset pulse width.
[0007] Based on the target pulse width and the preset torque amplitude, a target pulse modulation signal is generated;
[0008] Wherein, the target area of the target pulse modulation signal within a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal within a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude;
[0009] Torque control is performed based on the target pulse modulation signal.
[0010] In one embodiment, the difference between the pulse end time and the pulse start time corresponding to the target pulse width is less than the pulse period.
[0011] In one embodiment, when the waveform of the target pulse modulation signal is a symmetrical pattern, the difference between the target pulse width and the preset pulse width is less than half of the difference between the pulse period and the preset pulse width.
[0012] In one embodiment, the step of generating a target pulse modulation signal based on the target pulse width and a preset torque amplitude includes:
[0013] A target pulse modulation signal is generated based on the target pulse width, the preset torque amplitude, and the preset torque change rate.
[0014] In one embodiment, prior to the step of determining the target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, the method includes:
[0015] The vehicle's operating conditions, requested torque, and preset torque amplitude are obtained. The preset torque amplitude is the torque that enables the vehicle's motor drive system to operate at its optimal efficiency under different operating conditions.
[0016] Based on the operating conditions, determine the pulse frequency and the preset pulse width variation coefficient;
[0017] Based on the requested torque of the vehicle, the preset torque amplitude, and the pulse frequency, the preset pulse width is determined.
[0018] In one embodiment, prior to the step of determining the target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, the method further includes:
[0019] Acquire efficiency test data for the vehicle's motor drive system, as well as calibration data for vehicle matching tests;
[0020] Based on the efficiency test data, a preset torque amplitude is determined to ensure that the motor drive system operates at its optimal efficiency under different operating conditions.
[0021] Based on the calibration data, a preset pulse frequency and a preset pulse width variation coefficient are determined, and a preset torque change rate corresponding to different times under different operating conditions is determined; wherein, the preset pulse frequency and the preset pulse width variation coefficient both ensure that the vehicle meets preset vibration requirements and / or preset requirements regarding noise, vibration and acoustic roughness under different operating conditions.
[0022] Furthermore, to achieve the above objectives, this application also proposes a torque control device, which includes:
[0023] A pulse width determination module is used to determine a target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, wherein the target pulse width is greater than the preset pulse width.
[0024] A signal generation module is used to generate a target pulse modulation signal based on the target pulse width and a preset torque amplitude; wherein, the target area of the target pulse modulation signal in a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal in a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude.
[0025] A torque control module is used to perform torque control based on the target pulse modulation signal.
[0026] In addition, to achieve the above objectives, this application also proposes a torque control device, the device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the torque control method as described above.
[0027] In addition, to achieve the above objectives, this application also proposes a storage medium, which is a computer-readable storage medium, on which a computer program is stored, and when the computer program is executed by a processor, it implements the steps of the torque control method described above.
[0028] In addition, to achieve the above objectives, this application also provides a computer program product, which includes a computer program that, when executed by a processor, implements the steps of the torque control method described above.
[0029] One or more technical solutions proposed in this application have at least the following technical effects:
[0030] This application responds to torque control commands by determining a target pulse width based on a preset pulse width and a preset pulse width variation coefficient, generating a target pulse modulation signal based on the target pulse width and a preset torque amplitude, and performing torque control based on the target pulse modulation signal. Since the target pulse modulation signal is generated based on the target pulse width and the preset torque amplitude, and the preset pulse modulation signal is also generated based on the preset pulse width and the preset torque amplitude, it can be understood that, when the preset torque amplitude is the same and the target pulse width is greater than the preset pulse width, in order to make the target area of the target pulse modulation signal in a single pulse cycle the same as the area of the preset pulse modulation signal in a single pulse cycle, the torque corresponding to a period from the pulse start time and / or a period before the pulse end time will be reduced. This ensures that the target pulse modulation signal does not exhibit a step change at both the pulse start time and the pulse end time within a single cycle, thereby fundamentally reducing vehicle vibration or NVH problems and improving vehicle driving comfort. Attached Figure Description
[0031] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application.
[0032] To more clearly illustrate the technical solutions in the embodiments of this application or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, for those skilled in the art, other drawings can be obtained based on these drawings without creative effort.
[0033] Figure 1 This is a flowchart illustrating an embodiment of the torque control method of this application.
[0034] Figure 2 This is a schematic diagram of the first scenario provided in Embodiment 1 of the torque control method of this application;
[0035] Figure 3 This is a schematic diagram of the second scenario provided in Embodiment 1 of the torque control method of this application;
[0036] Figure 4 This is a schematic diagram of the third scenario provided in Embodiment 1 of the torque control method of this application;
[0037] Figure 5 This is a schematic diagram of the fourth scenario provided in Embodiment 2 of the torque control method of this application;
[0038] Figure 6 This is a schematic diagram of the fifth scenario provided in Embodiment 2 of the torque control method of this application;
[0039] Figure 7 This is a schematic diagram of the sixth scenario provided in Embodiment 2 of the torque control method of this application;
[0040] Figure 8 This is a schematic diagram of the module structure of the torque control device according to an embodiment of this application;
[0041] Figure 9 This is a schematic diagram of the equipment structure of the hardware operating environment involved in the torque control method in the embodiments of this application.
[0042] The purpose, features, and advantages of this application will be further explained in conjunction with the embodiments and with reference to the accompanying drawings. Detailed Implementation
[0043] It should be understood that the specific embodiments described herein are merely illustrative of the technical solutions of this application and are not intended to limit this application.
[0044] To better understand the technical solution of this application, a detailed description will be provided below in conjunction with the accompanying drawings and specific implementation methods.
[0045] It should be noted that the executing entity in this embodiment can be a computing service device with data processing, network communication, and program execution functions, such as a tablet computer, personal computer, or mobile phone, or an electronic device or torque control device capable of performing the above functions. The following description uses a torque control device as an example to illustrate this embodiment and the subsequent embodiments.
[0046] Based on this, embodiments of this application provide a torque control method, referring to... Figure 1 , Figure 1 This is a flowchart illustrating the first embodiment of the torque control method of this application.
[0047] In this embodiment, the torque control method includes steps S10 to S30:
[0048] Step S10: In response to the torque control command, a target pulse width is determined based on a preset pulse width and a preset pulse width variation coefficient, wherein the target pulse width is greater than the preset pulse width.
[0049] It should be noted that currently, torque control based on pulse modulation signals can cause NVH or vibration issues that affect the overall vehicle comfort. To solve these problems, torque control is usually based on pulse sequences. Although torque control based on pulse sequences can effectively disperse or reduce harmonic energy at specific frequencies in the power spectrum and alleviate resonance at specific frequencies, it cannot fundamentally change the vehicle vibration or NVH problems caused by the step-like changes in the torque command signal, thus affecting the driving comfort of the vehicle.
[0050] Specifically, such as Figure 2 As shown, during torque control based on pulse sequences, the waveform of the generated pulse signal is a rectangular wave. It can be understood that at the beginning of a pulse cycle, the torque will change in a step-like manner. This sudden change will be directly transmitted to the vehicle's mechanical system, causing vehicle vibration and impact, and affecting the driving comfort of the vehicle.
[0051] It should also be noted that the vehicle includes an electric motor drive system and a vehicle controller. The electric motor drive system includes a motor and a motor controller, etc. The motor controller is connected to the motor via a three-phase cable. The motor is connected to the reducer and the wheel ends of the vehicle in sequence via mechanical components such as splines. The torque control device can be the motor controller or the pulse torque control module inside the motor controller, as shown in the reference. Figure 3 The motor controller also includes a torque current control module and a wave generation module.
[0052] To address the aforementioned issues, the torque control device responds to the torque control command and determines the target pulse width based on a preset pulse width and a preset pulse width variation coefficient; the torque control command may be issued by the vehicle controller based on the vehicle's operating conditions.
[0053] Specifically, the preset pulse width and the preset pulse width variation coefficient can both be preset fixed values, or they can be determined in advance based on the vehicle's operating conditions.
[0054] It should be noted that the target pulse width is greater than the preset pulse width, and the preset pulse width variation coefficient has a value range of (0,1], that is, the preset pulse width variation coefficient is greater than 0 and less than or equal to 1.
[0055] Therefore, a specific implementation method for determining the target pulse width based on the preset pulse width and the preset pulse width variation coefficient can be: summing the product of the preset pulse width and the preset pulse width variation coefficient with the preset pulse width to obtain the target pulse width.
[0056] That is, the target pulse width = preset pulse width + preset pulse width * preset pulse width variation coefficient. When the preset pulse width variation coefficient is equal to 1, the target pulse width is equal to twice the preset pulse width.
[0057] It should be noted that, before determining the target pulse width based on the preset pulse width and the preset pulse width variation coefficient in response to the torque control command, the following can also be done:
[0058] The system acquires the vehicle's operating conditions, the requested torque, and a preset torque amplitude, where the preset torque amplitude is the torque that enables the vehicle's motor drive system to operate at optimal efficiency under different operating conditions. Based on the operating conditions, it determines the pulse frequency and a preset pulse width variation coefficient. Based on the requested torque, the preset torque amplitude, and the pulse frequency, it determines the preset pulse width.
[0059] Specifically, the current operating condition of the vehicle can be different conditions such as bus voltage, motor speed, or vehicle requested torque. Considering that the pulse modulation signal required under different operating conditions is different, and that different operating conditions have different effects on the efficiency of the motor drive system, the operating condition of the vehicle can be obtained, and based on the operating condition, the pulse frequency and the preset pulse width variation coefficient can be determined.
[0060] Simultaneously, the requested torque of the vehicle and the preset torque amplitude are obtained. The preset torque amplitude is the torque that enables the vehicle's motor drive system to operate at optimal efficiency under different operating conditions. The requested torque of the vehicle can be sent to the local system by the vehicle controller.
[0061] Furthermore, the specific implementation method for determining the preset pulse width based on the requested torque of the vehicle, the preset torque amplitude, and the pulse frequency can be as follows:
[0062] The duty cycle is calculated based on the vehicle's requested torque and the preset torque amplitude. Since the vehicle's requested torque is less than the preset torque amplitude, the duty cycle ranges between (0,1). The pulse period is calculated based on the pulse frequency, where pulse period = 1 / pulse efficiency. The preset pulse width is calculated based on the duty cycle and pulse period. The target pulse width = preset pulse width + preset pulse width * preset pulse width variation coefficient.
[0063] Step S20: Based on the target pulse width and the preset torque amplitude, a target pulse modulation signal is generated, wherein the target area of the target pulse modulation signal in a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal in a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude.
[0064] It should be noted that the preset pulse modulation signal is a pulse modulation signal generated in traditional pulse torque control. This preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude; for example... Figure 2 As shown, the preset pulse width is Duty Width, based on the preset pulse width and the preset torque amplitude (e.g. Figure 2 The preset pulse modulation signal generated by the target torque shown is a rectangular wave corresponding to the solid line.
[0065] Therefore, the preset area of the preset pulse modulation signal within a single pulse period is the area of the rectangular wave.
[0066] It should be noted that a target pulse modulation signal is generated based on the target pulse width and the preset torque amplitude. If the target area of the target pulse modulation signal in a single pulse cycle is the same as the preset area, then based on the principle of torque equivalence (torque balance principle), the torque control method based on the target pulse modulation signal and the torque control method based on the preset pulse modulation signal can have equivalent effects on the change in the overall wheel speed.
[0067] Therefore, under the premise that the target area of the target pulse modulation signal in a single pulse period is the same as the preset area, that is, under the premise that it is equivalent to the traditional pulse torque control method, this embodiment generates the target pulse modulation signal based on the target pulse width which is greater than the preset pulse width and the preset torque amplitude.
[0068] It is understandable that, given the same preset torque amplitude and a target pulse width greater than the preset pulse width, in order to make the target area of the target pulse modulation signal within a single pulse cycle the same as the area of the preset pulse modulation signal within a single pulse cycle, the torque corresponding to a period of time from the pulse start time and / or a period of time before the pulse end time will be reduced, such as... Figure 2 and 4 As shown.
[0069] Specifically, the target area can be made equal to the preset area by reducing the torque corresponding to a period of time from the start of the pulse and a period of time before the end of the pulse, as shown in the reference. Figure 2 The dashed lines in the diagram correspond to the waveform; alternatively, the target area can be made equal to the preset area by reducing the torque in the period immediately preceding the pulse's end, as shown in the reference. Figure 4 The solid line in the diagram corresponds to the waveform; the target area can also be made equal to the preset area by reducing the torque corresponding to a period of time starting from the pulse start moment.
[0070] It should be noted that, in order to avoid the inability to generate a complete target pulse modulation signal due to the target pulse modulation signal exceeding the pulse period, the difference between the pulse end time and the pulse start time corresponding to the target pulse width should be less than the pulse period.
[0071] Specifically, if the difference between the pulse end time and the pulse start time corresponding to the target pulse width is equal to the pulse period, then the motor control is transformed into continuous torque control. If the difference between the pulse end time and the pulse start time corresponding to the target pulse width is greater than the pulse period, then the target pulse modulation signal will exceed the pulse period, resulting in the inability to generate a complete target pulse modulation signal. Therefore, the difference between the pulse end time and the pulse start time corresponding to the target pulse width should be less than the pulse period.
[0072] Furthermore, to facilitate the standardization of the target pulse modulation signal and its rapid generation, the waveform of the target pulse modulation signal can be defined as a symmetrical shape, such as... Figure 2 The dashed lines shown correspond to the waveform; however, when the waveform of the target pulse modulation signal is a symmetrical pattern, the difference between the target pulse width and the preset pulse width should be less than half of the difference between the pulse period and the preset pulse width.
[0073] It can be understood that the difference between the pulse period and the preset pulse width is the duration of the low level of the target pulse modulation signal within a single pulse period. Since the waveform of the preset pulse modulation signal is centrally symmetrical within a single pulse period, half of the difference between the pulse period and the preset pulse width is half of the duration of the low level of the target pulse modulation signal within a single pulse period. The difference between the target pulse width and the preset pulse width is the portion of the target pulse width that exceeds the preset pulse width.
[0074] Specifically, refer to Figure 2 The difference between the target pulse width and the preset pulse width can be SlopeWidth. Since the waveform of the target pulse modulation signal is a symmetrical shape, if the SlopeWidth is greater than half of the difference between the pulse period and the preset pulse width, the target pulse modulation signal will exceed the pulse period and cannot generate a complete target pulse modulation signal. Therefore, the difference between the target pulse width and the preset pulse width should be less than half of the difference between the pulse period and the preset pulse width.
[0075] Step S30: Perform torque control based on the target pulse modulation signal.
[0076] Based on the above method, the target pulse modulation signal will not exhibit a step change at both the start and end of the pulse within a single cycle. Therefore, in the process of torque control based on the target pulse modulation signal, vehicle vibration or NVH problems can be fundamentally reduced, and the driving comfort of the vehicle can be improved.
[0077] In this embodiment, the torque control device responds to the torque control command, determines the target pulse width based on a preset pulse width and a preset pulse width variation coefficient, generates a target pulse modulation signal based on the target pulse width and a preset torque amplitude, and performs torque control based on the target pulse modulation signal. Since the target pulse modulation signal is generated based on the target pulse width and the preset torque amplitude, and the preset pulse modulation signal is also generated based on the preset pulse width and the preset torque amplitude, it can be understood that when the preset torque amplitude is the same and the target pulse width is greater than the preset pulse width, in order to make the target area of the target pulse modulation signal in a single pulse cycle the same as the area of the preset pulse modulation signal in a single pulse cycle, the torque corresponding to a period of time from the pulse start time and / or the period of time before the pulse end time will be reduced. This ensures that the target pulse modulation signal does not exhibit a step change at both the pulse start time and the pulse end time in a single cycle, thereby fundamentally reducing vehicle vibration or NVH problems and improving vehicle driving comfort.
[0078] Based on the first embodiment of this application, in the second embodiment of this application, the same or similar content as the first embodiment can be referred to the above description, and will not be repeated hereafter.
[0079] In this embodiment, the specific implementation of generating the target pulse modulation signal based on the target pulse width and the preset torque amplitude can be as follows:
[0080] A target pulse modulation signal is generated based on the target pulse width, the preset torque amplitude, and the preset torque change rate.
[0081] It should be noted that, while ensuring that the target area is equal to the preset area, various target pulse modulation signals can be generated based on the target pulse width, the preset torque amplitude, and the preset torque change rate.
[0082] The preset torque change rate can be a value based on time-series changes or a fixed value.
[0083] It is understandable that when the preset torque change rate is a value based on time-series changes, it can generate values such as... Figure 2 , Figure 5 as well as Figure 6 The dashed lines shown correspond to various target pulse modulation signals; Figure 2 The trend of the preset torque change rate corresponding to the target pulse modulation signal shown is a preset positive value, zero, and a negative value corresponding to the preset positive value; Figure 4 The trend of the preset torque change rate corresponding to the target pulse modulation signal shown is a preset positive value that is first small and then large, zero, and a corresponding preset negative value that is first large and then small.
[0084] It should be noted that, referring to Figure 7 Before determining the target pulse width based on the preset pulse width and the preset pulse width variation coefficient in response to the torque control command, the following can also be done:
[0085] Acquire efficiency test data for the motor drive system of the vehicle, and calibration data for vehicle matching tests; based on the efficiency test data, determine the preset torque amplitude at which the motor drive system achieves optimal efficiency under different operating conditions; based on the calibration data, determine the preset pulse frequency and preset pulse width variation coefficient, and determine the preset torque change rate at different times under different operating conditions; wherein, the preset pulse frequency and preset pulse width variation coefficient both ensure that the vehicle meets preset vibration requirements and / or preset requirements regarding noise, vibration, and acoustic roughness under different operating conditions.
[0086] It is understood that, based on the obtained efficiency test data for the motor drive system, a preset torque amplitude that enables the motor drive system to achieve optimal efficiency under different operating conditions can be analyzed; based on the calibration data, a preset pulse frequency and a preset pulse width variation coefficient can be determined, and a preset torque change rate corresponding to different times under different operating conditions can be determined. The preset pulse frequency and the preset pulse width variation coefficient are parameters that enable the vehicle to meet preset vibration requirements and / or preset requirements regarding noise, vibration, and acoustic roughness under different operating conditions.
[0087] Different operating conditions include at least one of different bus voltages, different motor speeds, or different vehicle requested torques.
[0088] It is understood that, under different bus voltages, different motor speeds, and / or different vehicle requested torques, the torque that enables the motor drive system to operate at its optimal efficiency is the preset torque amplitude; under different bus voltages, different motor speeds, and / or different vehicle requested torques, a preset pulse modulation signal is generated based on a preset pulse frequency and a preset pulse width variation coefficient, and the motor torque is controlled based on the preset pulse modulation signal to meet preset jitter requirements and / or preset related requirements; under different bus voltages, different motor speeds, and / or different vehicle requested torques, the preset torque change rate corresponding to different times can be calibrated.
[0089] The target pulse modulation signal is generated based on the preset torque change rate corresponding to different times obtained by the above method. This can prevent the target pulse modulation signal from changing based on a high torque change rate within a single pulse cycle, thereby better reducing vehicle vibration or NVH problems and improving the driving comfort of the vehicle.
[0090] It should be noted that the preset torque amplitude, preset pulse frequency, and preset pulse width variation coefficient corresponding to different operating conditions, as well as the preset torque change rate corresponding to different times, are all stored in a three-dimensional table composed of bus voltage, current motor speed, and vehicle requested torque. This three-dimensional table is stored in the chip storage area; therefore, the above parameters can all be obtained by looking up the table in real time.
[0091] In this embodiment, while ensuring that the target area is equal to the preset area, multiple target pulse modulation signals can be generated based on the target pulse width, preset torque amplitude, and preset torque change rate. This provides multiple methods for generating target pulse modulation signals that can solve NVH and vehicle vibration problems. The pulse modulation signal is generated based on a preset torque amplitude that ensures the motor drive system operates at optimal efficiency under different operating conditions, a preset pulse frequency and a preset pulse width variation coefficient that ensure the motor torque is controlled according to preset vibration requirements and / or preset requirements regarding noise, vibration, and acoustic roughness under different operating conditions, and a preset torque change rate corresponding to different times. The motor torque is then controlled based on the pulse modulation signal. This approach improves the efficiency of the motor drive system while solving NVH and vehicle vibration problems.
[0092] It should be noted that the above examples are only for understanding this application and do not constitute a limitation on the torque control method of this application. Any simple modifications based on this technical concept are within the protection scope of this application.
[0093] This application also provides a torque control device, please refer to... Figure 8 The torque control device includes:
[0094] The pulse width determination module 10 is used to determine a target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, wherein the target pulse width is greater than the preset pulse width.
[0095] The signal generation module 20 is used to generate a target pulse modulation signal based on the target pulse width and the preset torque amplitude; wherein, the target area of the target pulse modulation signal in a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal in a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude.
[0096] The torque control module 30 is used to perform torque control based on the target pulse modulation signal.
[0097] The torque control device provided in this application, employing the torque control method in the above embodiments, can solve the technical problem of low driving comfort in vehicles. Compared with the prior art, the beneficial effects of the torque control device provided in this application are the same as those of the torque control method provided in the above embodiments, and other technical features in the torque control device are the same as those disclosed in the methods of the above embodiments, and will not be repeated here.
[0098] This application provides a torque control device, which includes: at least one processor; and a memory communicatively connected to the at least one processor; wherein the memory stores instructions executable by the at least one processor, which are executed by the at least one processor to enable the at least one processor to perform the torque control method in Embodiment 1 above.
[0099] The following is for reference. Figure 9 The diagram illustrates a structural schematic of a torque control device suitable for implementing embodiments of this application. The torque control device in the embodiments of this application may include, but is not limited to, mobile terminals such as mobile phones, laptops, digital radio receivers, PDAs (Personal Digital Assistants), PADs (Portable Application Description), PMPs (Portable Media Players), in-vehicle terminals (e.g., in-vehicle navigation terminals), and fixed terminals such as digital TVs and desktop computers. Figure 9 The torque control device shown is merely an example and should not be construed as limiting the functionality and scope of the embodiments of this application.
[0100] like Figure 9 As shown, the torque control device may include a processing unit 1001 (e.g., a central processing unit, a graphics processing unit, etc.) that can perform various appropriate actions and processes according to a program stored in a read-only memory (ROM) 1002 or a program loaded from a storage device 1003 into a random access memory (RAM) 1004. The RAM 1004 also stores various programs and data required for the operation of the torque control device. The processing unit 1001, ROM 1002, and RAM 1004 are interconnected via a bus 1005. An input / output (I / O) interface 1006 is also connected to the bus. Typically, the following systems can be connected to the I / O interface 1006: input devices 1007 including, for example, a touchscreen, touchpad, keyboard, mouse, image sensor, microphone, accelerometer, gyroscope, etc.; output devices 1008 including, for example, a liquid crystal display (LCD), speaker, vibrator, etc.; storage devices 1003 including, for example, magnetic tape, hard disk, etc.; and communication devices 1009. Communication device 1009 allows the torque control device to communicate wirelessly or wiredly with other devices to exchange data. Although torque control devices with various systems are shown in the figures, it should be understood that implementation or possession of all the systems shown is not required. More or fewer systems may be implemented alternatively.
[0101] Specifically, according to the embodiments disclosed in this application, the processes described above with reference to the flowcharts can be implemented as computer software programs. For example, embodiments disclosed in this application include a computer program product comprising a computer program carried on a computer-readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such embodiments, the computer program can be downloaded and installed from a network via a communication device, or installed from storage device 1003, or installed from ROM 1002. When the computer program is executed by processing device 1001, it performs the functions defined in the methods of the embodiments disclosed in this application.
[0102] The torque control device provided in this application, employing the torque control method described in the above embodiments, can solve the technical problem of low driving comfort in vehicles. Compared with the prior art, the beneficial effects of the torque control device provided in this application are the same as those of the torque control method provided in the above embodiments, and other technical features of the torque control device are the same as those disclosed in the previous embodiment method, and will not be repeated here.
[0103] It should be understood that the various parts disclosed in this application can be implemented using hardware, software, firmware, or a combination thereof. In the description of the above embodiments, specific features, structures, materials, or characteristics can be combined in any suitable manner in one or more embodiments or examples.
[0104] The above description is merely a specific embodiment of this application, but the scope of protection of this application is not limited thereto. Any variations or substitutions that can be easily conceived by those skilled in the art within the scope of the technology disclosed in this application should be included within the scope of protection of this application. Therefore, the scope of protection of this application should be determined by the scope of the claims.
[0105] This application provides a computer-readable storage medium having computer-readable program instructions (i.e., a computer program) stored thereon, the computer-readable program instructions being used to execute the torque control method in the above embodiments.
[0106] The computer-readable storage medium provided in this application may be, for example, a USB flash drive, but is not limited to, electrical, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: electrical connections having one or more wires, portable computer disks, hard disks, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination thereof. In this embodiment, the computer-readable storage medium may be any tangible medium containing or storing a program that can be used by or in conjunction with an instruction execution system, system, or device. The program code contained on the computer-readable storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (Radio Frequency), etc., or any suitable combination thereof.
[0107] The aforementioned computer-readable storage medium may be included in the torque control device; or it may exist independently and not assembled into the torque control device.
[0108] The aforementioned computer-readable storage medium carries one or more programs, which, when executed by the torque control device, cause the torque control device to perform the aforementioned torque control method.
[0109] Computer program code for performing the operations of this application can be written in one or more programming languages or a combination thereof, including object-oriented programming languages such as Java, Smalltalk, and C++, and conventional procedural programming languages such as the "C" language or similar programming languages. The program code can be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving remote computers, the remote computer can be connected to the user's computer via any type of network—including a Local Area Network (LAN) or a Wide Area Network (WAN)—or can be connected to an external computer (e.g., via the Internet using an Internet service provider).
[0110] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of this application. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of code containing one or more executable instructions for implementing a specified logical function. It should also be noted that in some alternative implementations, the functions indicated in the blocks may occur in a different order than those indicated in the drawings. For example, two consecutively indicated blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, can be implemented using a dedicated hardware-based system that performs the specified function or operation, or using a combination of dedicated hardware and computer instructions.
[0111] The modules described in the embodiments of this application can be implemented in software or hardware. The names of the modules do not necessarily limit the functionality of the unit itself.
[0112] The readable storage medium provided in this application is a computer-readable storage medium that stores computer-readable program instructions (i.e., a computer program) for executing the above-described torque control method, thereby solving the technical problem of low driving comfort in vehicles. Compared with the prior art, the beneficial effects of the computer-readable storage medium provided in this application are the same as those of the torque control method provided in the above embodiments, and will not be repeated here.
[0113] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the steps of the torque control method described above.
[0114] The computer program product provided in this application can solve the technical problem of low driving comfort in vehicles. Compared with the prior art, the beneficial effects of the computer program product provided in this application are the same as those of the torque control method provided in the above embodiments, and will not be repeated here.
[0115] The above description is only a part of the embodiments of this application and does not limit the patent scope of this application. All equivalent structural transformations made under the technical concept of this application and using the contents of the specification and drawings of this application, or direct / indirect applications in other related technical fields, are included in the patent protection scope of this application.
Claims
1. A torque control method, characterized in that, The method includes: In response to a torque control command, a target pulse width is determined based on a preset pulse width and a preset pulse width variation coefficient, wherein the target pulse width is greater than the preset pulse width. Based on the target pulse width and the preset torque amplitude, a target pulse modulation signal is generated; Wherein, the target area of the target pulse modulation signal within a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal within a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude; Torque control is performed based on the target pulse modulation signal.
2. The method as described in claim 1, characterized in that, The difference between the pulse end time and the pulse start time corresponding to the target pulse width is less than the pulse period.
3. The method as described in claim 2, characterized in that, When the waveform of the target pulse modulation signal is symmetrical, the difference between the target pulse width and the preset pulse width is less than half the difference between the pulse period and the preset pulse width.
4. The method as described in claim 1, characterized in that, The step of generating a target pulse modulation signal based on the target pulse width and a preset torque amplitude includes: A target pulse modulation signal is generated based on the target pulse width, the preset torque amplitude, and the preset torque change rate.
5. The method as described in claim 1, characterized in that, Prior to the step of determining the target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, the following steps are included: The vehicle's operating conditions, requested torque, and preset torque amplitude are obtained. The preset torque amplitude is the torque that enables the vehicle's motor drive system to operate at its optimal efficiency under different operating conditions. Based on the operating conditions, determine the pulse frequency and the preset pulse width variation coefficient; Based on the requested torque of the vehicle, the preset torque amplitude, and the pulse frequency, the preset pulse width is determined.
6. The method according to any one of claims 1 to 5, characterized in that, Before the step of determining the target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, the method further includes: Acquire efficiency test data for the vehicle's motor drive system, as well as calibration data for vehicle matching tests; Based on the efficiency test data, a preset torque amplitude is determined to ensure that the motor drive system operates at its optimal efficiency under different operating conditions. Based on the calibration data, a preset pulse frequency and a preset pulse width variation coefficient are determined, and a preset torque change rate corresponding to different times under different operating conditions is determined; wherein, the preset pulse frequency and the preset pulse width variation coefficient both ensure that the vehicle meets preset vibration requirements and / or preset requirements regarding noise, vibration and acoustic roughness under different operating conditions.
7. A torque control device, characterized in that, The device includes: A pulse width determination module is used to determine a target pulse width based on a preset pulse width and a preset pulse width variation coefficient in response to a torque control command, wherein the target pulse width is greater than the preset pulse width. A signal generation module is used to generate a target pulse modulation signal based on the target pulse width and a preset torque amplitude; wherein, the target area of the target pulse modulation signal in a single pulse period is the same as the preset area, the preset area is the area of the preset pulse modulation signal in a single pulse period, and the preset pulse modulation signal is generated based on the preset pulse width and the preset torque amplitude. A torque control module is used to perform torque control based on the target pulse modulation signal.
8. A torque control device, characterized in that, The device includes: a memory, a processor, and a computer program stored in the memory and executable on the processor, the computer program being configured to implement the steps of the torque control method as described in any one of claims 1 to 6.
9. A storage medium, characterized in that, The storage medium is a computer-readable storage medium, and a computer program is stored on the storage medium. When the computer program is executed by a processor, it implements the steps of the torque control method as described in 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, implements the steps of the torque control method as described in any one of claims 1 to 6.