Motor control method, engine drain control method, and application device

Abstract

The embodiment of the present application provides a motor control method, an engine drainage control method and application equipment, comprising: trajectory tracking of a step motor position instruction, determination of a motor driving signal; and control of the motor based on the motor driving signal. The embodiment of the present application performs trajectory tracking on the step motor position instruction, so that the actual torque output by the generator is also step, thereby accurately controlling the rotation of the motor, and the engine can be dragged back through the step generator torque, thereby realizing engine drainage.

Description

Technical Field

[0001] This invention relates to the field of engine drainage technology, and in particular to a motor control method, an engine drainage control method, a vehicle controller, a vehicle, a computer-readable storage medium, and a computer program product. Background Technology

[0002] In related technologies, motor control is usually achieved by using a feedforward controller to improve the dynamic process of position control. Acceleration compensation is used to compensate for the large inertia of the whole vehicle, thereby improving the position control accuracy and dynamic performance of the whole vehicle. However, this method is often difficult to control the rotor position quickly and accurately, and thus control the motor. Summary of the Invention

[0003] In view of the above problems, embodiments of the present invention are proposed to provide a motor control method, an engine drainage control method, a vehicle controller, a vehicle, a computer-readable storage medium, and a computer program product that overcome or at least partially solve the above problems.

[0004] To address the above problems, this invention discloses a motor control method, including:

[0005] Track the position command of the step motor to determine the motor drive signal;

[0006] The motor is controlled based on the motor drive signal.

[0007] Optionally, the motor drive signal includes a pulse control signal, and the step of tracking the position command of the step motor to determine the motor drive signal includes:

[0008] The reference speed is determined based on the position command of the step motor;

[0009] The pulse control signal is determined based on the reference rotation speed.

[0010] Optionally, determining the reference speed based on the position command for the step motor includes:

[0011] Obtain the actual position of the motor;

[0012] Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0013] The trajectory function is determined based on the angle difference;

[0014] The reference rotational speed is determined based on the trajectory function.

[0015] Optionally, the trajectory function is a continuously differentiable function, and determining the trajectory function based on the angle difference includes:

[0016] The angle difference is converted into a continuously differentiable function.

[0017] Optionally, the continuously differentiable function is an sigmoid function.

[0018] Optionally, determining the reference rotational speed based on the trajectory function includes:

[0019] The reference rotational speed is determined by differentiating a continuously differentiable function.

[0020] Optionally, determining the pulse control signal based on the reference rotational speed includes:

[0021] Obtain the actual speed of the motor;

[0022] The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed.

[0023] The output voltage is determined based on the orthogonal axis current;

[0024] The pulse control signal is determined based on the output voltage.

[0025] Optionally, determining the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes:

[0026] Determine the speed difference between the reference speed and the actual speed;

[0027] The orthogonal shaft current is determined based on the speed difference.

[0028] Optionally, determining the right-angle shaft current based on the speed difference includes:

[0029] Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

[0030] Optionally, determining the output voltage based on the right-angle axis current includes:

[0031] Obtain the three-phase current of the motor;

[0032] The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current;

[0033] The output voltage is determined by performing proportional-integral control based on the output current.

[0034] Optionally, determining the pulse control signal based on the output voltage includes:

[0035] The output voltage is then transformed using coordinates to obtain the target voltage.

[0036] The target voltage is pulse-width modulated to determine the pulse control signal.

[0037] Optionally, the step of pulse-width modulating the target voltage to determine the pulse control signal includes:

[0038] The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

[0039] An engine drainage control method, wherein the engine is connected to an electric motor, the method comprising:

[0040] Track the position command of the step motor to determine the motor drive signal;

[0041] The motor is controlled based on the motor drive signal, and the motor is used to drive the engine to drain water from the engine.

[0042] Optionally, the step-motor position command trajectory tracking to determine the motor drive signal includes:

[0043] In response to the vehicle exiting wading mode, the system tracks the position command of the step motor to determine the motor drive signal.

[0044] Optionally, controlling the motor based on the motor drive signal includes:

[0045] When the engine is off, the motor is controlled based on the motor drive signal.

[0046] A vehicle controller includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When executed by the processor, the computer program implements the steps of the motor control method or the engine drainage control method as described above.

[0047] A vehicle, including a vehicle controller as described above.

[0048] A computer-readable storage medium storing a computer program that, when executed by a processor, implements the steps of the motor control method or the engine drainage control method as described above.

[0049] A computer program product includes a computer program that, when executed by a processor, implements the steps of the motor control method or the engine drainage control method as described above.

[0050] The embodiments of the present invention have the following advantages:

[0051] This invention, through trajectory tracking of the step motor position command, determines the motor drive signal; based on the motor drive signal, it controls the motor, which drives the engine to drain water from the engine; by tracing the step motor position command, the actual torque output by the generator is also step-type, avoiding multi-loop proportional-integral control and achieving fast and accurate motor control. Attached Figure Description

[0052] Figure 1 This is a flowchart illustrating the steps of an embodiment of the motor control method of the present invention;

[0053] Figure 2 This is a flowchart illustrating the steps of another embodiment of the motor control method of the present invention;

[0054] Figure 3 This is a schematic diagram of the step position command of the present invention and the conventional position control tracking position command;

[0055] Figure 4 This is a schematic diagram of the sigmoid function;

[0056] Figure 5 This is a schematic diagram of the output response curve of the present invention;

[0057] Figure 6 This is a logic control diagram illustrating another example of a motor control method of the present invention;

[0058] Figure 7 This is a flowchart illustrating the steps of an embodiment of the engine drainage control method of the present invention. Detailed Implementation

[0059] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the present invention will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0060] Reference Figure 1 The diagram illustrates a flowchart of an embodiment of a motor control method according to the present invention, wherein the motor control method may specifically include the following steps:

[0061] Step 101: Track the position command of the step motor to determine the motor drive signal;

[0062] A step-type motor position command refers to a control command sent to a motor that exhibits a step-like characteristic, meaning the command value suddenly jumps from one stable state to another within a short period of time; a motor position command with this step-like characteristic is called a step-type motor position command.

[0063] The step-motor position command can be obtained as the input signal for motor control. The step-motor position command is then tracked to determine the motor drive signal.

[0064] The motor drive signal may include a pulse control signal. For example, the pulse control signal may be a PWM (Pulse Width Modulation) signal, which is a periodic high and low level signal that controls the circuit by changing the high level time (duty cycle) of the signal.

[0065] Step 102: Control the motor based on the motor drive signal.

[0066] The motor is controlled by a motor drive signal so that the motor can reach the position corresponding to the motor drive signal within the corresponding cycle.

[0067] This invention, through trajectory tracking of the step motor position command, determines the motor drive signal; based on the motor drive signal, it controls the motor, which drives the engine to drain water from the engine; by tracing the step motor position command, the actual torque output by the generator is also step-type, avoiding multi-loop proportional-integral control and achieving fast and accurate motor control.

[0068] Reference Figure 2 The diagram illustrates a flowchart of another embodiment of the motor control method of the present invention, wherein the motor drive signal for controlling the motor includes a pulse control signal. The motor control method may specifically include the following steps:

[0069] Step 201: Determine the reference speed based on the position command for the step motor;

[0070] The step position command can be obtained as the input signal for motor control. Trajectory tracking is performed on the step position command to determine the motor drive signal. The waveform of the step position command can be referenced... Figure 3 The upper curve represents the step motor position command, and the lower curve represents the conventional position control tracking position command. The actual position response curve smoothly approaches the position given by the step motor position command.

[0071] The motor drive signal may include a pulse control signal. For example, the pulse control signal may be a PWM (Pulse Width Modulation) signal, which is a periodic high and low level signal that controls the circuit by changing the high level time (duty cycle) of the signal.

[0072] The position of the step motor position command can be determined, and then the reference speed required to reach that position can be determined.

[0073] In an optional embodiment of the present invention, determining the reference speed based on the step motor position command includes:

[0074] Sub-step S2011: Obtain the actual position of the motor;

[0075] The position of the motor can be collected using sensors installed on the vehicle, and the actual position of the motor can be obtained from these sensors. The actual position of the motor can be characterized by the resolver angle.

[0076] Step S2012: Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0077] The step-type motor position command corresponds to the target position of the motor, which can be referred to as... Figure 3 A step-type motor position command will have a corresponding target motor position in the corresponding cycle. Accordingly, the target motor position can also be represented by a resolver angle. The angular difference between the actual motor position and the target motor position can be calculated.

[0078] Sub-step S2013: Determine the trajectory function based on the angle difference;

[0079] Based on the angle difference as input, the trajectory function corresponding to the motor's target position is determined. This trajectory function is a continuously differentiable function. A continuously differentiable function is one that is differentiable at every point in its domain, and whose derivatives are continuous over that domain. A continuously differentiable function not only needs to be differentiable at every point in its domain (i.e., satisfy the definition of differentiability), but also requires that these derivatives are continuous over the domain (i.e., satisfy the definition of continuity).

[0080] Specifically, determining the trajectory function based on the angle difference includes converting the angle difference into a continuously differentiable function.

[0081] The angle difference can be used as a given position to generate a corresponding continuously differentiable function.

[0082] In one example of this invention, the continuously differentiable function is a sigmoid function. Specifically, the sigmoid function can be a sigmoid function. (See also...) Figure 4 The sigmoid function is a curve that is smooth and differentiable everywhere. The definition of the sigmoid function is as follows:

[0083]

[0084] The angle difference can be converted into a sigmoid function. This relates to the mechanical rotation angle θ of the motor rotor and the motor's mechanical angular velocity W. r The approximate relationship between them can be expressed as follows:

[0085]

[0086] Where θ: mechanical rotation angle; W r : Mechanical angular velocity of the motor.

[0087] Based on the definition of the sigmoid function, the trajectory function that converts angle changes into sigmoid functions is as follows:

[0088]

[0089] Where θ represents the target position, A is the function amplitude (e.g., representing a given angle signal amplitude of 30 degrees), and B is the response time (a given value, which can be adjusted).

[0090] Sub-step S2014: Determine the reference rotational speed based on the trajectory function.

[0091] The reference speed for control is determined by transforming the function.

[0092] Specifically, determining the reference rotational speed based on the trajectory function includes: determining the reference rotational speed by differentiating the continuously differentiable function.

[0093] The derivative of a continuously differentiable function can be taken, and the result can be used as the reference rotational speed. That is, the derivative of the above formula can be taken:

[0094]

[0095] By substituting the corresponding input parameters, we obtain W. r (t) is the reference speed.

[0096] Step 202: Determine the pulse control signal based on the reference rotation speed.

[0097] Once the reference speed is obtained, it can be used as the control signal for the motor current loop and speed loop to determine the corresponding pulse control signal.

[0098] In an optional embodiment of the present invention, determining the pulse control signal based on the reference rotational speed includes:

[0099] Sub-step S2021: Obtain the actual speed of the motor;

[0100] The motor's rotational speed can be collected using sensors, and the actual speed of the motor can be obtained from these sensors. The actual rotational speed of the motor can be characterized by the resolver angular velocity.

[0101] Sub-step S2022: Determine the right-angle shaft current based on the reference rotational speed and the actual rotational speed;

[0102] The required right-angle axis current can be determined based on the reference speed and the actual speed. The right-angle axis current is the current signal based on the motor's right-angle axis. The motor's right-angle axis is the D-axis and Q-axis, a coordinate system describing the changes in the motor's magnetic field. The D-axis coincides with the direction of the motor rotor's magnetic field, representing the direction of rotation of the motor's magnetic field; the Q-axis is perpendicular to the D-axis, representing the magnetic field strength. The motor can be controlled by adjusting the current in the D-axis and Q-axis directions, i.e., the right-angle axis current.

[0103] Further, determining the right-angle shaft current based on the reference speed and the actual speed includes: determining the speed difference between the reference speed and the actual speed; and determining the right-angle shaft current based on the speed difference.

[0104] The speed difference between the reference speed and the actual speed can be calculated. Based on this speed difference, fuzzy control, vector control, sliding mode control, and field-oriented control are used to determine the corresponding orthogonal axis currents. Vector control transforms the motor's three-phase current onto two orthogonal axes (d-axis and q-axis) to control the motor's flux and torque, respectively, thus achieving precise motor control. Field-oriented control precisely controls the motor's stator current, causing the motor's magnetic field to rotate synchronously with the rotor's magnetic field, thereby controlling the motor's torque and speed. Fuzzy control converts the control signal into fuzzy linguistic variables, calculates the fuzzy control signal through a fuzzy inference engine, and finally controls the motor through a fuzzy actuator. Sliding mode control designs a sliding surface based on the desired dynamic characteristics of the system, and then uses a controller to rapidly converge the system state from outside the sliding surface to it and maintain it on that surface. Once the system state reaches the sliding surface, the controller ensures that the system slides along that surface to the system origin (i.e., the target steady-state condition).

[0105] Specifically, determining the right-angle shaft current based on the speed difference includes: performing proportional-integral control based on the speed difference to determine the right-angle shaft current.

[0106] The speed difference can be used as an input signal for proportional-integral control, i.e., PI control, so that the right-angle shaft current can be determined based on the output signal of the PI control.

[0107] Sub-step S2023: Determine the output voltage based on the right-angle axis current;

[0108] The right-angle shaft current is used as the control signal for the motor's current loop to determine the output voltage.

[0109] Furthermore, determining the output voltage based on the right-angle axis current includes: acquiring the three-phase current of the motor; performing coordinate transformation and superposition on the three-phase current and the right-angle axis current to determine the output current; and performing proportional-integral control based on the output current to determine the output voltage.

[0110] The three-phase current of the motor can be obtained from the motor's current sensor. The three-phase current is then converted to a right-angle axis coordinate system. Based on this right-angle axis coordinate system, the obtained right-angle axis currents are superimposed to obtain the output current in the right-angle axis coordinate system. Finally, proportional-integral (PI) control is applied to the right-angle axis current to determine the corresponding output voltage.

[0111] Sub-step S2024: Determine the pulse control signal based on the output voltage.

[0112] The corresponding pulse width can be determined based on the output voltage, and the corresponding pulse control signal can be generated.

[0113] Furthermore, determining the pulse control signal based on the output voltage includes: performing coordinate transformation on the output voltage to obtain a target voltage; and performing pulse width modulation on the target voltage to determine the pulse control signal.

[0114] The output voltage can be transformed from a right-angle coordinate system to a three-phase coordinate system, i.e., the target voltage. Then, pulse width modulation is performed using the target voltage as the target to generate a pulse control signal with a waveform corresponding to the target voltage.

[0115] Specifically, the step of pulse-width modulating the target voltage to determine the pulse control signal includes: performing space vector pulse width modulation on the target voltage to determine the pulse control signal.

[0116] Space vector pulse width modulation (SVM) can be applied to the target voltage to generate pulse control signals with corresponding duty cycles. SVM utilizes different switching modes of the three-phase inverter to generate an approximately sinusoidal voltage waveform through space vector synthesis, enabling precise motor control. By controlling the three-phase voltage vectors to approximate ideal DC voltages, conversion efficiency and output voltage quality are improved, while harmonics are reduced, thus enhancing motor positioning accuracy.

[0117] Step 203: Control the motor based on the motor drive signal.

[0118] With the engine off, the motor is controlled based on the motor drive signal, and the motor controller can drive the motor to rotate based on the motor drive signal. The motor then drives the engine to reverse, thereby draining water from the engine.

[0119] By controlling the motor while it is off, motion interference between the motor and the engine can be avoided.

[0120] The motor's position response can be referenced. Figure 5 The upper curve represents the response curve of an embodiment of the present invention, showing that the motor can achieve step-like position control, thereby effectively draining the engine. The lower curve represents the conventional position control tracking position command.

[0121] In summary, you can refer to Figure 6 The motor position control process can be as follows: A step-type motor position command is used as input, with the period and amplitude pre-set. The position command and the actual position acquired by the resolver are used as inputs to the trajectory tracking controller, which is:

[0122]

[0123] The trajectory tracking controller processes the step-like motor position command signal into a smoothly changing trajectory function. Differentiating this trajectory function yields the reference speed. The reference speed output by the trajectory tracking controller, along with the speed acquired by the resolver, serves as the input to the speed loop. This input is processed by a PI controller to obtain the quadrature-axis current. This quadrature-axis current, combined with the three-phase current acquired by the current sensor, undergoes coordinate transformation to become the actual quadrature-axis current. The PI controller then adjusts the output voltage, which is further transformed and modulated into a PWM wave to control the switching of the MOSFETs (MOSFETs) in the three-phase inverter, thereby driving the motor (PMSM). The motor then drives the engine to rotate, thus achieving engine drainage.

[0124] This invention, through trajectory tracking of a step-motor position command, determines the motor drive signal; based on the motor drive signal, it controls the motor, which drives the engine to drain water. Utilizing the motor's position control capability, the input step-motor position command is tracked, resulting in a step-torque output from the motor. This provides good position control dynamics, rapid speed start-up, smooth and vibration-free speed termination, and simple and intuitive parameter adjustment, reducing the complexity of position control and improving practicality.

[0125] Reference Figure 7The diagram illustrates a flowchart of an embodiment of the motor control method of the present invention, wherein the engine and the motor are connected. The motor can be in a hard-connected state with the engine at a fixed speed ratio, that is, based on the transmission ratio between the motor and the engine, the motor can rotate synchronously with the engine. The engine drainage control method may specifically include the following steps:

[0126] Step 701: Track the position command of the step motor to determine the motor drive signal;

[0127] It can track the position command of the step motor, determine the corresponding motor position, and then output the motor drive signal.

[0128] In an optional embodiment of the present invention, the step of tracking the position command of the step motor and determining the motor drive signal includes: in response to the vehicle exiting the wading mode, tracking the position command of the step motor and determining the motor drive signal.

[0129] Wading mode is a special driving mode designed for off-road or sudden water-crossing situations. When the vehicle enters water, the wading mode system automatically adjusts the vehicle's status to ensure it can operate normally in the water. Through a series of technical means, such as independent control of the four-wheel-side motors and waterproof body sealing, wading mode enables the vehicle to have a certain degree of buoyancy.

[0130] The vehicle will activate the wading mode after wading or falling into water. Once the vehicle is out of the water environment, it will exit the wading mode. At this time, it is also forbidden to start the engine to avoid engine failure due to water intake.

[0131] In response to the vehicle exiting wading mode, a step-motor position command can be acquired as the input signal for motor control. The step-motor position command is then tracked to determine the motor drive signal.

[0132] Step 702: Control the motor based on the motor drive signal. The motor is used to drive the engine to drain water from the engine.

[0133] The motor is controlled by a motor drive signal, ensuring it reaches the position corresponding to the signal within a specific cycle. The motor is rigidly connected to the engine; its rotation drives the engine to reverse, forcing water out of the engine and thus draining it.

[0134] In an optional embodiment of the present invention, controlling the motor based on the motor drive signal, wherein the motor is used to drive the engine, includes: in the engine off state, controlling the motor based on the motor drive signal, wherein the motor is used to drive the engine to drain water from the engine.

[0135] With the engine off, the motor is controlled based on the motor drive signal, and the motor controller can drive the motor to rotate based on the motor drive signal. The motor then drives the engine to reverse, thus draining water from the engine. By controlling the motor while it is off, motion interference between the motor and the engine can be avoided.

[0136] In an optional embodiment of the present invention, the motor drive signal includes a pulse control signal, and the step of tracking the position command of the step motor to determine the motor drive signal includes:

[0137] The reference speed is determined based on the position command of the step motor;

[0138] The pulse control signal is determined based on the reference rotation speed.

[0139] In an optional embodiment of the present invention, determining the reference speed based on the step motor position command includes:

[0140] Obtain the actual position of the motor;

[0141] Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0142] The trajectory function is determined based on the angle difference;

[0143] The reference rotational speed is determined based on the trajectory function.

[0144] In an optional embodiment of the present invention, the trajectory function is a continuously differentiable function, and the step of determining the trajectory function based on the angle difference includes:

[0145] The angle difference is converted into a continuously differentiable function.

[0146] In an optional embodiment of the present invention, the continuously differentiable function is an sigmoid function.

[0147] In an optional embodiment of the present invention, determining the reference rotational speed based on the trajectory function includes:

[0148] The reference rotational speed is determined by differentiating a continuously differentiable function.

[0149] In an optional embodiment of the present invention, determining the pulse control signal based on the reference rotational speed includes:

[0150] Obtain the actual speed of the motor;

[0151] The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed.

[0152] The output voltage is determined based on the orthogonal axis current;

[0153] The pulse control signal is determined based on the output voltage.

[0154] In an optional embodiment of the present invention, determining the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes:

[0155] Determine the speed difference between the reference speed and the actual speed;

[0156] The orthogonal shaft current is determined based on the speed difference.

[0157] In an optional embodiment of the present invention, determining the right-angle shaft current based on the rotational speed difference includes:

[0158] Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

[0159] In an optional embodiment of the present invention, determining the output voltage based on the orthogonal axis current includes:

[0160] Obtain the three-phase current of the motor;

[0161] The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current;

[0162] The output voltage is determined by performing proportional-integral control based on the output current.

[0163] In an optional embodiment of the present invention, determining the pulse control signal based on the output voltage includes:

[0164] The output voltage is then transformed using coordinates to obtain the target voltage.

[0165] The target voltage is pulse-width modulated to determine the pulse control signal.

[0166] In an optional embodiment of the present invention, the step of pulse-width modulating the target voltage to determine the pulse control signal includes:

[0167] The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

[0168] The above steps can be referred to the above embodiments, and will not be repeated here.

[0169] This invention, in response to a vehicle exiting wading mode, tracks the trajectory of a step-type motor position command to determine the motor drive signal. With the engine off, the motor is controlled based on the drive signal to drive the engine and drain water. After the vehicle exits wading mode, the engine is turned off. In the engine-off state, the motor's position control capability is used to track the input step-type motor position command. The step torque output by the motor, through a slow generator reverse-dragging the engine, gradually squeezes water out from the top dead center of the cylinder head, achieving engine drainage. Furthermore, the position control exhibits good dynamics, rapid speed start-up, smooth and vibration-free speed termination, and simple and intuitive parameter adjustment, reducing the complexity of position control and improving practicality.

[0170] It should be noted that, for the sake of simplicity, the method embodiments are all described as a series of actions. However, those skilled in the art should understand that the embodiments of the present invention are not limited to the described order of actions, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Furthermore, those skilled in the art should also understand that the embodiments described in the specification are preferred embodiments, and the actions involved are not necessarily essential to the embodiments of the present invention.

[0171] This invention also discloses a vehicle controller, including a processor, a memory, and a computer program stored in the memory and capable of running on the processor. When executed by the processor, the computer program implements the steps of the motor control method or the engine drainage control method described above. The motor control method includes:

[0172] Track the position command of the step motor to determine the motor drive signal;

[0173] The motor is controlled based on the motor drive signal.

[0174] Optionally, the motor drive signal includes a pulse control signal, and the step of tracking the position command of the step motor to determine the motor drive signal includes:

[0175] The reference speed is determined based on the position command of the step motor;

[0176] The pulse control signal is determined based on the reference rotation speed.

[0177] Optionally, determining the reference speed based on the position command for the step motor includes:

[0178] Obtain the actual position of the motor;

[0179] Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0180] The trajectory function is determined based on the angle difference;

[0181] The reference rotational speed is determined based on the trajectory function.

[0182] Optionally, the trajectory function is a continuously differentiable function, and determining the trajectory function based on the angle difference includes:

[0183] The angle difference is converted into a continuously differentiable function.

[0184] Optionally, the continuously differentiable function is an sigmoid function.

[0185] Optionally, determining the reference rotational speed based on the trajectory function includes:

[0186] The reference rotational speed is determined by differentiating a continuously differentiable function.

[0187] Optionally, determining the pulse control signal based on the reference rotational speed includes:

[0188] Obtain the actual speed of the motor;

[0189] The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed.

[0190] The output voltage is determined based on the orthogonal axis current;

[0191] The pulse control signal is determined based on the output voltage.

[0192] Optionally, determining the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes:

[0193] Determine the speed difference between the reference speed and the actual speed;

[0194] The orthogonal shaft current is determined based on the speed difference.

[0195] Optionally, determining the right-angle shaft current based on the speed difference includes:

[0196] Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

[0197] Optionally, determining the output voltage based on the right-angle axis current includes:

[0198] Obtain the three-phase current of the motor;

[0199] The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current;

[0200] The output voltage is determined by performing proportional-integral control based on the output current.

[0201] Optionally, determining the pulse control signal based on the output voltage includes:

[0202] The output voltage is then transformed using coordinates to obtain the target voltage.

[0203] The target voltage is pulse-width modulated to determine the pulse control signal.

[0204] Optionally, the step of pulse-width modulating the target voltage to determine the pulse control signal includes:

[0205] The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

[0206] The engine drainage control method, wherein the engine is connected to the electric motor, includes:

[0207] Track the position command of the step motor to determine the motor drive signal;

[0208] The motor is controlled based on the motor drive signal, and the motor is used to drive the engine to drain water from the engine.

[0209] Optionally, the step-motor position command trajectory tracking to determine the motor drive signal includes:

[0210] In response to the vehicle exiting wading mode, the system tracks the position command of the step motor to determine the motor drive signal.

[0211] Optionally, controlling the motor based on the motor drive signal includes:

[0212] When the engine is off, the motor is controlled based on the motor drive signal.

[0213] The memory may include random access memory (RAM) or non-volatile memory, such as at least one disk storage device. Optionally, the memory may also be at least one storage device located remotely from the aforementioned processor.

[0214] The processors mentioned above can be general-purpose processors, including central processing units (CPUs), network processors (NPs), etc.; they can also be digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, or discrete hardware components.

[0215] This invention also discloses a vehicle, including the vehicle controller described above.

[0216] This invention also discloses a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the motor control method or the engine drainage control method described above. The motor control method includes:

[0217] Track the position command of the step motor to determine the motor drive signal;

[0218] The motor is controlled based on the motor drive signal.

[0219] Optionally, the motor drive signal includes a pulse control signal, and the step of tracking the position command of the step motor to determine the motor drive signal includes:

[0220] The reference speed is determined based on the position command of the step motor;

[0221] The pulse control signal is determined based on the reference rotation speed.

[0222] Optionally, determining the reference speed based on the position command for the step motor includes:

[0223] Obtain the actual position of the motor;

[0224] Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0225] The trajectory function is determined based on the angle difference;

[0226] The reference rotational speed is determined based on the trajectory function.

[0227] Optionally, the trajectory function is a continuously differentiable function, and determining the trajectory function based on the angle difference includes:

[0228] The angle difference is converted into a continuously differentiable function.

[0229] Optionally, the continuously differentiable function is an sigmoid function.

[0230] Optionally, determining the reference rotational speed based on the trajectory function includes:

[0231] The reference rotational speed is determined by differentiating a continuously differentiable function.

[0232] Optionally, determining the pulse control signal based on the reference rotational speed includes:

[0233] Obtain the actual speed of the motor;

[0234] The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed.

[0235] The output voltage is determined based on the orthogonal axis current;

[0236] The pulse control signal is determined based on the output voltage.

[0237] Optionally, determining the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes:

[0238] Determine the speed difference between the reference speed and the actual speed;

[0239] The orthogonal shaft current is determined based on the speed difference.

[0240] Optionally, determining the right-angle shaft current based on the speed difference includes:

[0241] Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

[0242] Optionally, determining the output voltage based on the right-angle axis current includes:

[0243] Obtain the three-phase current of the motor;

[0244] The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current;

[0245] The output voltage is determined by performing proportional-integral control based on the output current.

[0246] Optionally, determining the pulse control signal based on the output voltage includes:

[0247] The output voltage is then transformed using coordinates to obtain the target voltage.

[0248] The target voltage is pulse-width modulated to determine the pulse control signal.

[0249] Optionally, the step of pulse-width modulating the target voltage to determine the pulse control signal includes:

[0250] The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

[0251] The engine drainage control method, wherein the engine is connected to the electric motor, includes:

[0252] Track the position command of the step motor to determine the motor drive signal;

[0253] The motor is controlled based on the motor drive signal, and the motor is used to drive the engine to drain water from the engine.

[0254] Optionally, the step-motor position command trajectory tracking to determine the motor drive signal includes:

[0255] In response to the vehicle exiting wading mode, the system tracks the position command of the step motor to determine the motor drive signal.

[0256] Optionally, controlling the motor based on the motor drive signal includes:

[0257] When the engine is off, the motor is controlled based on the motor drive signal.

[0258] A computer program product includes a computer program that, when executed by a processor, implements the steps of the motor control method or the engine drainage control method described above. The motor control method includes:

[0259] Track the position command of the step motor to determine the motor drive signal;

[0260] The motor is controlled based on the motor drive signal.

[0261] Optionally, the motor drive signal includes a pulse control signal, and the step of tracking the position command of the step motor to determine the motor drive signal includes:

[0262] The reference speed is determined based on the position command of the step motor;

[0263] The pulse control signal is determined based on the reference rotation speed.

[0264] Optionally, determining the reference speed based on the position command for the step motor includes:

[0265] Obtain the actual position of the motor;

[0266] Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command;

[0267] The trajectory function is determined based on the angle difference;

[0268] The reference rotational speed is determined based on the trajectory function.

[0269] Optionally, the trajectory function is a continuously differentiable function, and determining the trajectory function based on the angle difference includes:

[0270] The angle difference is converted into a continuously differentiable function.

[0271] Optionally, the continuously differentiable function is an sigmoid function.

[0272] Optionally, determining the reference rotational speed based on the trajectory function includes:

[0273] The reference rotational speed is determined by differentiating a continuously differentiable function.

[0274] Optionally, determining the pulse control signal based on the reference rotational speed includes:

[0275] Obtain the actual speed of the motor;

[0276] The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed.

[0277] The output voltage is determined based on the orthogonal axis current;

[0278] The pulse control signal is determined based on the output voltage.

[0279] Optionally, determining the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes:

[0280] Determine the speed difference between the reference speed and the actual speed;

[0281] The orthogonal shaft current is determined based on the speed difference.

[0282] Optionally, determining the right-angle shaft current based on the speed difference includes:

[0283] Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

[0284] Optionally, determining the output voltage based on the right-angle axis current includes:

[0285] Obtain the three-phase current of the motor;

[0286] The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current;

[0287] The output voltage is determined by performing proportional-integral control based on the output current.

[0288] Optionally, determining the pulse control signal based on the output voltage includes:

[0289] The output voltage is then transformed using coordinates to obtain the target voltage.

[0290] The target voltage is pulse-width modulated to determine the pulse control signal.

[0291] Optionally, the step of pulse-width modulating the target voltage to determine the pulse control signal includes:

[0292] The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

[0293] The engine drainage control method, wherein the engine is connected to the electric motor, includes:

[0294] Track the position command of the step motor to determine the motor drive signal;

[0295] The motor is controlled based on the motor drive signal, and the motor is used to drive the engine to drain water from the engine.

[0296] Optionally, the step-motor position command trajectory tracking to determine the motor drive signal includes:

[0297] In response to the vehicle exiting wading mode, the system tracks the position command of the step motor to determine the motor drive signal.

[0298] Optionally, controlling the motor based on the motor drive signal includes:

[0299] When the engine is off, the motor is controlled based on the motor drive signal.

[0300] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. The same or similar parts between the various embodiments can be referred to each other.

[0301] Those skilled in the art will understand that embodiments of the present invention can be provided as methods, apparatus, or computer program products. Therefore, embodiments of the present invention can take the form of entirely hardware embodiments, entirely software embodiments, or embodiments combining software and hardware aspects. Furthermore, embodiments of the present invention can take the form of computer program products implemented 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.

[0302] This invention is described with reference to flowchart illustrations and / or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. 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 terminal device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, generate instructions 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.

[0303] These computer program instructions may also be stored in a computer-readable storage medium that can direct a computer or other programmable data processing terminal device to operate 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.

[0304] These computer program instructions can also be loaded onto a computer or other programmable data processing terminal equipment, causing a series of operational steps to be performed on the computer or other programmable terminal equipment to produce a computer-implemented process, thereby providing instructions that execute on the computer or other programmable terminal 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.

[0305] Although preferred embodiments of the present invention have been described, those skilled in the art, upon learning the basic inventive concept, can make other changes and modifications to these embodiments. Therefore, the appended claims are intended to be interpreted as including the preferred embodiments as well as all changes and modifications falling within the scope of the embodiments of the present invention.

[0306] Finally, it should be noted that in this document, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or terminal device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or terminal device. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or terminal device that includes said element.

[0307] The foregoing has provided a detailed description of a motor control method, an engine drainage control method, a vehicle controller, a vehicle, a computer-readable storage medium, and a computer program product provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The descriptions of the above embodiments are only for the purpose of helping to understand the methods and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A motor control method, characterized in that, include: Track the position command of the step motor to determine the motor drive signal; The motor is controlled based on the motor drive signal.

2. The method according to claim 1, characterized in that, The motor drive signal includes a pulse control signal. The process of tracking the position command of the step motor and determining the motor drive signal includes: The reference speed is determined based on the position command of the step motor; The pulse control signal is determined based on the reference rotation speed.

3. The method according to claim 2, characterized in that, The determination of the reference speed based on the position command of the step motor includes: Obtain the actual position of the motor; Determine the angle difference between the actual position of the motor and the target position of the motor corresponding to the step motor position command; The trajectory function is determined based on the angle difference; The reference rotational speed is determined based on the trajectory function.

4. The method according to claim 3, characterized in that, The trajectory function is a continuously differentiable function, and the determination of the trajectory function based on the angle difference includes: The angle difference is converted into a continuously differentiable function.

5. The method according to claim 4, characterized in that, The continuously differentiable function is an sigmoid function.

6. The method according to claim 4, characterized in that, Determining the reference rotational speed based on the trajectory function includes: The reference rotational speed is determined by differentiating a continuously differentiable function.

7. The method according to claim 2, characterized in that, The step of determining the pulse control signal based on the reference rotational speed includes: Obtain the actual speed of the motor; The orthogonal axis current is determined based on the reference rotational speed and the actual rotational speed. The output voltage is determined based on the orthogonal axis current; The pulse control signal is determined based on the output voltage.

8. The method according to claim 7, characterized in that, The determination of the right-angle shaft current based on the reference rotational speed and the actual rotational speed includes: Determine the speed difference between the reference speed and the actual speed; The orthogonal shaft current is determined based on the speed difference.

9. The method according to claim 7, characterized in that, The determination of the right-angle shaft current based on the speed difference includes: Proportional-integral control is performed based on the speed difference to determine the right-angle shaft current.

10. The method according to claim 7, characterized in that, The determination of the output voltage based on the orthogonal axis current includes: Obtain the three-phase current of the motor; The output current is determined by performing coordinate transformation and superposition on the three-phase current and the right-angle current; The output voltage is determined by performing proportional-integral control based on the output current.

11. The method according to claim 7, characterized in that, The step of determining the pulse control signal based on the output voltage includes: The output voltage is then transformed using coordinates to obtain the target voltage. The target voltage is pulse-width modulated to determine the pulse control signal.

12. The method according to claim 11, characterized in that, The step of pulse-width modulating the target voltage to determine the pulse control signal includes: The target voltage is subjected to space vector pulse width modulation to determine the pulse control signal.

13. An engine drainage control method, characterized in that, The method of connecting an engine to an electric motor includes: Track the position command of the step motor to determine the motor drive signal; The motor is controlled based on the motor drive signal, and the motor is used to drive the engine to drain water from the engine.

14. The method according to claim 13, characterized in that, The process of tracking the position command of the step motor to determine the motor drive signal includes: In response to the vehicle exiting wading mode, the system tracks the position command of the step motor to determine the motor drive signal.

15. The method according to claim 13 or 14, characterized in that, The control of the motor based on the motor drive signal includes: When the engine is off, the motor is controlled based on the motor drive signal.

16. A vehicle controller, characterized in that, It includes a processor, a memory, and a computer program stored in the memory and capable of running on the processor, wherein the computer program, when executed by the processor, implements the steps of the motor control method as described in any one of claims 1 to 12, or the engine drainage control method as described in any one of claims 13 to 15.

17. A vehicle, characterized in that, Includes the vehicle controller as described in claim 16.

18. A computer-readable storage medium, characterized in that, A computer program is stored on the computer-readable storage medium, which, when executed by a processor, implements the steps of the motor control method as described in any one of claims 1 to 12, or the engine drainage control method as described in any one of claims 13 to 15.

19. A computer program product, characterized in that, It includes a computer program that, when executed by a processor, implements the steps of the motor control method as described in any one of claims 1 to 12, or the engine drainage control method as described in any one of claims 13 to 15.

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