Control method, electric drive system, vehicle, storage medium, controller and program product

Abstract

The invention relates to a control method, an electric driving system, a vehicle, a storage medium, a controller and a program product, the control method is applied to the electric driving system, the electric driving system comprises a motor, a first clutch and a transmission, under the condition that the working state of the transmission is a first gear state, the working state of the first clutch is a closed state, and the working state of the second clutch is a closed state. And under the condition that the motor meets the preset locked-rotor condition and the working state of the transmission is the first gear state, the working state of the first clutch is controlled to be switched from the closed state to the sliding friction state. According to the embodiment of the invention, under the condition that the motor in the electric driving system is locked, the torque input to the wheel end is not reduced while the motor is protected.

Description

Technical Field

[0001] This application relates to the field of electric drive technology, and in particular to a control method, electric drive system, vehicle, storage medium, controller and program product. Background Technology

[0002] Electric vehicles (EVs), as an environmentally friendly and energy-saving mode of transportation, are gradually becoming an important part of the automotive industry. They rely on the electric power provided by battery packs to drive the motor, which in turn drives the car.

[0003] When an electric motor drives a car, if the car comes to a standstill due to external forces, the motor may stall. To prevent the motor from overheating and burning out when this happens, the motor's output torque is reduced as a protection measure. However, reducing the motor's output torque also reduces the torque delivered to the car's wheels, causing the car to be pulled by external forces. Summary of the Invention

[0004] This application provides a control method that can protect the motor in an electric drive system from stalling without reducing the torque output to the wheels, thereby at least partially solving the above-mentioned technical problems.

[0005] To achieve the above objectives, according to a first aspect of this application, a control method is provided, applied to an electric drive system, the electric drive system including a motor, a first clutch, and a transmission, wherein when the transmission is in a first gear position, the first clutch is in a closed position, and the method includes:

[0006] When the motor meets the preset stall condition and the transmission is in the first gear state, the operating state of the first clutch is controlled to switch from the closed state to the slipping state.

[0007] Optionally, the first gear state mentioned above includes a gear state in which the torque output by the motor is amplified.

[0008] Optionally, the preset stall condition includes the motor being in a stall state and the duration of the stall state satisfying a first preset duration, or the preset stall condition includes the motor being in a stall state.

[0009] Optionally, the electric drive system is located in the target moving device, and the method further includes:

[0010] Obtain the state parameters of the aforementioned target moving device;

[0011] If the above state parameters meet the preset parameter conditions, the motor is determined to be in a stalled state.

[0012] Optionally, the aforementioned state parameters include the speed of the target moving device and the current operating parameters of the motor.

[0013] Optionally, the aforementioned current operating parameters include the current torque of the motor and / or the current speed of the motor.

[0014] Optionally, the aforementioned preset parameter conditions include: the speed of the target moving device satisfies the static state conditions of the target moving device;

[0015] When the above current operating parameters include the current torque of the above motor, the above preset parameter conditions also include: the current torque of the above motor is greater than the reference torque threshold.

[0016] When the above current operating parameters include the current speed of the above motor, the above preset parameter conditions also include: the current speed of the above motor is less than the reference speed threshold;

[0017] When the above-mentioned current operating parameters include the current torque and current speed of the motor, the above-mentioned preset parameter conditions also include: the current torque of the motor is greater than the reference torque threshold and the current speed of the motor is less than the reference speed threshold.

[0018] Optionally, this embodiment also includes:

[0019] The operation of the motor is controlled based on the first operating parameter threshold.

[0020] Optionally, the aforementioned first operating parameter threshold includes a first torque threshold.

[0021] Optionally, the aforementioned first operating parameter threshold further includes a first rotational speed threshold, and the aforementioned method further includes:

[0022] Based on the control of the motor speed by the first speed threshold, the speed difference threshold of the first clutch is controlled.

[0023] Optionally, this embodiment also includes:

[0024] Obtain the slippage overheating indication information of the first clutch in the above slippage state;

[0025] If the above-mentioned slip friction overheating indication information meets the preset overheating conditions, the above-mentioned overheat protection strategy of the first clutch is executed.

[0026] Optionally, obtaining the slippage overheat indication information of the first clutch in the slippage state includes:

[0027] Based on the clutch parameters of the first clutch in the aforementioned slipping state, slipping overheat indication information of the first clutch in the aforementioned slipping state is determined.

[0028] Optionally, the above-mentioned clutch parameters include at least one of output torque, speed difference, temperature value, and temperature change rate.

[0029] Optionally, determining the slippage overheat indication information of the first clutch in the slippage state based on the clutch parameters of the first clutch in the slippage state includes:

[0030] Based on the clutch parameters of the first clutch in the above-mentioned slipping state at multiple times, the slipping overheat count value of the first clutch at each of the above-mentioned times is determined.

[0031] Based on the above slip friction overheating count value, the slip friction overheating indication information of the first clutch is determined.

[0032] Optionally, the above-mentioned overheat protection strategy includes:

[0033] The operating state of the first clutch is controlled to switch from the slipping state to the closed state, and the speed of the motor is controlled based on the second speed threshold, so as to control the speed difference threshold of the first clutch.

[0034] Optionally, if the above-mentioned overheating indication information meets the preset overheating condition, the above method further includes:

[0035] The operation of the motor is controlled based on the second operating parameter threshold of the motor.

[0036] Optionally, the electric drive system further includes a first control switch to control the operating state of the first clutch from the closed state to the slipping state, including:

[0037] The first control switch controls the first clutch to switch its operating state from the closed state to the slipping state.

[0038] Optionally, the first control switch includes a proportional solenoid valve, and controlling the operating state of the first clutch to switch from the closed state to the slipping state via the first control switch includes:

[0039] The control signal of the proportional solenoid valve is adjusted to the first control signal to control the working state of the first clutch to switch from the closed state to the slipping state.

[0040] Optionally, the above-mentioned transmission operating state also includes a second gear state, and the above-mentioned method further includes:

[0041] When the motor meets the preset stall condition and the transmission is in the second gear state, the motor is controlled to operate based on the third operating parameter threshold.

[0042] Optionally, the threshold value of the third operating parameter is less than the threshold value of the first operating parameter.

[0043] According to a second aspect of this application, an electric drive system is provided, including a controller, a motor, a first clutch, and a transmission. When the transmission is in a first gear state, the first clutch is in a closed state. The controller is used to control the first clutch to switch its operating state from the closed state to a slipping state when the motor meets a preset stall condition and the transmission is in a first gear state.

[0044] Optionally, the electric drive system further includes a hydraulic subsystem, and the controller is used to control the working state of the first clutch to switch from the closed state to the slipping state through the hydraulic subsystem.

[0045] Optionally, the electric drive system is located on the target moving device, and the transmission includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is connected to the motor shaft of the motor and meshes with the planet gears. The planet gears mesh with the ring gear and are connected to the planet carrier. The ring gear or the planet carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device.

[0046] Optionally, when the first clutch is in the closed state, the gear ring is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target motion device. When the first clutch is in the slipping state, the planetary carrier is fixed, and the gear ring is used to output the torque input from the motor to the sun gear.

[0047] Optionally, when the first clutch is in the closed state, the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target motion device. When the first clutch is in the slipping state, the ring gear is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear.

[0048] Optionally, the electric drive system further includes a second clutch, and the transmission also includes a second gear state. When the transmission is in the second gear state, the second clutch is in a closed state.

[0049] Optionally, the first clutch and the second clutch are coaxially arranged.

[0050] Optionally, the target moving device is a vehicle, and the first clutch and the second clutch are coaxially arranged and distributed in the radial direction of the vehicle's axle.

[0051] According to a third aspect of this application, a computer-readable storage medium is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the embodiments of this application.

[0052] According to a fourth aspect of this application, a controller is also provided, on which a computer program is stored, which, when executed by a processor, implements the steps in the embodiments of this application.

[0053] According to a fifth aspect of this application, a vehicle is also provided, the vehicle including the electric drive system provided in the embodiments of this application or the controller provided in the embodiments of this application.

[0054] According to a sixth aspect of this application, a computer program product is also provided, including a computer program or instructions that, when executed by a processor, implement the steps in the embodiments of this application.

[0055] In summary, in the embodiments of this application, the electric drive system includes a motor, a first clutch, and a transmission. When the transmission is in the first gear, the first clutch is in the closed state. When the motor meets the preset stall condition and the transmission is in the first gear, the first clutch is controlled to switch from the closed state to the slipping state to change the power transmission path of the transmission, so that the motor does not stall, thereby protecting the motor. Furthermore, the torque output from the transmission to the wheel end is not affected.

[0056] Other features and advantages of this application will be described in detail in the following detailed description section. Attached Figure Description

[0057] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0058] To gain a more complete understanding of this application and its beneficial effects, the following description will be provided in conjunction with the accompanying drawings, wherein the same reference numerals in the following description denote the same parts.

[0059] Figure 1This is a flowchart of the steps of a control method provided in an exemplary embodiment of this application;

[0060] Figure 2 This is a schematic diagram of an electric drive system provided in an exemplary embodiment of this application;

[0061] Figure 3 This is another schematic diagram of the electric drive system provided in an exemplary embodiment of this application;

[0062] Figure 4 This is a flowchart illustrating the steps of another control method provided in an exemplary embodiment of this application;

[0063] Figure 5 This is another schematic diagram of the electric drive system provided in an exemplary embodiment of this application;

[0064] Figure 6 This is another schematic diagram of the hydraulic subsystem provided in the exemplary embodiment of this application;

[0065] Figure 7 This is a schematic diagram of a control device provided in an exemplary embodiment of this application.

[0066] Explanation of reference numerals in the attached figures:

[0067] 201: Motor; 202: Motor shaft; 203: Second clutch; 204: First clutch; 205: Ring gear; 206: Planetary gear; 207: Planetary carrier; 208: Sun gear; 209: First-stage reduction drive gear; 2010: First-stage reduction driven gear; 2011: Second-stage reduction drive gear; 2012: Second-stage reduction driven gear; 2013: Differential; 2014: Half-shaft one; 2015: Half-shaft two; 2016: Wheel; 2017: Wheel;

[0068] 301: Motor; 302: Motor shaft; 303: Second clutch; 304: First clutch; 305: Planetary carrier; 306: Planetary gear; 307: Ring gear; 308: Sun gear; 309: First-stage reduction drive gear; 3010: First-stage reduction driven gear; 3011: Second-stage reduction drive gear; 3012: Second-stage reduction driven gear; 3013: Differential; 3014: Half-shaft one; 3015: Half-shaft two; 3016: Wheel; 3017: Wheel. Detailed Implementation

[0069] The technical solutions of 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. All other embodiments obtained by those skilled in the art based on the embodiments of this application without creative effort are within the protection scope of this application.

[0070] In related technologies, when the motors of two off-road vehicles pull against each other, the wheels of the off-road vehicles cannot rotate, causing the motors of the off-road vehicles to stall. At this time, in order to protect the motors, if one off-road vehicle reduces the torque output of its motor, that off-road vehicle will be pulled by the other off-road vehicle.

[0071] In this embodiment, the vehicle's electric drive system includes a motor, a first clutch, and a transmission. When the transmission is in the first gear, the first clutch is in the closed state. Since the transmission is in the first gear when the vehicle is being pulled by the motor, this embodiment controls the first clutch to switch from the closed state to the slipping state when the motor meets the preset stall condition and the transmission is in the first gear. This changes the power transmission path of the transmission, preventing the motor from stalling and protecting the motor. Furthermore, it ensures that the torque output from the transmission to the wheels is not affected, thus preventing the vehicle from being pulled by another vehicle.

[0072] The control method and electric drive system provided in this application will be described in detail below.

[0073] This application provides a control method; please refer to [link / reference]. Figure 1 The control method provided in this application embodiment is applied to an electric drive system, which includes a motor, a first clutch, and a transmission. When the transmission is in the first gear position, the first clutch is in the closed position. The control method includes step 100, which will be described in detail below.

[0074] Step 100: When the motor meets the preset stall condition and the transmission is in the first gear state, control the first clutch to switch its working state from the closed state to the slipping state.

[0075] A transmission is a component used to regulate the ratio of speed and torque between a power source (such as an engine or motor) and the wheels. Specifically, when the transmission operates in different gears, the speed and torque transmitted from the power source to the wheels differ. For example, when the transmission is in a low gear (L gear), it reduces speed and increases torque, making the wheel speed less than the motor speed and the input torque at the wheels greater than the output torque of the motor. When the transmission is in a high gear (H gear), it increases speed and reduces torque, making the wheel speed greater than the motor speed and the input torque at the wheels less than the output torque of the motor. The first gear position can also be called a low gear, meaning that the first gear position includes the gear position that amplifies the torque output of the motor.

[0076] A clutch is used to control the power connection between the power source and the transmission. When the clutch is engaged, the transmission can output power; when the clutch is disengaged, the transmission cannot output power. The first clutch refers to the clutch configured for the first gear position. The operating states of the first clutch can include a closed state, a disengaged state, and a slipping state. A closed state means the two components of the first clutch are connected; a disengaged state means the two components are disconnected; and a slipping state means the two components are partially connected but slip relative to each other. Optionally, the transmission can be controlled to operate in the first gear position to switch the operating state of the first clutch from the disengaged state to the closed state, thereby amplifying the torque output from the motor through the transmission, and thus achieving high torque output to the wheel ends.

[0077] It is understandable that when the first clutch is in a slipping state, the transmission is still in the first gear state.

[0078] The preset stall condition is used to indicate that the motor is stalled. It can be set according to the actual situation. For example, the preset stall condition includes the motor being in a stalled state for a duration that meets a first preset duration, or the preset stall condition simply includes the motor being in a stalled state. This embodiment does not limit this setting. The first preset duration is a pre-set duration that can be set according to the actual situation. The first preset duration can be 15 seconds or 16 seconds. This embodiment does not limit this setting.

[0079] In this embodiment, when the motor meets the preset stall conditions and the transmission is in the first gear position, the first clutch is controlled to switch from a closed state to a slipping state to change the power transmission path of the transmission, thereby preventing the motor from stalling and ensuring that the torque output to the wheel ends does not decrease. Furthermore, in related technologies, the power output duration of the electric drive system during stall is only the stall time of the motor; however, in this embodiment, the power output duration of the electric drive system during stall is the sum of the motor's stall time and the slipping time of the first clutch, thus extending the power output duration of the electric drive system during stall.

[0080] In some embodiments, the structure of the transmission can be configured according to actual conditions. For example, the transmission may include a gear set or a planetary gear set. When the working state of the first clutch switches from the closed state to the slipping state, the power transmission path of the transmission can be configured according to the structure of the transmission, which is not limited in this embodiment.

[0081] When the transmission includes a planetary gear set, the planetary gear set includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is connected to the motor shaft of the motor and meshes with the planet gears. The planet gears mesh with the ring gear and are connected to the planet carrier. The ring gear or planet carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device.

[0082] The relationship between torque and speed between the planet carrier, ring gear, and sun gear can be summarized as follows:

[0083] Ns+αNr =(1+α)*Nc (1)

[0084] Ts / 1=Tr / α=Tc / -(1+α)(2)

[0085] Ts*Ns+Tr*Nr+Tc*Nc=0(3)

[0086] α=Z r / Z s (4)

[0087] In this equation, formula (1) can be called the motion equation of the planetary gear set, formula (2) can be called the torque equation of the planetary gear set, and formula (3) can be called the power equation of the planetary gear set. Ns represents the speed of the sun gear, Nr represents the rotational speed of the ring gear, Nc represents the rotational speed of the planet carrier, Ts represents the torque of the sun gear, Tr represents the torque of the ring gear, Tc represents the torque of the planet carrier, and Z r Z represents the number of teeth on the gear ring. s The number of teeth on the sun gear is represented by α, which represents the ratio of the number of teeth on the ring gear to the number of teeth on the sun gear.

[0088] When the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device, the planetary carrier's rotational speed is 0, the sun gear's rotational speed is -αNr, and the transmission ratio is -Z. r / Z s (The negative sign is used to indicate direction). Since the number of teeth on the ring gear is usually greater than the number of teeth on the sun gear, the transmission ratio is greater than 1. Therefore, the torque output by the motor can be amplified.

[0089] When the gear ring is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device, the rotational speed of the gear ring is equal to 0, and the transmission ratio of the gearbox is (1+Z). r / Z s Since the transmission ratio is greater than 1, the torque output by the motor can be amplified.

[0090] In some embodiments, when the first clutch is in the closed state, the ring gear is fixed and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slipping state, the planetary carrier is fixed and the ring gear is used to output the torque input from the motor to the sun gear.

[0091] When the first clutch is in the closed state, the ring gear and the electric drive assembly housing are engaged, the ring gear is fixed, and the power transmission path of the transmission is sun gear-planet gear-planet carrier, transmitting power to the wheel ends through the planet carrier. When the motor meets the preset stall condition, the wheel ends are fixed by external force, thus fixing the planet carrier. At this time, the first clutch is controlled to slip, causing the ring gear to rotate, allowing it to transmit power. The power transmission path of the transmission is now sun gear-planet gear-ring gear. Because power can be transmitted through the ring gear, the motor is prevented from stalling, thus protecting the motor. Since the planet carrier remains fixed during the rotation of the ring gear, the torque output to the wheel ends is unaffected, preventing the target moving device from being pulled by external forces.

[0092] For example, if the target moving device is a vehicle, the electric drive system can be as follows: Figure 2 As shown, in Figure 2 In the diagram, 201 represents the motor, 202 represents the motor shaft, 203 represents the second clutch, 204 represents the first clutch, 205 represents the ring gear, 206 represents the planetary gears, 207 represents the planetary carrier, 208 represents the sun gear, 209 represents the first-stage reduction drive gear, 2010 represents the first-stage reduction driven gear, 2011 represents the second-stage reduction drive gear, 2012 represents the second-stage reduction driven gear, 2013 represents the differential, 2014 represents half-shaft one, 2015 represents half-shaft two, 2016 represents the wheel, and 2017 represents the wheel. Figure 2In the first clutch operation, when the clutch is in the closed state, the gear ring 205 is fixed. The sun gear 208 outputs the torque from the motor 201 to the planet gear 206. The planet gear 206 outputs the torque to the planet carrier 207. The planet carrier 207 outputs the torque to the first-stage reduction drive gear 209. The first-stage reduction drive gear 209 outputs the torque to the first-stage reduction driven gear 2010. The first-stage reduction driven gear 2010 outputs the torque to the second-stage reduction drive gear 2011. The second-stage reduction drive gear 2011 outputs the torque to the second-stage reduction driven gear. 2012, the secondary reduction driven gear 2012 outputs torque to the differential 2013, the differential 2013 outputs torque to the wheel 2016 through half shaft one 2014, the differential 2013 outputs torque to the wheel 2017 through half shaft two 2015. When the first clutch is in the slip friction state, the ring gear 205 rotates, the planet carrier 207 is fixed by external force, the sun gear 208 outputs the torque from the motor 201 to the planet gear 206, the planet gear 206 outputs torque to the ring gear 205, and the ring gear 205 outputs torque.

[0093] In some embodiments, when the first clutch is in the closed state, the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slip friction state, the ring gear is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear.

[0094] When the first clutch is in the closed state, the planetary carrier and the electric drive assembly housing are engaged, the planetary carrier is fixed, and the power transmission path of the transmission is sun gear-planet gear-ring gear, transmitting power to the wheel ends through the ring gear. When the motor meets the preset stall condition, the wheel ends are fixed by external force, thus fixing the ring gear. At this time, the first clutch is controlled to slip, causing the planetary carrier to rotate, allowing the planetary carrier to transmit power. The power transmission path of the transmission is now sun gear-planet gear-planet carrier. Because power can be transmitted through the planetary carrier, the motor is prevented from stalling, thus protecting the motor. Since the ring gear remains fixed during the rotation of the planetary carrier, the torque output to the wheel ends is unaffected, preventing the target moving device from being pulled by external forces.

[0095] For example, if the target moving device is a vehicle, the electric drive system can be as follows: Figure 3 As shown, in Figure 3In the diagram, 301 represents the motor, 302 represents the motor shaft, 303 represents the second clutch, 304 represents the first clutch, 305 represents the planetary carrier, 306 represents the planetary gears, 307 represents the ring gear, 308 represents the sun gear, 309 represents the first-stage reduction drive gear, 3010 represents the first-stage reduction driven gear, 3011 represents the second-stage reduction drive gear, 3012 represents the second-stage reduction driven gear, 3013 represents the differential, 3014 represents half-shaft one, 3015 represents half-shaft two, 3016 represents the wheel, and 3017 represents the wheel. Figure 3 In the first clutch operation, when the first clutch is in the closed state, the planetary carrier 305 is fixed. The sun gear 308 outputs the torque from the motor 301 to the planetary gear 306. The planetary gear 306 outputs the torque to the ring gear 307. The ring gear 307 outputs the torque to the first-stage reduction drive gear 309. The first-stage reduction drive gear 309 outputs the torque to the first-stage reduction driven gear 3010. The first-stage reduction driven gear 3010 outputs the torque to the second-stage reduction drive gear 3011. The second-stage reduction drive gear 3011 outputs the torque to the second-stage reduction driven gear 3010. 012, the secondary reduction driven gear 3012 outputs torque to the differential 3013, the differential 3013 outputs torque to the wheel 3016 through half shaft one 3014, the differential 3013 outputs torque to the wheel 3017 through half shaft two 3015. When the first clutch is in the slip friction state, the planet carrier 305 rotates, the ring gear 307 is fixed by external force, the sun gear 308 outputs the torque output by the motor 201 to the planet gear 306, the planet gear 306 outputs torque to the planet carrier 305, and the planet carrier 305 outputs torque.

[0096] In some embodiments, the electric drive system is located in the target motion device; this embodiment further includes:

[0097] Obtain the status parameters of the target operating device;

[0098] If the state parameters meet the preset parameter conditions, the motor is determined to be in a stalled state.

[0099] In this context, "stalled rotor" refers to a state where, during motor operation, the rotor cannot rotate normally due to excessive external load or other reasons, but the stator windings remain energized. The status parameters of the target moving equipment are used to indicate its motion status. These parameters can be set according to actual conditions; for example, they may include the target moving equipment's speed and the motor's current operating parameters. This embodiment does not impose such limitations.

[0100] The current operating parameters of the motor are used to indicate the current operating status of the motor. They can be set according to the actual situation. For example, the current operating parameters may include at least one of the current current, current temperature, current speed and current torque of the motor. This embodiment does not limit this.

[0101] The preset parameter conditions can be set according to the type of state parameters. For example, when the state parameters include the motion speed and the current operating parameters of the motor, the preset parameter conditions include: the motion speed of the target moving device meets the stationary state conditions of the target moving device; when the current operating parameters include the current torque of the motor, the preset parameter conditions also include: the current torque of the motor is greater than a reference torque threshold; when the current operating parameters include the current speed of the motor, the preset parameter conditions also include: the current speed of the motor is less than a reference speed threshold; when the current operating parameters include the current torque and current speed of the motor, the preset parameter conditions also include: the current torque of the motor is greater than a reference torque threshold and the current speed of the motor is less than a reference speed threshold.

[0102] The stationary state condition indicates that the target moving device is completely stationary or that the difference between the target moving device's speed and 0 is less than or equal to a preset value. The reference torque threshold and reference speed threshold are preset thresholds; optionally, the reference torque threshold can be a second torque threshold, and the reference speed threshold can be a second speed threshold.

[0103] In this embodiment, the state parameters of the target motion device are acquired. When the state parameters meet the preset parameter conditions, it is determined that the motor is in a stall state. This enables real-time determination of whether the motor is in a stall state through the state parameters, thereby improving the accuracy of determining whether the motor is in a stall state.

[0104] In some embodiments, the operation of the motor is controlled based on a first operating parameter threshold of the motor.

[0105] Specifically, when the transmission is in the first gear, the motor can be controlled based on the first operating parameter threshold of the motor. That is, when the first clutch is in the closed state, the motor can be controlled based on the first operating parameter threshold of the motor. When the first clutch is in the slipping state, the motor can still be controlled based on the first operating parameter threshold of the motor.

[0106] Optionally, the first operating parameter threshold may include a first torque threshold, or the first operating parameter threshold may include a first torque threshold and a first speed threshold. The first speed threshold refers to the maximum permissible speed of the motor during operation. The first torque threshold refers to the maximum permissible torque of the motor during operation.

[0107] In some embodiments, the first operating parameter threshold further includes a first rotational speed threshold; this embodiment further includes:

[0108] Based on the control of the motor speed by the first speed threshold, the speed difference threshold of the first clutch is controlled.

[0109] The speed difference threshold refers to the maximum permissible speed difference between the two components of the first clutch (such as the driving plate and the driven plate).

[0110] The motor speed is controlled based on a first speed threshold, so that the speed difference threshold of the first clutch can be controlled by controlling the motor speed.

[0111] In this embodiment, the first operating parameter also includes a first speed threshold. Based on the first speed threshold, the speed of the motor is controlled, and the speed difference threshold of the first clutch is controlled, so as to limit the speed difference threshold of the first clutch, so that the first clutch can be protected while the motor is protected from stall.

[0112] In some embodiments, this embodiment further includes:

[0113] Obtain overheating indication information of the first clutch that is in a slipping state;

[0114] If the overheating indication information meets the preset overheating conditions, the overheating protection strategy of the first clutch is executed.

[0115] The slip friction overheating indication information is used to indicate whether the first clutch is overheated. If the slip friction overheating indication information meets the preset overheating conditions, it indicates that the first clutch is overheated. At this time, the overheating protection strategy of the first clutch is executed in order to protect the first clutch.

[0116] In some embodiments, obtaining slippage overheating indication information for a first clutch in a slipping state includes:

[0117] Based on the clutch parameters of the first clutch in a slipping state, determine the slipping overheat indication information of the first clutch in a slipping state.

[0118] Here, the clutch parameters refer to the operating parameters of the first clutch, which can be set according to actual conditions. For example, the clutch parameters may include at least one of the output torque, speed difference, temperature and temperature change rate of the first clutch. This embodiment does not limit this.

[0119] In this embodiment, based on the clutch parameters of the first clutch in a slipping state, the slipping overheating indication information of the first clutch in a slipping state is determined, thereby realizing the determination of slipping overheating indication information through the clutch parameters of the first clutch and improving the accuracy of slipping overheating indication information.

[0120] In some embodiments, the clutch parameters can be directly determined as slippage overheating indication information; or, in some embodiments, the slippage overheating indication information of the first clutch in a slippage state is determined based on the clutch parameters of the first clutch in a slippage state, including:

[0121] Based on the clutch parameters of the first clutch in a slipping state at multiple times, determine the slipping overheat count value of the first clutch at each time.

[0122] Based on the slip overheat count value, the slip overheat indication information of the first clutch is determined.

[0123] Specifically, the slippage overheating count value can be determined as the slippage overheating indication information. When the first clutch enters the slippage state, the slippage overheating count value is set to 0. Then, the clutch parameters of the first clutch in the slippage state at the current moment are acquired. If the clutch parameters are greater than the preset clutch parameters, the slippage overheating count value is incremented by 1. The slippage overheating count value is compared with the pre-designed value. If the slippage overheating count value is greater than the pre-designed value, the slippage overheating indication information is determined to meet the preset overheating condition. Otherwise, the process returns to the step of acquiring the clutch parameters of the first clutch in the slippage state at the current moment (at this time, since the specific time of the current moment has changed, returning to this step can obtain slippage overheating count values ​​at multiple moments).

[0124] For example, when the clutch parameters include at least one of the output torque, speed difference, temperature, and temperature change rate of the first clutch, the preset clutch parameters include at least one of the preset torque, preset speed difference, preset temperature, and preset temperature change rate. When the first clutch just enters the slip friction state, the slip friction overheat count value is set to 0. Then, at least one of the output torque, speed difference, temperature, and temperature change rate of the first clutch at the current moment is obtained. If at least one of the following conditions is met: the output torque at the current moment is greater than the preset torque, the speed difference at the current moment is greater than the preset speed difference, the temperature at the current moment is greater than the preset temperature, and the temperature change rate at the current moment is greater than the preset temperature change rate, the slip friction overheat count value is increased by 1. Then, the slip friction overheat count value is compared with the pre-designed value. If the slip friction overheat count value is greater than the pre-designed value, it is determined that the slip friction overheat count value meets the preset overheating condition. If the slip friction overheat count value is less than or equal to the pre-designed value, the step of obtaining at least one of the output torque, speed difference, temperature, and temperature change rate of the first clutch at the current moment continues.

[0125] In this embodiment, based on the clutch parameters of the first clutch in a slipping state at multiple times, the slipping overheat count value of the first clutch at each time is determined. Based on the slipping overheat count value, the slipping overheat indication information of the first clutch is obtained, thereby improving the accuracy of determining the slipping overheat indication information and thus improving the accuracy of determining whether the first clutch is overheated.

[0126] In some embodiments, the overheat protection strategy includes: controlling the working state of the first clutch to switch from a slipping state to a closed state, and controlling the speed of the motor based on a second speed threshold, so as to control the speed difference threshold of the first clutch.

[0127] The second speed threshold is less than the first speed threshold. Controlling the motor speed based on the second speed threshold allows the speed difference threshold of the first clutch to be a preset value, such as 0 or 0.01; this embodiment does not impose such a limitation.

[0128] In this embodiment, the working state of the first clutch is switched from the slipping state to the closed state, and the speed of the motor is controlled based on the second speed threshold to control the speed difference threshold of the first clutch, thereby achieving protection of the first clutch.

[0129] In some embodiments, when the overheating indication information meets the preset overheating condition, this embodiment further includes:

[0130] Motor operation is controlled based on the second operating parameter threshold of the motor.

[0131] The second operating parameter threshold is less than the first operating parameter threshold. The second operating parameter threshold may include a second torque threshold, which can be the rated torque threshold of the motor during operation.

[0132] In this embodiment, when the overheating indication information meets the preset overheating conditions, the motor is controlled to operate based on the second operating parameter threshold of the motor, so that the motor is protected while the first clutch is protected.

[0133] In some embodiments, the electric drive system further includes a first control switch for controlling the operating state of the first clutch to switch from a closed state to a slipping state, including:

[0134] The first control switch controls the working state of the first clutch to switch from the closed state to the slipping state.

[0135] The type of the first control switch can be set according to the actual situation. For example, the first control switch may include a proportional solenoid valve or a digital solenoid valve. This embodiment does not limit this.

[0136] In this embodiment, the first control switch controls the working state of the first clutch to switch from the closed state to the slipping state, thereby improving the convenience of controlling the first clutch to enter the slipping state.

[0137] In some embodiments, the first control switch includes a proportional solenoid valve. The first control switch controls the operating state of the first clutch to switch from a closed state to a slipping state, including:

[0138] The control signal of the proportional solenoid valve is adjusted to the first control signal to control the working state of the first clutch to switch from the closed state to the slipping state.

[0139] The type of the first control signal can be set according to the actual situation. For example, the first control signal can be current and / or voltage. This embodiment does not limit this.

[0140] Because the proportional solenoid valve can quickly respond to the input control signal, accurately adjust the flow rate or pressure of the fluid according to the input control signal, and adjust the valve opening by changing the input control signal, in this embodiment, when the first control switch includes the proportional solenoid valve, the control signal of the proportional solenoid valve is adjusted to the first control signal to control the working state of the first clutch to switch from the closed state to the sliding state, so as to control the first clutch quickly, accurately and flexibly.

[0141] In some embodiments, the operating state of the transmission further includes a second gear state; this embodiment also includes:

[0142] When the motor meets the preset stall condition and the transmission is in the second gear state, the motor operation is controlled based on the third operating parameter threshold.

[0143] The second gear position can be the high-speed gear mentioned above. The third operating parameter threshold can be the same as or different from the second operating parameter threshold; this embodiment does not impose any limitations on this. The third operating parameter threshold is less than the first operating parameter threshold. For example, the third operating parameter threshold may include a second torque threshold, the specific value of which can be the rated torque threshold of the motor during operation, and the second torque threshold is less than the first torque threshold.

[0144] When the transmission is in the second gear, the torque threshold of the motor during normal operation is the first torque threshold. When the motor is controlled based on the third operating parameter threshold, it means that during the motor stall process, the motor torque threshold is the second torque threshold. Since the second torque threshold is less than the first torque threshold, when the motor meets the preset stall condition and the transmission is in the second gear, controlling the motor operation based on the third operating parameter threshold can achieve motor stall protection by reducing the motor torque threshold. This allows for motor protection through different protection methods, improving the flexibility of motor protection.

[0145] In some embodiments, the control method provided in this embodiment can be as follows: Figure 4 As shown, the system determines whether the motor meets the preset stall condition. When the motor meets the preset stall condition, the system determines the operating state of the transmission. If the transmission is in first gear, a first stall protection strategy is executed. During the execution of the first stall protection strategy, it determines whether the first clutch is overheating. If the first clutch is overheating, an overheat protection strategy is executed for the first clutch, and the execution of the first stall protection strategy is terminated, and a second stall protection strategy is executed. If the first clutch is not overheating, the first stall protection strategy continues to be executed. When the transmission is in second gear, the second stall protection strategy is executed.

[0146] The first stall protection strategy includes controlling the first clutch to enter a slipping state, or the second stall protection strategy includes controlling the first clutch to enter a slipping state.

[0147] As can be seen from the above, in the embodiments of this application, the electric drive system includes a motor, a first clutch, and a transmission. When the transmission is in the first gear state, the first clutch is in the closed state. When the motor meets the preset stall condition and the transmission is in the first gear state, the first clutch is controlled to switch from the closed state to the slip friction state in order to change the power transmission path of the transmission, so that the motor does not stall, thereby protecting the motor. In addition, the torque output by the transmission to the wheel end is not affected.

[0148] The electric drive system provided in this application will be described in detail below. This application provides an electric drive system; please refer to [link / reference needed]. Figure 5The electric drive system provided in this application includes a controller, a motor, a first clutch, and a transmission. When the transmission is in the first gear state, the first clutch is in the closed state. The controller is used to control the first clutch to switch its working state from the closed state to the slipping state when the motor meets the preset stall condition and the transmission is in the first gear state.

[0149] In this embodiment, the electric drive system includes a motor, a first clutch, and a transmission. When the transmission is in the first gear, the first clutch is in the closed state. The controller is used to control the first clutch to switch from the closed state to the slipping state when the motor meets the preset stall condition and the transmission is in the first gear, so as to change the power transmission path of the transmission, so that the motor does not stall, thereby protecting the motor. In addition, the torque output from the transmission to the wheel end is not affected.

[0150] In some embodiments, the electric drive system further includes a hydraulic subsystem, and the controller is used to control the operating state of the first clutch from a closed state to a slipping state via the hydraulic subsystem. The hydraulic subsystem is a transmission system that uses a liquid (usually oil) as a working medium to transmit energy and control via pressure.

[0151] Because the hydraulic subsystem can transmit high power in a relatively small volume and weight, can accurately control parameters such as force, speed and position, realize complex motion control, and provide smooth and consistent power transmission, reducing vibration and shock, in this embodiment, the electric drive system also includes a sub-hydraulic subsystem. The controller is used to control the working state of the first clutch from the closed state to the slip friction state through the hydraulic subsystem, so as to realize the control of the working state of the first clutch through the hydraulic subsystem, which enables high-density, high-precision and smooth control of the first clutch.

[0152] Optionally, the hydraulic subsystem may include a first control switch, through which the controller can switch the operating state of the first clutch from a closed state to a slipping state.

[0153] In some embodiments, the electric drive system is located on the target moving device, and the transmission includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is connected to the motor shaft of the motor and meshes with the planet gears. The planet gears mesh with the ring gear and are connected to the planet carrier. The ring gear or planet carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device.

[0154] The relationship between torque and speed between the planet carrier, ring gear, and sun gear can be summarized as follows:

[0155] Ns+αNr =(1+α)*Nc (1)

[0156] Ts / 1=Tr / α=Tc / -(1+α)(2)

[0157] Ts*Ns+Tr*Nr+Tc*Nc=0(3)

[0158] α=Z r / Z s (4)

[0159] In this equation, formula (1) can be called the motion equation of the planetary gear set, formula (2) can be called the torque equation of the planetary gear set, and formula (3) can be called the power equation of the planetary gear set. Ns represents the speed of the sun gear, Nr represents the rotational speed of the ring gear, Nc represents the rotational speed of the planet carrier, Ts represents the torque of the sun gear, Tr represents the torque of the ring gear, Tc represents the torque of the planet carrier, and Z r Z represents the number of teeth on the gear ring. s The number of teeth on the sun gear is represented by α, which represents the ratio of the number of teeth on the ring gear to the number of teeth on the sun gear.

[0160] When the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device, the planetary carrier's rotational speed is 0, the sun gear's rotational speed is -αNr, and the transmission ratio is -Z. r / Z s (The negative sign is used to indicate direction). Since the number of teeth on the ring gear is usually greater than the number of teeth on the sun gear, the transmission ratio is greater than 1. Therefore, the torque output by the motor can be amplified.

[0161] When the gear ring is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device, the rotational speed of the gear ring is equal to 0, and the transmission ratio of the gearbox is (1+Z). r / Z s Since the transmission ratio is greater than 1, the torque output by the motor can be amplified.

[0162] The type of target motion device can be set according to the actual situation. For example, the target motion device can be a vehicle or an airplane. This embodiment does not limit this.

[0163] In this embodiment, the electric drive system is located on the target moving device. The transmission includes a sun gear, planet gears, a ring gear, and a planet carrier. The sun gear is connected to the motor shaft of the motor and meshes with the planet gears. The planet gears mesh with the ring gear and are connected to the planet carrier. The ring gear or planet carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device, thereby improving the convenience of changing the power transmission path of the transmission.

[0164] In some embodiments, when the first clutch is in the closed state, the ring gear is fixed and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slipping state, the planetary carrier is fixed and the ring gear is used to output the torque input from the motor to the sun gear.

[0165] When the first clutch is in the closed state, the ring gear and the electric drive assembly housing are engaged, the ring gear is fixed, and the power transmission path of the transmission is sun gear-planet gear-planet carrier, transmitting power to the wheel ends through the planet carrier. When the motor meets the preset stall condition, the wheel ends are fixed by external force, thus fixing the planet carrier. At this time, the first clutch is controlled to slip, causing the ring gear to rotate, allowing it to transmit power. The power transmission path of the transmission is now sun gear-planet gear-ring gear. Because power can be transmitted through the ring gear, the motor is prevented from stalling, thus protecting the motor. Since the planet carrier remains fixed during the rotation of the ring gear, the torque output to the wheel ends is unaffected, preventing the target moving device from being pulled by external forces.

[0166] In this embodiment, when the first clutch is in the closed state, the ring gear is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slipping state, the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear, thereby changing the power transmission path of the transmission.

[0167] In some embodiments, when the first clutch is in the closed state, the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slip friction state, the ring gear is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear.

[0168] When the first clutch is in the closed state, the planetary carrier and the electric drive assembly housing are engaged, the planetary carrier is fixed, and the power transmission path of the transmission is sun gear-planet gear-ring gear, transmitting power to the wheel ends through the ring gear. When the motor meets the preset stall condition, the wheel ends are fixed by external force, thus fixing the ring gear. At this time, the first clutch is controlled to be in the slipping state, causing the planetary carrier to rotate, thereby allowing the planetary carrier to transmit power. The power transmission path of the transmission is sun gear-planet gear-planet carrier. Since power can be transmitted through the planetary carrier, the motor can be prevented from stalling, thus protecting the motor. Because the ring gear remains fixed during the rotation of the planetary carrier, the torque output to the wheel ends is unaffected, thus preventing the target moving device from being pulled by external forces.

[0169] In this embodiment, when the first clutch is in the closed state, the planetary carrier is fixed, and the ring gear is used to output the torque input from the motor to the sun gear to the wheel end of the target moving device. When the first clutch is in the slipping state, the ring gear is fixed, and the planetary carrier is used to output the torque input from the motor to the sun gear, thereby changing the power transmission path of the transmission.

[0170] In some embodiments, the electric drive system further includes a second clutch, and the transmission's operating gear also includes a second gear state. When the transmission is in the second gear state, the second clutch is in the closed state.

[0171] The second clutch operates in both closed and open states; that is, it does not operate in a slipping state. The control of the first and second clutches is shown in the table below:

[0172] motor Second clutch First Clutch Second clutch drive open open close First clutch drive open close open

[0173] Optionally, the controller is also used to control the motor operation based on a third operating parameter threshold of the motor when the motor meets the preset stall condition and the transmission is in the second gear state.

[0174] In this embodiment, the electric drive system further includes a second clutch, and the transmission also includes a second gear state. When the transmission is in the second gear state, the second clutch is in the closed state, so that the electric drive system can include multiple clutches, so that the electric drive system can work in multiple gear states, thereby improving the driving flexibility of the electric drive system.

[0175] In some embodiments, the first clutch and the second clutch are coaxially arranged. Coaxial arrangement of the first clutch and the second clutch means that the axis of the first clutch and the axis of the second clutch are the same.

[0176] For example, when the target moving device is a vehicle, the electric drive system outputs the torque from the motor to the vehicle's wheels. The electric drive system can then... Figure 2 As shown, in Figure 2 In this configuration, the second clutch 203 and the first clutch 204 are coaxially aligned. For example, an electric drive system can be configured as follows: Figure 3 As shown, in Figure 3 In this configuration, the second clutch 303 and the first clutch 304 are coaxially aligned.

[0177] It is understandable that in electric drive systems such as Figure 2As shown, the first clutch controls the engagement and disengagement of the gear ring with the housing of the electric drive system, and the second clutch controls the engagement and disengagement of the gear ring with the motor shaft. The second clutch, the first clutch, the motor, the planetary gear set, and the first-stage reduction drive gear are arranged coaxially, with the second clutch and the first clutch positioned between the motor and the planetary gear set.

[0178] In this embodiment, the first clutch and the second clutch are coaxially arranged, which makes the space size of the electric drive system compact, thereby reducing the volume of the electric drive system.

[0179] In some embodiments, when the electric drive system includes a second clutch and a hydraulic subsystem, the hydraulic subsystem may be as follows: Figure 6 As shown, in Figure 6 In the diagram, 601 represents the oil collection tray, 602 represents the filter, 603 represents the check valve, 604 represents the electric oil pump, 605 represents the heat exchanger, 606 represents the second control switch (the second control switch is, for example, a solenoid valve), 607 represents the flow limiting orifice, 608 represents the proportional solenoid valve (which also represents the first control switch), 609 represents the temperature sensor of the first clutch, 6010 represents the pressure sensor of the first clutch, 6011 represents the first clutch, 6012 represents the second clutch, 6013 represents the motor stator cooling device, 6016 represents the motor temperature sensor, 6015 represents the motor rotor cooling device, and 6016 represents the reduction gear cooling and lubrication device.

[0180] In some embodiments, the electric drive system is located on a target moving device, which is a vehicle, and the first clutch and the second clutch are coaxially arranged and distributed in the radial direction of the vehicle's axle.

[0181] The type of target motion device can be set according to the actual situation. For example, the target motion device can be a vehicle or an airplane. This embodiment does not limit this.

[0182] When the target moving device includes the aforementioned electric drive system, since the input torque at the wheel end of the target moving device does not decrease when the first clutch is in a slipping state, the target moving device can resist external forces through torque to remain stationary.

[0183] For example, if the target moving device is an off-road vehicle, in a scenario where the off-road vehicle is pulling against other vehicles, the electric drive system of the off-road vehicle can ensure that the torque input to the wheel end of the off-road vehicle does not decrease when the motor is stalled, thereby enabling the off-road vehicle to resist external pulling force and remain stationary.

[0184] The radial direction refers to the direction perpendicular to the vehicle's axle. Specifically, the first clutch may be located radially outward and the second clutch may be located radially inward, or the first clutch may be located radially inward and the second clutch may be located radially outward. This embodiment does not limit this.

[0185] In this embodiment, the electric drive system is located on the target moving device, which is a vehicle. The first clutch and the second clutch are coaxially arranged and distributed in the radial direction of the vehicle's axle, making the space size of the electric drive system compact and thus reducing the volume of the electric drive system.

[0186] Figure 7 This is a schematic diagram of the structure of a control device provided in an embodiment of this application. Please refer to... Figure 7 The control device may include a first control module 701. Wherein:

[0187] The first control module 701 is used to control the working state of the first clutch to switch from the closed state to the slipping state when the motor meets the preset stall condition and the working state of the transmission is the first gear state.

[0188] The first control module 701 can be used to execute all the steps in the embodiments corresponding to the above control method. For the specific implementation of these modules and more details, please refer to the corresponding method section. They will not be described in detail here.

[0189] This application also provides a computer-readable storage medium storing instructions that, when executed by a processor, configure the processor to perform the aforementioned mobile charging scheduling method.

[0190] Those skilled in the art will understand that embodiments of this application can be provided as methods, systems, or computer program products. Therefore, this application can take the form of a completely hardware embodiment, a completely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, this application can take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0191] This application is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of this application. It will be understood that each block of the flowchart illustrations and / or block diagrams, and combinations of blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, special-purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create a machine for implementing the flowchart illustrations and / or block diagrams. Figure 1 One or more processes and / or boxes Figure 1 A device that provides the functions specified in one or more boxes.

[0192] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable storage medium produce an article of manufacture including instruction means, which are implemented in a process Figure 1 One or more processes and / or boxes Figure 1 The function specified in one or more boxes.

[0193] These computer program instructions may also be loaded onto a computer or other programmable data processing equipment to cause a series of operational steps to be performed on the computer or other programmable equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable equipment for implementing the process. Figure 1 One or more processes and / or boxes Figure 1 The steps of the function specified in one or more boxes.

[0194] In a typical configuration, a computing device includes one or more processors (CPU), input / output interfaces, network interfaces, and memory.

[0195] Memory may include non-persistent memory in computer-readable media, such as random access memory (RAM) and / or non-volatile memory, such as read-only memory (ROM) or flash RAM. Memory is an example of computer-readable media.

[0196] Computer-readable media include both permanent and non-permanent, removable and non-removable media, which can store information using any method or technology. Information can be computer-readable instructions, data structures, modules of programs, or other data. Examples of computer storage media include, but are not limited to, phase-change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technologies, CD-ROM, digital versatile optical disc (DVD) or other optical storage, magnetic tape, magnetic disk storage or other magnetic storage devices, or any other non-transferable medium that can be used to store information accessible by a computing device. As defined herein, computer-readable media does not include transient media, such as modulated communication signals and carrier waves.

[0197] In some embodiments, this application also provides a controller having a computer program stored thereon, which, when executed by a processor, implements the steps in the embodiments of this application.

[0198] In some embodiments, this application also provides a computer program product, including a computer program or instructions, which, when executed by a processor, implement the steps in the embodiments of this application.

[0199] In some embodiments, this application also provides a vehicle, which includes the controller or electric drive system provided in this embodiment.

[0200] In the description of this application, the terms "first" and "second" are used for descriptive purposes only and should not be construed as indicating or implying relative importance or implicitly specifying the number of technical features indicated. Therefore, a feature defined as "first" or "second" may explicitly or implicitly include one or more features. In the description of this application, "multiple" means two or more, unless otherwise explicitly specified.

[0201] In the above embodiments, the descriptions of each embodiment have different focuses. For parts not described in detail in a certain embodiment, please refer to the relevant descriptions in other embodiments.

[0202] The embodiments, implementation methods, and related technical features of this application can be combined and substituted for each other without conflict.

[0203] The above are merely preferred embodiments of this application and are not intended to limit this application in any way. Any simple modifications, equivalent changes, and alterations made to the above embodiments based on the technical essence of this application without departing from the scope of the technical solution of this application shall still fall within the scope of the technical solution of this application.

Claims

1. A control method characterized by, The method is applied to an electric drive system, the electric drive system comprising a motor, a first clutch and a transmission, in a case where a working state of the transmission is a first gear state, a working state of the first clutch is a closed state, and the method comprises: In a case where the motor meets a preset locked-rotor condition and the working state of the transmission is the first gear state, the working state of the first clutch is switched from the closed state to a slip state.

2. The method of claim 1, wherein, The first gear state comprises a gear state of amplifying a torque output by the motor.

3. The method of claim 1, wherein, The preset locked-rotor condition comprises that the motor is in a locked-rotor state and a time length in the locked-rotor state meets a first preset time length, or the preset locked-rotor condition comprises that the motor is in a locked-rotor state.

4. The method of claim 3, wherein, The electric drive system is located in a target sports device, and the method further comprises: Obtaining a state parameter of the target sports device; In a case where the state parameter meets a preset parameter condition, determining that the motor is in a locked-rotor state.

5. The method of claim 4, wherein, The state parameter comprises a movement speed of the target sports device and a current operating parameter of the motor.

6. The method of claim 5, wherein, The current operating parameter comprises a current torque of the motor and / or a current rotating speed of the motor.

7. The method of claim 6, wherein, The preset parameter condition comprises that the movement speed of the target sports device meets a stationary state condition of the target sports device; In a case where the current operating parameter comprises the current torque of the motor, the preset parameter condition further comprises that the current torque of the motor is greater than a reference torque threshold; In a case where the current operating parameter comprises the current rotating speed of the motor, the preset parameter condition further comprises that the current rotating speed of the motor is less than a reference rotating speed threshold; In a case where the current operating parameter comprises the current torque and the current rotating speed of the motor, the preset parameter condition further comprises that the current torque of the motor is greater than the reference torque threshold and the current rotating speed of the motor is less than the reference rotating speed threshold.

8. The method of claim 1, wherein, The method further comprises: Controlling operation of the motor based on a first operating parameter threshold.

9. The method of claim 8, wherein, The first operating parameter threshold comprises a first torque threshold.

10. The method of claim 9, wherein, The first operating parameter threshold further comprises a first rotating speed threshold, and the method further comprises: Controlling a rotating speed difference threshold of the first clutch based on control of the rotating speed of the motor based on the first rotating speed threshold.

11. The method of claim 1, wherein, The method further comprises: Obtaining slip-overheating indication information of the first clutch in the slip state; In a case where the slip-overheating indication information meets a preset overheating condition, executing an overheating protection strategy of the first clutch.

12. The method of claim 11, wherein, The obtaining of the slip-overheating indication information of the first clutch in the slip state comprises: Determining the slip-overheating indication information of the first clutch in the slip state based on clutch parameters of the first clutch in the slip state.

13. The method of claim 12, wherein, The clutch parameters comprise at least one of an output torque, a rotating speed difference, a temperature value and a temperature value change rate.

14. The method of claim 12, wherein, The determining of the slip-overheating indication information of the first clutch in the slip state based on the clutch parameters of the first clutch in the slip state comprises: determine a slip-overheat count value of the first clutch at each of the plurality of time instants based on clutch parameters of the first clutch at the plurality of time instants in the slip state; determine slip-overheat indication information of the first clutch based on the slip-overheat count value.

15. The method of claim 11, wherein, The overheat protection strategy comprises: control the working state of the first clutch to switch from the slip state to the closed state, and control the rotation speed of the motor based on a second rotation speed threshold, so as to control the rotation speed difference threshold of the first clutch.

16. The method of claim 11, wherein, In a case where the slip-overheat indication information meets a preset overheat condition, the method further comprises: control the motor to operate based on a second operating parameter threshold of the motor.

17. The method of claim 1, wherein, The electric drive system further comprises a first control switch, and the control of the working state of the first clutch to switch from the closed state to the slip state comprises: controlling the working state of the first clutch to switch from the closed state to the slip state through the first control switch.

18. The method of claim 17, wherein, The first control switch comprises a proportional electromagnetic valve, and the control of the working state of the first clutch to switch from the closed state to the slip state through the first control switch comprises: adjusting a control signal of the proportional electromagnetic valve to a first control signal, so as to control the working state of the first clutch to switch from the closed state to the slip state.

19. The method according to any one of claims 1 to 18, characterized in that, The working state of the transmission further comprises a second gear state, and the method further comprises: in a case where the motor meets the preset locked-rotor condition and the working state of the transmission is the second gear state, control the motor to operate based on a third operating parameter threshold.

20. The method of claim 19, wherein, The third operating parameter threshold is smaller than the first operating parameter threshold.

21. An electric drive system, characterized by The electric drive system comprises a controller, a motor, a first clutch, and a transmission, and in a case where the working state of the transmission is a first gear state, the working state of the first clutch is a closed state. The controller is configured to control the working state of the first clutch to switch from the closed state to a slip state in a case where the motor meets a preset locked-rotor condition and the working state of the transmission is the first gear state.

22. The electric drive system of claim 21, wherein, The electric drive system further comprises a hydraulic subsystem, and the controller is configured to control the working state of the first clutch to switch from the closed state to the slip state through the hydraulic subsystem.

23. The electric drive system of claim 21, wherein, The electric drive system is located on a target motion device, and the transmission comprises a sun gear, a planet gear, a ring gear, and a planet carrier. The sun gear is connected with a motor shaft of the motor and is in mesh with the planet gear. The planet gear is in mesh with the ring gear and is connected with the planet carrier. The ring gear or the planet carrier is configured to output torque input from the motor to the sun gear to a wheel end of the target motion device.

24. The electric drive system of claim 23, wherein, In a case where the working state of the first clutch is the closed state, the ring gear is fixed, and the planet carrier is configured to output torque input from the motor to the sun gear to the wheel end of the target motion device. In a case where the working state of the first clutch is the slip state, the planet carrier is fixed, and the ring gear is configured to output the torque input from the motor to the sun gear.

25. The electric drive system of claim 23, wherein, In the closed state of the first clutch, the planet carrier is fixed, and the ring gear is used to output the torque from the motor input to the sun gear to the wheel end of the target motion device; in the sliding state of the first clutch, the ring gear is fixed, and the planet carrier is used to output the torque from the motor input to the sun gear.

26. The electric drive system of claim 21, wherein, The electric drive system further comprises a second clutch, and the working gear of the transmission further comprises a second gear state, and in the case that the working state of the transmission is the second gear state, the working state of the second clutch is a closed state.

27. The electric drive system of claim 26, wherein, The first clutch and the second clutch are coaxially arranged.

28. The electric drive system of claim 27, wherein, The electric drive system is located on a target motion device, and the target motion device is a vehicle, the first clutch and the second clutch are coaxially arranged and distributed in the radial direction of the axle of the vehicle.

29. A computer readable storage medium having stored thereon a computer program, characterized in that, The computer program is executed by a processor to implement the steps of the method of any one of claims 1-20.

30. A controller having stored thereon a computer program, wherein The computer program is executed by a processor to implement the steps of the method of any one of claims 1-20.

31. A vehicle characterized by The vehicle comprises the electric drive system of claim 21 or the controller of claim 30.

32. A computer program product, characterised in that, The computer program or instructions are executed by a processor to implement the steps of the method of any one of claims 1-20.

Images