A twist value control method and related device
By comprehensively considering the temperatures of transistors, motors, and hydraulic fluid, as well as the pressure of the accumulator, a torque limiting coefficient is calculated to control torque, thus solving the problem of excessive temperature in traditional systems and improving the durability and safety of the active suspension system.
Patent Information
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- CHINA FAW CO LTD
- Filing Date
- 2026-05-26
- Publication Date
- 2026-07-28
AI Technical Summary
Traditional systems neglect the temperature rise of other key heat sources and system media besides motor and controller temperatures in torque control, leading to excessively high temperatures that affect the accuracy and effectiveness of torque control.
Temperature sensors are used to obtain the temperatures of transistors, motors, and hydraulic fluid. Combined with pressure sensors to obtain accumulator pressure, torque limiting coefficients are calculated to determine the target torque. The effects of multiple heat sources are taken into account to prevent overheating.
It effectively reduces system temperature, prevents motor performance degradation and component damage, and improves the durability of the active suspension system.
Smart Images
Figure CN122463602A_ABST
Abstract
Description
Technical Field
[0001] This application relates to the field of vehicle technology, and in particular to a torque control method and related equipment. Background Technology
[0002] In related technologies, traditional systems typically limit torque based solely on motor temperature or controller temperature, ignoring the impact of temperature rise from other key heat sources or system media. This can affect the accuracy and effectiveness of torque control and may lead to problems such as excessively high system temperatures.
[0003] In summary, the technical problems existing in the relevant technologies need to be improved. Summary of the Invention
[0004] The main objective of this application is to propose a torque control method and related equipment, which aims to reduce the temperature of the system and prevent it from becoming too high.
[0005] To achieve the above objectives, one aspect of this application proposes a torque control method, the method comprising: The current transistor temperature is obtained by a temperature sensor, and a first torque limiting coefficient is determined based on the current transistor temperature. The current motor temperature is obtained by a temperature sensor, and a second torque limiting coefficient is determined based on the current motor temperature. The current accumulator pressure is obtained by a pressure sensor, the current oil temperature is calculated based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and the third torque limiting coefficient is determined based on the current oil temperature. The current torque limiting coefficient is determined based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient. The target torque is calculated using the current torque limiting coefficient and the power control torque.
[0006] In some embodiments, obtaining the current transistor temperature via a temperature sensor and determining the first torque limiting coefficient based on the current transistor temperature includes: The current transistor temperature is obtained using a temperature sensor; The current transistor temperature is low-pass filtered to obtain the filtered current transistor temperature. Obtain the temperature threshold of the controller device, which includes a low temperature threshold, a medium temperature threshold, and a high temperature threshold of the controller device. If the current transistor temperature is less than the low temperature threshold of the controller device, then the first torque limiting coefficient is determined as the advanced torque limiting coefficient; If the current transistor temperature is greater than or equal to the low temperature threshold of the controller device, and the current transistor temperature is less than the medium temperature threshold of the controller device, then the first torque limiting coefficient is determined as the medium torque limiting coefficient. If the current transistor temperature is greater than or equal to the medium temperature threshold of the controller device, and the current transistor temperature is less than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined as the low-level torque limiting coefficient. If the current transistor temperature is greater than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined to be zero.
[0007] In some embodiments, determining the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient includes: The minimum value of the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient is determined as the current torque limiting coefficient.
[0008] In some embodiments, obtaining the current transistor temperature via a temperature sensor and determining the first torque limiting coefficient based on the current transistor temperature includes: Obtain historical transistor temperatures; The rate of change of transistor temperature is calculated by comparing the historical transistor temperature with the current transistor temperature. The first torque limiting coefficient is determined based on the current transistor temperature and the rate of change of the transistor temperature.
[0009] In some embodiments, determining the first torque limiting coefficient based on the current transistor temperature and the transistor temperature change rate includes: Obtain the temperature threshold and the temperature change rate threshold of the controller device; A first temperature limit torque coefficient is determined based on the current transistor temperature and the controller device temperature threshold. A first temperature change rate limiting torque coefficient is determined based on the transistor temperature change rate and the controller device temperature change rate threshold. The minimum value between the first temperature-limiting torque coefficient and the first temperature change rate-limiting torque coefficient is determined as the first torque-limiting coefficient.
[0010] In some embodiments, determining the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient includes: Obtain historical transistor temperatures, historical motor temperatures, and historical oil temperatures; The current transistor temperature, the current motor temperature, the current oil temperature, the historical transistor temperature, the historical motor temperature, and the historical oil temperature are input into the weighted prediction model, and the first weight, the second weight, and the third weight are output. The current torque limiting coefficient is calculated using the first weight, the first torque limiting coefficient, the second weight, the second torque limiting coefficient, the third weight, and the third torque limiting coefficient.
[0011] To achieve the above objectives, another aspect of this application proposes a torsion control system, the system comprising: The first coefficient determination module is used to obtain the current transistor temperature through a temperature sensor and determine the first torque limiting coefficient based on the current transistor temperature. The second coefficient determination module is used to obtain the current motor temperature through a temperature sensor and determine the second torque limiting coefficient based on the current motor temperature. The third coefficient determination module is used to obtain the current accumulator pressure through a pressure sensor, calculate the current oil temperature based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and determine the third torque limiting coefficient based on the current oil temperature. The current coefficient determination module is used to determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient; The torque calculation module is used to calculate the target torque using the current torque limiting coefficient and the power control torque.
[0012] To achieve the above objectives, another aspect of this application provides a torque control device, the device comprising: A temperature sensor is used to acquire the current transistor temperature and determine a first torque limiting coefficient based on the current transistor temperature; a temperature sensor is also used to acquire the current motor temperature and determine a second torque limiting coefficient based on the current motor temperature. A pressure sensor is used to acquire the current accumulator pressure, calculate the current oil temperature based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and determine the third torque limiting coefficient based on the current oil temperature. The controller is used to determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient and the third torque limiting coefficient, and to calculate the target torque by using the current torque limiting coefficient and the power control torque.
[0013] To achieve the above objectives, another aspect of this application provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the method described above.
[0014] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer-readable storage medium storing a computer program that, when executed by a processor, implements the methods described above.
[0015] To achieve the above objectives, another aspect of the embodiments of this application proposes a computer program product, including a computer program that, when executed by a processor, implements the aforementioned method.
[0016] The embodiments of this application include at least the following beneficial effects: This application provides a torque control method, system, electronic device, storage medium, and program product. This solution obtains the current transistor temperature through a temperature sensor and determines a first torque limiting coefficient based on the current transistor temperature; obtains the current motor temperature through a temperature sensor and determines a second torque limiting coefficient based on the current motor temperature; obtains the current accumulator pressure through a pressure sensor, calculates the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure, and room temperature, and determines a third torque limiting coefficient based on the current oil temperature, which helps prevent overheating; determines the current torque limiting coefficient based on the first, second, and third torque limiting coefficients; and calculates the target torque by using the current torque limiting coefficient and the power control torque, which can effectively reduce the system temperature, prevent overheating, avoid affecting motor performance, prevent damage to enameled wires, prevent MOSFET damage, improve the lifespan of the active suspension system seals, and improve the overall durability of the active suspension system. Attached Figure Description
[0017] Figure 1 This is a flowchart of the torque control method provided in the embodiments of this application; Figure 2 yes Figure 1 The flowchart of step S102 in the document; Figure 3 yes Figure 1 Another flowchart for step S102 in the process; Figure 4 yes Figure 1 The flowchart of step S104 in the process; Figure 5 This is a flowchart illustrating a specific implementation of the torque control method provided in this application when applied to an active vibration damper; Figure 6 This is a schematic diagram of the dynamic vibration damper provided in the embodiments of this application; Figure 7 This is a flowchart of the MOSFET temperature limiting torque provided in the embodiments of this application; Figure 8 This is a flowchart of the motor temperature-limiting torque provided in the embodiments of this application; Figure 9 This is a flowchart of the accumulator pressure limiting torque provided in the embodiments of this application; Figure 10 This is a schematic diagram of the torque control device provided in the embodiments of this application; Figure 11This is a schematic diagram of the hardware structure of the electronic device provided in the embodiments of this application. Detailed Implementation
[0018] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of this application and are not intended to limit it. In the following description, when referring to the accompanying drawings, unless otherwise indicated, the same numbers in different drawings represent the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with those of this application; they are merely examples of apparatuses and methods consistent with some aspects of the embodiments of this application as detailed in the appended claims.
[0019] It is understood that the terms “first,” “second,” etc., used in this application may be used herein to describe various concepts, but unless otherwise stated, these concepts are not limited by these terms. These terms are only used to distinguish one concept from another. For example, without departing from the scope of the embodiments of this application, first information may also be referred to as second information, and similarly, second information may also be referred to as first information. Depending on the context, the words “if,” “when,” or “in response to a determination” as used herein may be interpreted as “when…” or “when…” or “in response to a determination.”
[0020] As used in this application, the terms "at least one", "multiple", "each", "any", etc., "at least one" includes one, two or more, "multiple" includes two or more, "each" refers to each of the corresponding multiples, and "any" refers to any one of the multiples.
[0021] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.
[0022] Before providing a detailed description of the embodiments of this application, some of the nouns and terms involved in the embodiments of this application will be explained first. The nouns and terms involved in the embodiments of this application are subject to the following interpretations.
[0023] 1) Active Suspension System (ASS) is a technology used in automotive suspension systems. Its purpose is to improve driving comfort and handling by actively adjusting the suspension stiffness and height of the vehicle in real time to respond to changes in road conditions. Active suspension systems use electronic control devices and actuators, which enable the suspension to dynamically adjust according to real-time feedback signals to achieve more precise control.
[0024] In related technologies, traditional systems typically limit torque based solely on motor temperature or controller temperature, ignoring the impact of temperature rise from other key heat sources or system media. This can affect the accuracy and effectiveness of torque control and may lead to problems such as excessively high system temperatures.
[0025] In view of this, this application provides a torque control method and related equipment. This method obtains the current transistor temperature using a temperature sensor and determines a first torque limiting coefficient based on the current transistor temperature; obtains the current motor temperature using a temperature sensor and determines a second torque limiting coefficient based on the current motor temperature; obtains the current accumulator pressure using a pressure sensor, calculates the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure, and room temperature, and determines a third torque limiting coefficient based on the current oil temperature, which helps prevent overheating; determines the current torque limiting coefficient based on the first, second, and third torque limiting coefficients; and calculates the target torque using the current torque limiting coefficient and the power control torque. This effectively reduces the system temperature, prevents overheating, avoids damage to the motor performance, prevents damage to the enameled wires, prevents MOSFET damage, improves the lifespan of the active suspension system seals, and enhances the overall durability of the active suspension system.
[0026] The torque control method provided in this application relates to the field of vehicle technology. The torque control method provided in this application can be applied to a terminal, a server, or software running on a terminal or server. In some embodiments, the terminal can be a smartphone, tablet, laptop, desktop computer, smart speaker, smartwatch, or in-vehicle terminal, but is not limited to these. The server can be configured as an independent physical server, a server cluster or distributed system composed of multiple physical servers, or a cloud server providing basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms. The server can also be a node server in a blockchain network. The software can be an application implementing the torque control method, but is not limited to the above forms.
[0027] This application can be used in a wide variety of general-purpose or special-purpose computer system environments or configurations. Examples include: personal computers, server computers, handheld or portable devices, tablet devices, multiprocessor systems, microprocessor-based systems, set-top boxes, programmable consumer electronics devices, network PCs, minicomputers, mainframe computers, and distributed computing environments including any of the above systems or devices. This application can be described in the general context of computer-executable instructions executed by a computer, such as program modules. Generally, program modules include routines, programs, objects, components, data structures, etc., that perform specific tasks or implement specific abstract data types. This application can also be practiced in distributed computing environments where tasks are performed by remote processing devices connected via a communication network. In distributed computing environments, program modules can reside in local and remote computer storage media, including storage devices.
[0028] It should be noted that in all specific embodiments of this application, when processing data related to user identity or characteristics, such as user information, user behavior data, user historical data, and user location information, user permission or consent is obtained first. Furthermore, the collection, use, and processing of this data comply with relevant laws, regulations, and standards. In addition, when embodiments of this application require access to sensitive personal information of users, separate permission or consent from the user is obtained through pop-ups or redirection to confirmation pages. Only after obtaining the user's separate permission or consent is the necessary user-related data required for the proper functioning of these embodiments acquired.
[0029] Figure 1 This is an optional flowchart of the torque control method provided in the embodiments of this application. Figure 1 The method may include, but is not limited to, steps S101 to S105.
[0030] Step S101: Obtain the current transistor temperature through a temperature sensor, and determine the first torque limiting coefficient based on the current transistor temperature.
[0031] In some embodiments, the current transistor temperature is obtained through a temperature sensor; the current transistor temperature is low-pass filtered to obtain the filtered current transistor temperature; and a controller device temperature threshold is obtained. The controller device temperature threshold includes a controller device low-temperature threshold, a controller device medium-temperature threshold, and a controller device high-temperature threshold.
[0032] Among these methods, multi-point temperature measurement fusion can be used to sample multiple transistors separately, and the hottest spot can be used as the basis for control.
[0033] Furthermore, if the current transistor temperature is less than the low temperature threshold of the controller device, the first torque limiting coefficient is determined as a high-level torque limiting coefficient; if the current transistor temperature is greater than or equal to the low temperature threshold of the controller device and less than the medium temperature threshold of the controller device, the first torque limiting coefficient is determined as a medium-level torque limiting coefficient; if the current transistor temperature is greater than or equal to the medium temperature threshold of the controller device and less than the high temperature threshold of the controller device, the first torque limiting coefficient is determined as a low-level torque limiting coefficient; if the current transistor temperature is greater than the high temperature threshold of the controller device, the first torque limiting coefficient is determined to be zero.
[0034] Understandably, the high-level torque limiting coefficient, the medium-level torque limiting coefficient, and the low-level torque limiting coefficient can be preset values, or they can be calculated or predicted in real time based on temperature data.
[0035] Optionally, a dynamic over-temperature protection mechanism can be added to intervene in advance to limit torque based on the rate of temperature rise, thus avoiding heat accumulation.
[0036] In this embodiment, the current transistor temperature is obtained by a temperature sensor, and the first torque limiting coefficient is determined based on the current transistor temperature, which helps to prevent the temperature from becoming too high.
[0037] Step S102: Obtain the current motor temperature through a temperature sensor, and determine the second torque limiting coefficient based on the current motor temperature.
[0038] Understandably, similar to the first torque limiting coefficient, the second torque limiting coefficient also collects the current motor temperature and is determined based on the motor temperature threshold. This motor temperature threshold includes a low-temperature threshold, a medium-temperature threshold, and a high-temperature threshold.
[0039] Among these methods, multi-point temperature measurement fusion can be used to sample multiple motors separately, and the hottest spot can be used as the basis for control.
[0040] Furthermore, if the current motor temperature is less than the motor low temperature threshold, the first torque limiting coefficient is determined as a high-level torque limiting coefficient; if the current motor temperature is greater than or equal to the motor low temperature threshold and less than the motor medium temperature threshold, the first torque limiting coefficient is determined as a medium-level torque limiting coefficient; if the current motor temperature is greater than or equal to the motor medium temperature threshold and less than the motor high temperature threshold, the first torque limiting coefficient is determined as a low-level torque limiting coefficient; if the current motor temperature is greater than the motor high temperature threshold, the first torque limiting coefficient is determined to be zero.
[0041] Optionally, a dynamic over-temperature protection mechanism can be added to intervene in advance to limit torque based on the rate of temperature rise, thus avoiding heat accumulation.
[0042] In this embodiment, the current motor temperature is obtained by a temperature sensor, and the second torque limiting coefficient is determined based on the current motor temperature, which helps to prevent the temperature from getting too high.
[0043] Step S103: Obtain the current accumulator pressure through the pressure sensor, calculate the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure and room temperature, and determine the third torque limiting coefficient based on the current oil temperature.
[0044] Understandably, by obtaining the current accumulator pressure through a pressure sensor, and calculating the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure, and room temperature, and by introducing room temperature as a reference variable, the accuracy of oil temperature estimation is improved, making the torque limiting strategy more adaptable to reality and enhancing the system's adaptability.
[0045] Among them, the relationship between the pressure in the gas chamber of the accumulator and the oil temperature is established by defining an ideal gas.
[0046] Furthermore, the oil temperature thresholds are obtained, including the low temperature threshold, the medium temperature threshold, and the high temperature threshold.
[0047] Among these methods, multi-point temperature measurement fusion can be used to sample multiple energy storage devices separately, and the hottest spot can be used as the basis for control.
[0048] Furthermore, if the current oil temperature is less than the low-temperature threshold, the first torque limiting coefficient is determined as a high-level torque limiting coefficient; if the current oil temperature is greater than or equal to the low-temperature threshold and less than the medium-temperature threshold, the first torque limiting coefficient is determined as a medium-level torque limiting coefficient; if the current oil temperature is greater than or equal to the medium-temperature threshold and less than the high-temperature threshold, the first torque limiting coefficient is determined as a low-level torque limiting coefficient; if the current oil temperature is greater than the high-temperature threshold, the first torque limiting coefficient is determined to be zero.
[0049] Optionally, a dynamic over-temperature protection mechanism can be added to intervene in advance to limit torque based on the rate of temperature rise, thus avoiding heat accumulation.
[0050] In this embodiment, the current accumulator pressure is obtained through a pressure sensor, and the current oil temperature is calculated based on the current accumulator pressure, the room temperature accumulator pressure, and the room temperature. The third torque limiting coefficient is determined based on the current oil temperature, which helps to prevent the temperature from getting too high.
[0051] Step S104: Determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient.
[0052] In some embodiments, the minimum value of the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient is determined as the current torque limiting coefficient.
[0053] Optionally, different weights can be set for the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient.
[0054] In some embodiments, fuzzy control or neural networks can be used to dynamically fuse the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient to obtain the current torque limiting coefficient.
[0055] In this embodiment, determining the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient is beneficial to improving the timeliness and effectiveness of temperature control based on the torque limiting coefficient, and effectively reducing the system temperature.
[0056] Step S105: Calculate the target torque using the current torque limiting coefficient and the power control torque.
[0057] In some embodiments, the target torque is obtained by multiplying the current torque limiting coefficient by the power control torque.
[0058] In this embodiment, the target torque is calculated by using the current torque limiting coefficient and the power control torque, which can effectively reduce the system temperature, prevent overheating that could affect motor performance, prevent damage to the enameled wires and MOSFETs, improve the lifespan of the active suspension system seals, and enhance the overall durability of the active suspension system.
[0059] Steps S101 to S105 as shown in the embodiments of this application involve: obtaining the current transistor temperature through a temperature sensor and determining a first torque limiting coefficient based on the current transistor temperature; obtaining the current motor temperature through a temperature sensor and determining a second torque limiting coefficient based on the current motor temperature; obtaining the current accumulator pressure through a pressure sensor and calculating the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure, and room temperature; determining a third torque limiting coefficient based on the current oil temperature, which helps prevent overheating; determining the current torque limiting coefficient based on the first, second, and third torque limiting coefficients; and calculating the target torque using the current torque limiting coefficient and the power control torque. This effectively reduces the system temperature, prevents overheating, avoids damage to the motor performance, prevents damage to the enameled wires and MOSFETs, improves the lifespan of the active suspension system seals, and enhances the overall durability of the active suspension system.
[0060] Please see Figure 2 In some embodiments, step S102 may include, but is not limited to, steps S201 to S207: Step S201: Obtain the current transistor temperature using a temperature sensor.
[0061] In step S201 of some embodiments, the current transistor temperature is obtained by a temperature sensor.
[0062] Optionally, the current transistor temperature can be obtained by acquiring the temperatures of several transistors through a temperature sensor, and then merging or taking the maximum value of the transistor temperatures.
[0063] Step S202: Perform low-pass filtering on the current transistor temperature to obtain the filtered current transistor temperature.
[0064] In step S202 of some embodiments, the current transistor temperature is low-pass filtered to reduce errors.
[0065] Step S203: Obtain the temperature threshold of the controller device.
[0066] Specifically, the temperature thresholds of the controller device include the low temperature threshold, the medium temperature threshold, and the high temperature threshold.
[0067] In step S203 of some embodiments, the temperature threshold of the controller device can be predetermined by the user or dynamically generated by the system.
[0068] Step S204: If the current transistor temperature is less than the low temperature threshold of the controller device, then the first torque limiting coefficient is determined as the advanced torque limiting coefficient.
[0069] In step S204 of some embodiments, the advanced torque limiting coefficient can be a preset value or can be calculated or predicted in real time based on temperature data.
[0070] Step S205: If the current transistor temperature is greater than or equal to the low temperature threshold of the controller device, and the current transistor temperature is less than the medium temperature threshold of the controller device, then the first torque limiting coefficient is determined as the medium torque limiting coefficient.
[0071] In step S205 of some embodiments, the intermediate torque limiting coefficient can be a preset value, or it can be calculated or predicted in real time based on temperature data.
[0072] Step S206: If the current transistor temperature is greater than or equal to the medium temperature threshold of the controller device, and the current transistor temperature is less than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined as the low-level torque limiting coefficient.
[0073] In step S206 of some embodiments, the low-level torque limiting coefficient can be a preset value, or it can be calculated or predicted in real time based on temperature data.
[0074] Step S207: If the current transistor temperature is greater than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined to be zero.
[0075] In step S207 of some embodiments, if the current transistor temperature is greater than the high temperature threshold of the controller device, the target torque is zero.
[0076] Please see Figure 3 In some embodiments, step S102 may include, but is not limited to, steps S301 to S306: Step S301: Obtain historical transistor temperatures.
[0077] In step S301 of some embodiments, the historical transistor temperature of the previous cycle is obtained.
[0078] Historical temperatures are stored in the controller's memory and used as the basis for calculations in the next cycle.
[0079] Understandably, the cycle can be predetermined manually or automatically calculated by the system based on temperature to obtain an adaptive cycle.
[0080] Step S302: Calculate the transistor temperature change rate by comparing the historical transistor temperature with the current transistor temperature.
[0081] In step S302 of some embodiments, the temperature change rate = (current transistor temperature) Historical transistor temperature / time interval.
[0082] The time interval is determined by the sampling period.
[0083] Optionally, a limiting process can be added to prevent abnormal jumps in the rate of change caused by noise.
[0084] Furthermore, least squares fitting can be used to fit multiple historical temperature points to calculate a smoother trend slope; Step S303: Obtain the temperature threshold and the temperature change rate threshold of the controller device.
[0085] In step S303 of some embodiments, the temperature threshold and the temperature change rate threshold of the controller device can be predetermined manually or automatically calculated by the system based on historical data to obtain an adaptive threshold.
[0086] Step S304: Determine the first temperature limit torque coefficient based on the current transistor temperature and the controller device temperature threshold.
[0087] In step S304 of some embodiments, if the current transistor temperature is less than the low temperature threshold of the controller device, the first torque limiting coefficient is determined as a high-level torque limiting coefficient; if the current transistor temperature is greater than or equal to the low temperature threshold of the controller device and less than the medium temperature threshold of the controller device, the first torque limiting coefficient is determined as a medium-level torque limiting coefficient; if the current transistor temperature is greater than or equal to the medium temperature threshold of the controller device and less than the high temperature threshold of the controller device, the first torque limiting coefficient is determined as a low-level torque limiting coefficient; if the current transistor temperature is greater than the high temperature threshold of the controller device, the first torque limiting coefficient is determined to be zero.
[0088] Step S305: Determine the first temperature change rate torque limiting coefficient based on the transistor temperature change rate and the controller device temperature change rate threshold.
[0089] In step S305 of some embodiments, if the transistor temperature change rate is less than the low rate of change threshold of the controller device, the first torque limiting coefficient is determined as a high-level torque limiting coefficient; if the transistor temperature change rate is greater than or equal to the low rate of change threshold of the controller device and less than the medium rate of change threshold of the controller device, the first torque limiting coefficient is determined as a medium-level torque limiting coefficient; if the transistor temperature change rate is greater than or equal to the medium rate of change threshold of the controller device and less than the high rate of change value of the controller device, the first torque limiting coefficient is determined as a low-level torque limiting coefficient; if the transistor temperature change rate is greater than the high rate of change threshold of the controller device, the first torque limiting coefficient is determined to be zero.
[0090] Optionally, the high-level torque limiting coefficient, intermediate-level torque limiting coefficient, and low-level torque limiting coefficient corresponding to the transistor temperature change rate are different from the high-level torque limiting coefficient, intermediate-level torque limiting coefficient, and low-level torque limiting coefficient corresponding to the transistor temperature.
[0091] Specifically, the high-level torque limiting coefficient, mid-level torque limiting coefficient, and low-level torque limiting coefficient corresponding to the transistor temperature change rate are dynamically calculated based on historical temperature and historical torque data.
[0092] Step S306: The minimum value of the first temperature torque limiting coefficient and the first temperature change rate torque limiting coefficient is determined as the first torque limiting coefficient.
[0093] It is understandable that, in addition to finding the minimum value, the first temperature limit torque coefficient and the first temperature change rate limit torque coefficient can be weighted to obtain the first limit torque coefficient.
[0094] Please see Figure 4 In some embodiments, step S104 may include, but is not limited to, steps S401 to S403: Step S401: Obtain historical transistor temperature, historical motor temperature, and historical oil temperature.
[0095] In step S401 of some embodiments, the historical transistor temperature, historical motor temperature and historical oil temperature of the previous cycle (or multiple historical cycles) are obtained.
[0096] Step S402: Input the current transistor temperature, current motor temperature, current oil temperature, historical transistor temperature, historical motor temperature and historical oil temperature into the weighted prediction model, and output the first weight, the second weight and the third weight.
[0097] In step S402 of some embodiments, the input data includes the current temperature value and historical temperature data.
[0098] Optionally, a regression model or a neural network equal-weight prediction model can be selected, and the model can be trained to predict the first weight of transistor temperature, the second weight of motor temperature, and the third weight of oil temperature.
[0099] Furthermore, the weight prediction model can employ incremental training or transfer learning methods based on real-time data, enabling the model to continuously optimize over time.
[0100] Step S403: Calculate the current torque limiting coefficient using the first weight, the first torque limiting coefficient, the second weight, the second torque limiting coefficient, the third weight, and the third torque limiting coefficient.
[0101] In step S403 of some embodiments, the current torque limiting coefficient is calculated by combining the first weight, the first torque limiting coefficient, the second weight, the second torque limiting coefficient, the third weight, and the third torque limiting coefficient using a weighted average or nonlinear regression algorithm.
[0102] Figure 5 This is a flowchart illustrating a specific implementation of the torque control method provided in this application when applied to an active vibration damper. Figure 5 The methods may include, but are not limited to, the following steps: Step 1, MOSFET temperature limit torque.
[0103] For example, a schematic diagram of an active vibration damper is shown below. Figure 6 As shown in the diagram. Component 1 is an accumulator, component 2 is a motor, component 3 is a controller, component 4 is a pump, and component 5 is a pressure sensor. The active damper includes an accumulator structure, an electric hydraulic pump structure, a pressure sensor, and a main piston. Temperature sensors are located near the motor and MOSFET, allowing direct reading of their temperatures. The oil temperature, however, needs to be estimated using the accumulator pressure.
[0104] In some embodiments, the flowchart for MOSFET temperature limiting torque is as follows: Figure 7 As shown in the diagram, the temperature sensor directly reads the temperature sensor reading of the MOSFET and performs a low-pass filter on the temperature sensor to calculate the filtered temperature, which is the temperature of the MOSFET. Based on the temperature, an output torque limiting coefficient α is calculated. This coefficient α is multiplied by the torque required for normal active power control, Tout = Tcmd * α. Tout is the final output torque, used to reduce the current of the MOSFET and reduce heat generation.
[0105] Step 2, motor temperature torque limit.
[0106] For example, the flowchart for motor temperature-limited torque is as follows: Figure 8As shown, the temperature sensor directly reads the temperature sensor reading of the motor and performs a low-pass filter on the temperature sensor to obtain the filtered temperature, which is the temperature of the motor. Based on the temperature, a torque limiting coefficient α is output. This coefficient α is multiplied by the torque required for normal active force control, Tout = Tcmd * α. Tout is the final output torque, which is used to reduce the current generated by the motor coil and reduce heat generation.
[0107] Step 3, accumulator pressure limit torque.
[0108] For example, the flowchart of the accumulator pressure limiting torque is as follows: Figure 9 As shown, since the accumulator pressure at room temperature (Troom) is known, according to PV=nRT, the pressure gradually increases with rising temperature. Therefore, by estimating the accumulator pressure, the accumulator temperature can be estimated, and the accumulator temperature can be approximately equal to the oil temperature. An output torque limiting coefficient α is calculated based on the temperature. This coefficient α is multiplied by the torque required for normal active power control, resulting in Tout=Tcmd*α. Tout is the final output torque, used to reduce the temperature rise of the motor coils and MOSFETs, which leads to an increase in oil temperature and reduces heat generation.
[0109] Step 4: Take the minimum value of the torque coefficient calculated based on the MOSFET, motor and oil temperatures respectively.
[0110] Among them, the torque coefficient calculated based on the MOSFET, motor and oil temperature respectively is taken as the minimum value to ensure the safety of the entire system.
[0111] This invention is a control strategy that uses the temperature-limiting torque of the active suspension assembly to prevent overheating of the active suspension system from damaging internal components.
[0112] This invention primarily uses the temperatures of the motor, hydraulic fluid, and the controller's power components for torque limiting control. Specifically, when the active suspension is operating normally, road surface excitation causes the hydraulic fluid to flow through the throttle orifice, generating damping force and raising the fluid temperature. Additionally, the external power supply provides current to the controller, and this current flows through the motor, controlling the pump's forward and reverse rotation, further increasing the temperature of the controller's power components and the motor. This, in turn, leads to excessively high temperatures in the entire active damper, damaging the damper's sealing structure, the motor's stator coils, the magnetic field strength of the motor's rotor magnets, and the MOSFETs and other power components inside the controller. Therefore, it is necessary to set safe temperatures for the hydraulic fluid, motor, and power components to prevent any component from overheating. If any component overheats, the controller's torque is immediately limited to reduce the temperature rise of the controller and motor, thereby lowering the overall system temperature.
[0113] This application embodiment also provides a torque control device that can implement the above-described method. The device includes a temperature sensor, a pressure sensor, an accumulator, a controller, a motor, and a pump. The device is used for: A temperature sensor is used to acquire the current transistor temperature and determine a first torque limiting coefficient based on the current transistor temperature; a temperature sensor is also used to acquire the current motor temperature and determine a second torque limiting coefficient based on the current motor temperature. A pressure sensor is used to acquire the current accumulator pressure, calculate the current oil temperature based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and determine the third torque limiting coefficient based on the current oil temperature. The controller is used to determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient and the third torque limiting coefficient, and to calculate the target torque by using the current torque limiting coefficient and the power control torque.
[0114] It is understood that the content of the above method embodiments is applicable to the present device embodiments. The specific functions implemented by the present device embodiments are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0115] Please see Figure 10 This application also provides a torque control system that can implement the above-described method. The system includes: The first coefficient determination module 1001 is used to obtain the current transistor temperature through a temperature sensor and determine the first torque limiting coefficient based on the current transistor temperature. The second coefficient determination module 1002 is used to obtain the current motor temperature through a temperature sensor and determine the second torque limiting coefficient based on the current motor temperature. The third coefficient determination module 1003 is used to obtain the current accumulator pressure through a pressure sensor, calculate the current oil temperature based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and determine the third torque limiting coefficient based on the current oil temperature. Current coefficient determination module 1004 is used to determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient and the third torque limiting coefficient; The torque calculation module 1005 is used to calculate the target torque by using the current torque limiting coefficient and the power control torque.
[0116] It is understood that the content of the above method embodiments is applicable to this system embodiment. The specific functions implemented in this system embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.
[0117] This application also provides an electronic device, which includes a memory and a processor. The memory stores a computer program, and the processor executes the computer program to implement the above-described method. This electronic device can be any smart terminal, including tablet computers, in-vehicle computers, etc.
[0118] It is understood that the content of the above method embodiments is applicable to this device embodiment. The specific functions implemented by this device embodiment are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0119] Please see Figure 11 , Figure 11 The hardware structure of an electronic device according to another embodiment is illustrated. The electronic device includes: The processor 1101 can be implemented using a general-purpose CPU (Central Processing Unit), microprocessor, application-specific integrated circuit (ASIC), or one or more integrated circuits, and is used to execute relevant programs to implement the technical solutions provided in the embodiments of this application. The memory 1102 can be implemented as a read-only memory (ROM), static storage device, dynamic storage device, or random access memory (RAM). The memory 1102 can store the operating system and other applications. When the technical solutions provided in the embodiments of this specification are implemented through software or firmware, the relevant program code is stored in the memory 1102 and is called and executed by the processor 1101 using the methods described in the embodiments of this application. Input / output interface 1103 is used to implement information input and output; The communication interface 1104 is used to enable communication and interaction between this device and other devices. Communication can be achieved through wired means (such as USB, network cable, etc.) or wireless means (such as mobile network, WIFI, Bluetooth, etc.). Bus 1105 transmits information between various components of the device (e.g., processor 1101, memory 1102, input / output interface 1103, and communication interface 1104); The processor 1101, memory 1102, input / output interface 1103 and communication interface 1104 are connected to each other within the device via bus 1105.
[0120] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described method.
[0121] It is understood that the content of the above method embodiments is applicable to this storage medium embodiment. The specific functions implemented in this storage medium embodiment are the same as those in the above method embodiments, and the beneficial effects achieved are also the same as those achieved in the above method embodiments.
[0122] This application also provides a computer program product, including a computer program that, when executed by a processor, implements the above-described method.
[0123] It is understood that the content of the above method embodiments is applicable to the embodiments of this program product. The specific functions implemented by the embodiments of this program product are the same as those of the above method embodiments, and the beneficial effects achieved are also the same as those achieved by the above method embodiments.
[0124] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.
[0125] The torque control method, system, electronic device, storage medium, and program product provided in this application embodiment obtain the current transistor temperature through a temperature sensor and determine a first torque limiting coefficient based on the current transistor temperature; obtain the current motor temperature through a temperature sensor and determine a second torque limiting coefficient based on the current motor temperature; obtain the current accumulator pressure through a pressure sensor, calculate the current oil temperature based on the current accumulator pressure, room temperature accumulator pressure, and room temperature, and determine a third torque limiting coefficient based on the current oil temperature, which helps prevent overheating; determine the current torque limiting coefficient based on the first, second, and third torque limiting coefficients; and calculate the target torque by using the current torque limiting coefficient and the power control torque. This can effectively reduce the system temperature, prevent overheating, and avoid affecting motor performance, damage to enameled wires, damage to MOSFETs, and improve the lifespan of the active suspension system seals, thereby enhancing the overall durability of the active suspension system.
[0126] The embodiments described in this application are for the purpose of more clearly illustrating the technical solutions of the embodiments of this application, and do not constitute a limitation on the technical solutions provided by the embodiments of this application. As those skilled in the art will know, with the evolution of technology and the emergence of new application scenarios, the technical solutions provided by the embodiments of this application are also applicable to similar technical problems.
[0127] Those skilled in the art will understand that the technical solutions shown in the figures do not constitute a limitation on the embodiments of this application, and may include more or fewer steps than shown, or combine certain steps, or different steps.
[0128] The device embodiments described above are merely illustrative. The units described as separate components may or may not be physically separate; that is, they may be located in one place or distributed across multiple network units. Some or all of the modules can be selected to achieve the purpose of this embodiment according to actual needs.
[0129] Those skilled in the art will understand that all or some of the steps in the methods disclosed above, as well as the functional modules / units in the systems and devices, can be implemented as software, firmware, hardware, or appropriate combinations thereof.
[0130] The terms “first,” “second,” “third,” “fourth,” etc. (if present) in the specification and accompanying drawings of this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. Furthermore, the terms “comprising” and “having,” and any variations thereof, are intended to cover non-exclusive inclusion; for example, a process, method, system, product, or apparatus that comprises a series of steps or units is not necessarily limited to those steps or units explicitly listed, but may include other steps or units not explicitly listed or inherent to such processes, methods, products, or apparatus.
[0131] It should be understood that in this application, "at least one (item)" means one or more, and "more than" means two or more. "And / or" is used to describe the relationship between related objects, indicating that three relationships can exist. For example, "A and / or B" can represent three cases: only A exists, only B exists, and both A and B exist simultaneously, where A and B can be singular or plural. The character " / " generally indicates that the preceding and following related objects are in an "or" relationship. "At least one (item) of the following" or similar expressions refer to any combination of these items, including any combination of single or plural items. For example, at least one (item) of a, b, or c can represent: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, and c can be single or multiple.
[0132] In the several embodiments provided in this application, it should be understood that the disclosed apparatus and methods can be implemented in other ways. For example, the apparatus embodiments described above are merely illustrative; for instance, the division of the units described above is only a logical functional division, and in actual implementation, there may be other division methods. For example, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the coupling or direct coupling or communication connection shown or discussed may be through some interfaces; the indirect coupling or communication connection between apparatuses or units may be electrical, mechanical, or other forms.
[0133] The units described above as separate components may or may not be physically separate. The components shown as units may or may not be physical units; that is, they may be located in one place or distributed across multiple network units. Some or all of the units can be selected to achieve the purpose of this embodiment according to actual needs.
[0134] Furthermore, the functional units in the various embodiments of this application can be integrated into one processing unit, or each unit can exist physically separately, or two or more units can be integrated into one unit. The integrated unit can be implemented in hardware or as a software functional unit.
[0135] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes multiple instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute all or part of the steps of the methods of the various embodiments of this application. The aforementioned storage medium includes various media capable of storing programs, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.
[0136] The preferred embodiments of the present application have been described above with reference to the accompanying drawings, but this does not limit the scope of the claims of the present application. Any modifications, equivalent substitutions, and improvements made by those skilled in the art without departing from the scope and substance of the embodiments of the present application shall be within the scope of the claims of the present application.
Claims
1. A torque control method, characterized in that, The method includes the following steps: The current transistor temperature is obtained by a temperature sensor, and a first torque limiting coefficient is determined based on the current transistor temperature. The current motor temperature is obtained by a temperature sensor, and a second torque limiting coefficient is determined based on the current motor temperature. The current accumulator pressure is obtained by a pressure sensor, the current oil temperature is calculated based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and the third torque limiting coefficient is determined based on the current oil temperature. The current torque limiting coefficient is determined based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient. The target torque is calculated using the current torque limiting coefficient and the power control torque.
2. The method according to claim 1, characterized in that, The step of acquiring the current transistor temperature via a temperature sensor and determining the first torque limiting coefficient based on the current transistor temperature includes: The current transistor temperature is obtained using a temperature sensor; The current transistor temperature is low-pass filtered to obtain the filtered current transistor temperature. Obtain the temperature threshold of the controller device, which includes a low temperature threshold, a medium temperature threshold, and a high temperature threshold of the controller device. If the current transistor temperature is less than the low temperature threshold of the controller device, then the first torque limiting coefficient is determined as the advanced torque limiting coefficient; If the current transistor temperature is greater than or equal to the low temperature threshold of the controller device, and the current transistor temperature is less than the medium temperature threshold of the controller device, then the first torque limiting coefficient is determined as the medium torque limiting coefficient. If the current transistor temperature is greater than or equal to the medium temperature threshold of the controller device, and the current transistor temperature is less than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined as the low-level torque limiting coefficient. If the current transistor temperature is greater than the high temperature threshold of the controller device, then the first torque limiting coefficient is determined to be zero.
3. The method according to claim 1, characterized in that, Determining the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient includes: The minimum value of the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient is determined as the current torque limiting coefficient.
4. The method according to claim 1, characterized in that, The step of acquiring the current transistor temperature via a temperature sensor and determining the first torque limiting coefficient based on the current transistor temperature includes: Obtain historical transistor temperatures; The rate of change of transistor temperature is calculated by comparing the historical transistor temperature with the current transistor temperature. The first torque limiting coefficient is determined based on the current transistor temperature and the rate of change of the transistor temperature.
5. The method according to claim 4, characterized in that, The determination of the first torque limiting coefficient based on the current transistor temperature and the transistor temperature change rate includes: Obtain the temperature threshold and the temperature change rate threshold of the controller device; A first temperature limit torque coefficient is determined based on the current transistor temperature and the controller device temperature threshold. A first temperature change rate limiting torque coefficient is determined based on the transistor temperature change rate and the controller device temperature change rate threshold. The minimum value between the first temperature-limiting torque coefficient and the first temperature change rate-limiting torque coefficient is determined as the first torque-limiting coefficient.
6. The method according to claim 1, characterized in that, Determining the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient includes: Obtain historical transistor temperatures, historical motor temperatures, and historical oil temperatures; The current transistor temperature, the current motor temperature, the current oil temperature, the historical transistor temperature, the historical motor temperature, and the historical oil temperature are input into the weighted prediction model, and the first weight, the second weight, and the third weight are output. The current torque limiting coefficient is calculated using the first weight, the first torque limiting coefficient, the second weight, the second torque limiting coefficient, the third weight, and the third torque limiting coefficient.
7. A torque control system, characterized in that, The system includes: The first coefficient determination module is used to obtain the current transistor temperature through a temperature sensor and determine the first torque limiting coefficient based on the current transistor temperature. The second coefficient determination module is used to obtain the current motor temperature through a temperature sensor and determine the second torque limiting coefficient based on the current motor temperature. The third coefficient determination module is used to obtain the current accumulator pressure through a pressure sensor, calculate the current oil temperature based on the current accumulator pressure, the room temperature accumulator pressure and the room temperature, and determine the third torque limiting coefficient based on the current oil temperature. The current coefficient determination module is used to determine the current torque limiting coefficient based on the first torque limiting coefficient, the second torque limiting coefficient, and the third torque limiting coefficient; The torque calculation module is used to calculate the target torque using the current torque limiting coefficient and the power control torque.
8. An electronic device, characterized in that, The electronic device includes a memory and a processor, the memory storing a computer program, and the processor executing the computer program to implement the method according to any one of claims 1 to 6.
9. A computer-readable storage medium storing a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.
10. A computer program product, comprising a computer program, characterized in that, When the computer program is executed by a processor, it implements the method of any one of claims 1 to 6.