Motor anti-slip control method, system, device and storage medium

Abstract

The application provides a motor anti-slip control method, system, device and storage medium, and belongs to the technical field of motor control. The method comprises the following steps: when an anti-slip entering condition is triggered, an anti-slip target control torque of the motor is obtained based on an anti-slip feedforward torque and an anti-slip closed-loop torque; and when an anti-slip exiting condition is triggered, the anti-slip torque control of the motor is exited. Through the technical scheme in the application, the problems of jitter and false triggering that may exist in the motor anti-slip can be effectively improved.

Description

Technical Field

[0001] This invention relates to the field of motor control technology, and in particular to a method, system, device and storage medium for motor anti-slip control. Background Technology

[0002] New energy vehicles, especially electric commercial vehicles, often start after loading and unloading on slopes. In such situations, it is necessary to implement active anti-rollback control to prevent the vehicle from moving unintentionally and causing danger. Ideally, when the brake is released, the motor instantly outputs a balanced torque, the vehicle body remains perfectly still, and the vehicle starts smoothly.

[0003] However, existing anti-slip strategies may cause drive system vibration and false triggering, especially when the gradient / load estimation is inaccurate, the braking torque switching timing is mismatched, the zero-speed closed loop is prone to oscillation, and the working condition identification logic is simple. This can lead to drive chain vibration and jerking, and false triggering in flat / stationary working conditions, which not only affects driving comfort but also poses a risk to control smoothness. Summary of the Invention

[0004] The present invention aims to solve at least one of the technical problems existing in the prior art, and proposes a method, system, device and storage medium for motor anti-slip control.

[0005] In a first aspect, embodiments of the present invention provide a method for preventing motor runaway, the method comprising:

[0006] When the anti-slip entry condition is triggered, the anti-slip target control torque of the motor is obtained based on the anti-slip feedforward torque and the anti-slip closed-loop torque.

[0007] When the anti-slippage exit condition is triggered, the motor anti-slippage torque control is discontinued.

[0008] In some embodiments, the conditions for entering the slope prevention system include:

[0009] No braking control;

[0010] Furthermore, the current gear position is opposite to the direction of the drive motor's rotation speed;

[0011] Furthermore, the motor speed exceeds the preset speed;

[0012] Furthermore, the motor overspeed duration exceeded the preset duration.

[0013] In some embodiments, the process of determining the anti-slip slope feedforward torque includes:

[0014] Based on the relationship between vehicle weight, slope gradient, and feedforward torque, a first mapping table is pre-constructed.

[0015] Based on the current vehicle weight and the current slope, find the corresponding feedforward torque in the first mapping table.

[0016] In some embodiments, after determining the anti-slide feedforward torque, the method further includes: setting an adjustable notch filter at the output end of the anti-slide feedforward torque, and adjusting the anti-slide feedforward torque by configuring a calibrable center frequency and bandwidth.

[0017] In some embodiments, the process of determining the anti-slip slope closed-loop torque includes:

[0018] Based on the relationship between vehicle weight, motor speed difference, and PID control terms, a second mapping table is pre-constructed.

[0019] Based on the current vehicle weight and the current motor speed difference, find the corresponding PID control item in the second mapping table;

[0020] Based on the PID control term and the current motor speed difference, the anti-slip closed-loop torque is obtained.

[0021] In some embodiments, the process of obtaining the target control torque for preventing runaway of the motor includes:

[0022] Set a torque transition gradient;

[0023] Based on the anti-slip slope feedforward torque and torque transition gradient, the anti-slip slope feedforward torque after gradient transition is obtained;

[0024] Based on the anti-slip feedforward torque after gradient transition and the anti-slip closed-loop torque, the target control torque for anti-slip of the motor is obtained.

[0025] In some embodiments, the anti-slide exit conditions include:

[0026] It has braking control;

[0027] Alternatively, the motor's anti-slip target control torque may be less than the torque required by the driver.

[0028] Secondly, embodiments of the present invention provide a motor anti-slippage control system, the system comprising:

[0029] The anti-slip-in module is used to obtain the target anti-slip-in control torque of the motor based on the anti-slip-in feedforward torque and the anti-slip-in closed-loop torque when the anti-slip-in condition is triggered.

[0030] The anti-slippage exit module is used to exit the motor anti-slippage torque control when the anti-slippage exit condition is triggered.

[0031] In some embodiments, the system further includes:

[0032] The feedforward torque determination unit is used to pre-build a first mapping table based on the relationship between vehicle weight, slope gradient and feedforward torque; and to look up the corresponding feedforward torque in the first mapping table based on the current vehicle weight and the current slope gradient.

[0033] In some embodiments, the system further includes:

[0034] The closed-loop torque determination unit is used to pre-build a second mapping table based on the relationship between vehicle weight, motor speed difference, and PID control term; and to look up the corresponding PID control term in the second mapping table based on the current vehicle weight and the current motor speed difference; and to obtain the anti-slip closed-loop torque based on the PID control term and the current motor speed difference.

[0035] Thirdly, embodiments of the present invention provide an electronic device, the electronic device comprising:

[0036] At least one processor; and a memory communicatively connected to the at least one processor;

[0037] The memory stores a computer program that can be executed by at least one processor, such that the at least one processor is able to perform the steps of the method according to any embodiment of the present invention.

[0038] Fourthly, embodiments of the present invention provide a computer-readable storage medium storing computer instructions that are used to cause a processor to execute the steps of any embodiment of the method of the present invention.

[0039] Compared with the prior art, the present invention has the following advantages:

[0040] The motor anti-runaway control method provided by this invention obtains the target anti-runaway control torque of the motor based on the anti-runaway feedforward torque and the anti-runaway closed-loop torque when the anti-runaway entry condition is triggered; and exits the motor anti-runaway torque control when the anti-runaway exit condition is triggered. The technical solution in this invention improves the problems of jitter and false triggering that may exist in motor anti-runaway. Attached Figure Description

[0041] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only preferred embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0042] Figure 1 A schematic flowchart of a motor anti-slip control method provided in an embodiment of the present invention;

[0043] Figure 2 A schematic diagram of a process for determining the anti-slippage feedforward torque provided in an embodiment of the present invention;

[0044] Figure 3 A schematic diagram of a process for determining the closed-loop torque for preventing slope slippage, provided in an embodiment of the present invention;

[0045] Figure 4 This is a schematic diagram of a motor anti-slip control strategy provided in an embodiment of the present invention;

[0046] Figure 5 This is a schematic diagram of a motor anti-slip control system provided in an embodiment of the present invention;

[0047] Figure 6 This is a schematic diagram of the structure of an electronic device provided in an embodiment of the present invention. Detailed Implementation

[0048] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0049] To enable those skilled in the art to better understand the technical solutions of the present invention, exemplary embodiments of the present invention are described below in conjunction with the accompanying drawings, including various details of the embodiments of the present invention to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art should recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of the present invention. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0050] Where there is no conflict, the various embodiments of the present invention and the features thereof may be combined with each other.

[0051] As used herein, the term “and / or” includes any and all combinations of one or more related enumerated entries.

[0052] The terminology used herein is for the purpose of describing particular embodiments only and is not intended to limit the invention. As used herein, the singular forms “a” and “the” are intended to include the plural forms as well, unless the context clearly indicates otherwise. It will also be understood that when the terms “comprising” and / or “made of” are used in this specification, the presence of the stated feature, integral, step, operation, element, and / or component is specified, but the presence or addition of one or more other features, integrals, steps, operations, elements, components, and / or groups thereof is not excluded. Terms such as “connected” or “linked” are not limited to physical or mechanical connections but can include electrical connections, whether direct or indirect.

[0053] Unless otherwise specified, all terms used herein (including technical and scientific terms) have the same meaning as commonly understood by one of ordinary skill in the art. It will also be understood that terms such as those defined in commonly used dictionaries should be interpreted as having the meaning consistent with their meaning in the context of the relevant art and the invention, and will not be interpreted as having an idealized or overly formal meaning unless expressly so defined herein.

[0054] In the technical solution of this invention, the collection, storage, use, processing, transmission, provision, and disclosure of user personal information all comply with relevant laws and regulations and do not violate public order and good morals. The use of user data in this technical solution follows relevant national laws and regulations (e.g., the "Information Security Technology - Personal Information Security Specification"). For example: appropriate measures are taken for personal information access control; restrictions are imposed on the display of personal information; the purpose of using personal information does not exceed the scope of direct or reasonable association; and explicit identity targeting is eliminated when using personal information to avoid precisely locating a specific individual.

[0055] Figure 1 This is a flowchart illustrating a motor anti-runaway control method provided in an embodiment of the present invention. This method is particularly suitable for scenarios where the vehicle starts moving after loading and unloading on a ramp. The method can be executed by a motor anti-runaway control system, which can be implemented in software and / or hardware and can be configured in an electronic device.

[0056] like Figure 1 As shown, the method specifically includes:

[0057] S1, when the anti-slip entry condition is triggered, the anti-slip target control torque of the motor is obtained based on the anti-slip feedforward torque and the anti-slip closed-loop torque.

[0058] Among them, the anti-slip feedforward torque is a pre-calculated basic compensation torque. It is calculated directly based on the slope and vehicle weight to offset the gravity of the slope, without relying on closed-loop feedback, and is directly given to the drive system. The feedforward torque has a fast response, but its disadvantage is that sudden changes and fluctuations in torque will directly excite the inherent vibrations of the electric drive assembly, frame, and suspension, causing body shaking and roaring.

[0059] In some embodiments, the conditions for entering the landslide prevention slope include:

[0060] No braking control;

[0061] Furthermore, the current gear position is opposite to the direction of the drive motor's rotation speed;

[0062] Furthermore, the motor speed exceeds the preset speed;

[0063] Furthermore, the motor overspeed duration exceeded the preset duration.

[0064] In this embodiment, the anti-slip entry condition is set as follows: no braking control (including foot brake and handbrake), the current gear is opposite to the direction of the drive motor speed, and after exceeding a certain settable speed v1, the anti-slip torque control will be entered after a settable time t1. The delay time t1 can effectively reduce the false triggering of the anti-slip due to the instantaneous opposite rotation of the motor when accelerating on uneven road surfaces.

[0065] No brake control (both foot brake and handbrake are released) means that the vehicle's service brake and parking brake are completely released, and the vehicle body is no longer fixed by mechanical braking force, which is a prerequisite for the electronic control to prevent slippage in the case of a slope.

[0066] The current gear position and the direction of the drive motor speed are opposite, which means: when the gear is in forward gear, the motor rotates in reverse (the vehicle rolls backward); when the gear is in reverse gear, the motor rotates in forward (the vehicle rolls forward). This is the core logical basis for determining that the vehicle is rolling backward.

[0067] The motor speed exceeding the set threshold means that only when the motor speed is greater than the calibrated threshold value is it considered a real slope slippage, excluding invalid working conditions such as slight shaking and zero speed fluctuation.

[0068] After the above conditions are met, a settable delay is added to activate the anti-slip torque control. The control does not immediately intervene but instead uses a time hysteresis delay. Only after the delay reaches the set threshold will the anti-slip closed-loop and feedforward torque be output. Adding a calibrable delay t1 filters only momentary, brief reverse speed disturbances. On a truly continuous slope, the vehicle will maintain the reverse speed until the delay ends, at which point it will normally enter the anti-slip mode. Brief reversals caused by momentary bumps will return to normal within the delay and will not trigger control.

[0069] Figure 2A flowchart illustrating the determination of the anti-slip slope feedforward torque is shown. In some embodiments, the process of determining the anti-slip slope feedforward torque includes:

[0070] S201, based on the relationship between vehicle weight, slope gradient and feedforward torque, a first mapping table is pre-built;

[0071] S202, based on the current vehicle weight and the current slope, find the corresponding anti-slip feedforward torque in the first mapping table.

[0072] In this embodiment, the anti-slip feedforward torque Tf is increased by the input of vehicle weight mv and slope s. Both vehicle weight and slope are measurable parameters for commercial vehicles. By using vehicle weight and slope, a feedforward that is as close as possible to the slope braking torque can be set, i.e., Table(mv,s,Tf) reduces the closed-loop speed control torque amplitude Ts, which can improve the problem of aggravated vehicle body vibration caused by mutual excitation between closed-loop speed control and disturbance speed due to force disturbance of the assembly.

[0073] Based on the actual vehicle weight and slope, the theoretical slope balance feedforward torque is output from the table, making the anti-slip feedforward torque infinitely close to the steady-state braking torque required to offset the slope's downward force. The feedforward torque Tf has already statically offset most of the slope load. The remaining slight speed deviation only requires a small correction torque Ts from the closed-loop PI output, eliminating the need to rely on a large closed-loop torque to withstand the entire slope load, thus significantly reducing the fluctuation range of Ts.

[0074] In some embodiments, after determining the anti-slip feedforward torque, the method further includes:

[0075] An adjustable notch filter is installed at the anti-slide feedforward torque output end, and the anti-slide feedforward torque is adjusted by configuring the calibrable center frequency and bandwidth.

[0076] In this embodiment, a notch filter is added to the output terminal of the anti-slip feedforward torque Tf, providing a settable center frequency F and bandwidth B. This can specifically reduce the low-frequency excitation of the power system by the feedforward torque and reduce vibration when the anti-slip occurs.

[0077] The anti-slip slope feedforward torque Tf is the basic parking torque given in advance according to the vehicle weight and slope. It takes effect quickly, but the torque step and low-frequency fluctuations can easily directly excite the low-frequency natural modes of the electric drive assembly, drive shaft and frame, causing the whole vehicle to shake and vibrate.

[0078] A notch filter is connected in series at the output of Tf, supporting calibration of the center frequency F and bandwidth B. The center frequency F is aligned with the inherent low-frequency resonant frequency of the powertrain, and the bandwidth B is set to the frequency range to be attenuated. The notch filter only attenuates the resonant excitation component in Tf at a specific point in the set frequency band, retaining other effective torque components, without weakening the anti-rollback and hill-holding capabilities, only filtering out low-frequency components that would induce vibration. Ultimately, this specifically weakens the low-frequency excitation of the feedforward torque on the powertrain, suppressing vehicle vibration and shaking during anti-rollback intervention and hill-holding processes, thereby improving NVH and ride comfort.

[0079] Figure 3 A flowchart illustrating the determination of the anti-slide closed-loop torque is shown. In some embodiments, the process of determining the anti-slide closed-loop torque includes:

[0080] S301, based on the relationship between vehicle weight, motor speed difference and PID control terms, a second mapping table is pre-built;

[0081] S302, based on the current vehicle weight and the current motor speed difference, look up the corresponding PID control item in the second mapping table;

[0082] S303, based on the PID control term and the current motor speed difference, obtains the anti-slippage closed-loop torque.

[0083] It should be noted that the motor speed difference refers to the difference between the target desired speed and the actual motor speed. Essentially, the speed difference is the deviation of the actual vehicle speed from the stationary target. The speed difference characterizes the magnitude of the deviation of the vehicle's actual rolling speed from its stationary state. As the input deviation of the PI controller, it is combined with the real-time identified vehicle weight to match the corresponding P and I parameters, calculate the output closed-loop control torque, and achieve adaptive adjustment to prevent rollover on slopes.

[0084] In this embodiment, the anti-slip slope closed-loop speed control torque Tc adopts a P,I controller based on vehicle weight mv and speed difference Nerr. The PID control term is set larger when the vehicle weight is heavier and smaller when the vehicle weight is lighter. The closed-loop torque is obtained based on the speed difference and the PID control term. Anti-slip slope employs adaptive PI closed-loop control based on the vehicle weight and speed difference. Parameter self-tuning is performed according to the vehicle load state, matching larger P,I control parameters when the vehicle weight is heavier and smaller P,I parameters when the vehicle weight is lighter. Using the motor speed difference as the closed-loop deviation input, the closed-loop speed control torque is calculated and output based on the real-time calibrated P,I parameters, achieving accurate adaptive correction of slope slippage deviation under different load conditions, balancing anti-slip stability under heavy load and control smoothness under light load.

[0085] When heavily loaded, the vehicle experiences a large gravitational force and inertia on the slope, resulting in rapid changes in system deviation and high requirements for disturbance resistance. By increasing P (proportional), the response speed is improved, quickly offsetting the tendency to slip on the slope and preventing the vehicle speed / attitude deviation from increasing. By increasing I (integral), the static error is quickly eliminated, and the zero speed is stably maintained, avoiding slow slippage and steady-state deviation under heavy load.

[0086] With light loads and low inertia, the system is highly sensitive. If a large P / I ratio is also set, the control gain will be too strong, and the closed loop will be prone to overshoot and oscillation. The motor torque will be repeatedly increased and decreased, directly causing transmission vibration, vehicle body jerking, and start-up jerking.

[0087] In some embodiments, the process of obtaining the target control torque for preventing runaway of the motor includes:

[0088] Set a torque transition gradient;

[0089] Based on the anti-slip slope feedforward torque and torque transition gradient, the anti-slip slope feedforward torque after gradient transition is obtained;

[0090] Based on the anti-slip feedforward torque after gradient transition and the anti-slip closed-loop torque, the target control torque for anti-slip of the motor is obtained.

[0091] S2, when the anti-slippage exit condition is triggered, exit the motor anti-slippage torque control.

[0092] In some embodiments, the conditions for exiting the landslide prevention slope include:

[0093] It has braking control;

[0094] Alternatively, the motor's anti-slip target control torque may be less than the torque required by the driver.

[0095] In this embodiment, the anti-slip slope exit condition is set as follows: when there is braking or the driver's required torque Td is greater than the anti-slip slope torque Ta, the anti-slip slope exit is activated.

[0096] It should be noted that when entering the anti-rollover slope, the creep torque Tc and feedforward torque Tf of the whole vehicle need to be transitioned by a gradient Tu; when exiting the anti-rollover slope, a gradient Td needs to be transitioned from the feedforward torque Tf to the driving torque T of the whole vehicle, so as to avoid the whole vehicle shaking due to too large torque change rate.

[0097] During the anti-rollover phase, the vehicle has an inherent creep torque Tc during normal crawling. After the anti-rollover is engaged, it needs to switch to the slope feedforward torque Tf. If the switch is abrupt, the torque change rate will be too large, which will impact the drivetrain and cause jerking and vehicle vibration. Therefore, a transition gradient Tu is added to allow the torque to gradually increase / decrease at a gentle slope, smoothly transitioning from creep torque to anti-rollover feedforward torque.

[0098] During the anti-slip slope exit phase, when ending the hill-holding and resuming normal driving, the torque should be switched back from the anti-slip slope feedforward torque Tf to the normal driving torque T of the whole vehicle; similarly, it cannot be abruptly changed, but an exit transition gradient Td should be set to constrain the torque change slope and smoothly complete the working condition switch.

[0099] By limiting the rate of torque change through transition gradients Tu and Td, the torque step shock during the switching of operating conditions is avoided, the torsional vibration of the powertrain system and the vibration of the whole vehicle are suppressed, and the smoothness of the entire process of hill start-up and exit is improved.

[0100] Figure 4 A schematic diagram of a complete motor anti-slip control strategy is shown, such as... Figure 4 As shown, when the anti-roll-off entry condition is triggered, the system obtains the anti-roll-off feedforward torque by looking up the first mapping table based on vehicle weight and slope; simultaneously, it obtains the PID control term and thus the anti-roll-off closed-loop torque by looking up the second mapping table based on vehicle weight and speed difference. After obtaining the anti-roll-off feedforward torque and the anti-roll-off closed-loop torque, the target anti-roll-off control torque is obtained for motor torque control. Conversely, when the anti-roll-off exit condition is triggered, the motor anti-roll-off torque control is discontinued.

[0101] The technical solution in this embodiment of the invention introduces anti-slip entry conditions and anti-slip exit conditions. When the anti-slip entry condition is triggered, the anti-slip target control torque of the motor is obtained based on the anti-slip feedforward torque and the anti-slip closed-loop torque, thereby completing the motor anti-slip control and effectively improving the jitter and false triggering problems that may exist in motor anti-slip.

[0102] Based on the same inventive concept, this invention also provides a motor anti-slippage control system. Figure 5 This is a schematic diagram of a motor anti-slip control system provided in an embodiment of the present invention, as shown below. Figure 5 As shown, the system specifically includes:

[0103] The anti-slip-in module 100 is used to obtain the anti-slip-in target control torque of the motor based on the anti-slip-in feedforward torque and the anti-slip-in closed-loop torque when the anti-slip-in condition is triggered.

[0104] The anti-slippage exit module 200 is used to exit the motor anti-slippage torque control when the anti-slippage exit condition is triggered.

[0105] In some embodiments, the system further includes:

[0106] The feedforward torque determination unit is used to pre-build a first mapping table based on the relationship between vehicle weight, slope gradient and feedforward torque; and to look up the corresponding feedforward torque in the first mapping table based on the current vehicle weight and the current slope gradient.

[0107] In some embodiments, the system further includes:

[0108] The closed-loop torque determination unit is used to pre-build a second mapping table based on the relationship between vehicle weight, motor speed difference, and PID control term; and to look up the corresponding PID control term in the second mapping table based on the current vehicle weight and the current motor speed difference; and to obtain the anti-slip closed-loop torque based on the PID control term and the current motor speed difference.

[0109] The technical solutions in the embodiments of the present invention have similar beneficial effects to those described above, and will not be repeated here.

[0110] Based on the same inventive concept, embodiments of the present invention also provide an electronic device. Figure 6 This is a structural block diagram of an electronic device provided in an embodiment of the present invention. Figure 6 As shown, an embodiment of the present invention provides an electronic device including: one or more processors 101, a memory 102, and one or more I / O interfaces 103. The memory 102 stores one or more programs, which, when executed by the one or more processors, cause the one or more processors to implement any of the motor anti-slip control methods described in the above embodiments; the one or more I / O interfaces 103 are connected between the processor and the memory, configured to enable information interaction between the processor and the memory.

[0111] The processor 101 is a device with data processing capabilities, including but not limited to a central processing unit (CPU); the memory 102 is a device with data storage capabilities, including but not limited to random access memory (RAM, more specifically SDRAM, DDR, etc.), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), and flash memory (FLASH); the I / O interface (read / write interface) 103 is connected between the processor 101 and the memory 102, and can realize information interaction between the processor 101 and the memory 102, including but not limited to a data bus (BUS).

[0112] In some embodiments, the processor 101, memory 102, and I / O interface 103 are interconnected via bus 104, and thus connected to other components of the computing device.

[0113] In some embodiments, the one or more processors 101 include a field-programmable gate array.

[0114] This invention also provides a computer-readable medium. The computer-readable medium stores a computer program, which, when executed by a processor, implements the steps of any of the motor anti-slip control methods described in the above embodiments. The computer-readable storage medium can be volatile or non-volatile.

[0115] This invention also provides a computer program product, including computer-readable code, or a non-volatile computer-readable storage medium carrying computer-readable code. When the computer-readable code is run in the processor of an electronic device, the processor in the electronic device executes the above-described motor anti-slip control method.

[0116] Those skilled in the art will understand that all or some of the steps, systems, and apparatuses disclosed above, and their functional modules / units, can be implemented as software, firmware, hardware, or suitable combinations thereof. In hardware implementations, the division between functional modules / units mentioned above does not necessarily correspond to the division of physical components; for example, a physical component may have multiple functions, or a function or step may be performed collaboratively by several physical components. Some or all physical components may be implemented as software executed by a processor, such as a central processing unit, digital signal processor, or microprocessor, or as hardware, or as an integrated circuit, such as an application-specific integrated circuit (ASIC). Such software can be distributed on a computer-readable storage medium, which may include computer storage media (or non-transitory media) and communication media (or transient media).

[0117] As is known to those skilled in the art, the term computer storage medium includes volatile and non-volatile, removable and non-removable media implemented in any method or technology for storing information, such as computer-readable program instructions, data structures, program modules, or other data. Computer storage media includes, but is not limited to, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM), static random access memory (SRAM), flash memory or other memory technologies, portable compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical disc storage, magnetic cartridges, magnetic tape, disk storage or other magnetic storage devices, or any other medium that can be used to store desired information and is accessible to a computer. Furthermore, it is known to those skilled in the art that communication media typically contain computer-readable program instructions, data structures, program modules, or other data in modulated data signals such as carrier waves or other transmission mechanisms, and may include any information delivery medium.

[0118] The computer-readable program instructions described herein can be downloaded from computer-readable storage media to various computing / processing devices, or downloaded via a network, such as the Internet, local area network, wide area network, and / or wireless network, to an external computer or external storage device. The network may include copper transmission cables, fiber optic transmission, wireless transmission, routers, firewalls, switches, gateway computers, and / or edge servers. A network adapter card or network interface in each computing / processing device receives the computer-readable program instructions from the network and forwards them to the computer-readable storage media in the respective computing / processing device.

[0119] The computer program instructions used to perform the operations of this invention may be assembly instructions, instruction set architecture (ISA) instructions, machine instructions, machine-dependent instructions, microcode, firmware instructions, state setting data, or source code or object code written in any combination of one or more programming languages, including object-oriented programming languages ​​such as Smalltalk, C++, etc., and conventional procedural programming languages ​​such as the "C" language or similar programming languages. The computer-readable program instructions may be executed entirely on the user's computer, partially on the user's computer, as a standalone software package, partially on the user's computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the user's computer via any type of network—including a local area network (LAN) or a wide area network (WAN)—or may be connected to an external computer (e.g., via the Internet using an Internet service provider). In some embodiments, electronic circuitry, such as programmable logic circuitry, field-programmable gate arrays (FPGAs), or programmable logic arrays (PLAs), is personalized by utilizing state information from the computer-readable program instructions. This electronic circuitry can execute the computer-readable program instructions to implement various aspects of the invention.

[0120] The computer program product described herein can be implemented specifically through hardware, software, or a combination thereof. In one alternative embodiment, the computer program product is specifically embodied in a computer storage medium; in another alternative embodiment, the computer program product is specifically embodied in a software product, such as a software development kit (SDK), etc.

[0121] Various aspects of the present invention are described herein with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should 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-readable program instructions.

[0122] These computer-readable program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, or other programmable data processing apparatus to produce a machine such that, when executed by the processor of the computer or other programmable data processing apparatus, they create means for implementing the functions / actions specified in one or more blocks of the flowchart and / or block diagram. These computer-readable program instructions can also be stored in a computer-readable storage medium that causes a computer, programmable data processing apparatus, and / or other device to operate in a particular manner; thus, the computer-readable medium storing the instructions comprises an article of manufacture that includes instructions for implementing aspects of the functions / actions specified in one or more blocks of the flowchart and / or block diagram.

[0123] Computer-readable program instructions may also be loaded onto a computer, other programmable data processing apparatus, or other device to cause a series of operational steps to be performed on the computer, other programmable data processing apparatus, or other device to produce a computer-implemented process, thereby causing the instructions executed on the computer, other programmable data processing apparatus, or other device to perform the functions / actions specified in one or more boxes of a flowchart and / or block diagram.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the architecture, functionality, and operation of possible implementations of systems, methods, and computer program products according to various embodiments of the present invention. In this regard, each block in a flowchart or block diagram may represent a module, segment, or portion of an instruction, which contains one or more executable instructions for implementing a specified logical function. In some alternative implementations, the functions marked in the blocks may occur in a different order than those shown in the drawings. For example, two consecutive blocks may actually be executed substantially in parallel, and they may sometimes be executed in reverse order, depending on the functions involved. It should also be noted that each block in the block diagrams and / or flowcharts, and combinations of blocks in the block diagrams and / or flowcharts, may be implemented using a dedicated hardware-based system that performs the specified function or action, or using a combination of dedicated hardware and computer instructions.

[0125] Example embodiments have been disclosed herein, and while specific terminology has been used, it is for illustrative purposes only and should be construed as such, and is not intended to be limiting. In some instances, it will be apparent to those skilled in the art that features, characteristics, and / or elements described in conjunction with particular embodiments may be used alone, or in combination with features, characteristics, and / or elements described in conjunction with other embodiments, unless otherwise expressly indicated. Therefore, those skilled in the art will understand that various changes in form and detail may be made without departing from the scope of the invention as set forth in the appended claims.

Claims

1. A method for controlling motor slippage, characterized in that, include: When the anti-slip entry condition is triggered, the anti-slip target control torque of the motor is obtained based on the anti-slip feedforward torque and the anti-slip closed-loop torque. When the anti-slippage exit condition is triggered, the motor anti-slippage torque control is discontinued.

2. The method according to claim 1, characterized in that, The conditions for entering the slope prevention area include: No braking control; Furthermore, the current gear position is opposite to the direction of the drive motor's rotation speed; Furthermore, the motor speed exceeds the preset speed; Furthermore, the motor overspeed duration exceeded the preset duration.

3. The method according to claim 1, characterized in that, The process of determining the feedforward torque for preventing slope slippage includes: Based on the relationship between vehicle weight, slope gradient, and feedforward torque, a first mapping table is pre-constructed. Based on the current vehicle weight and the current slope, find the corresponding anti-slip feedforward torque in the first mapping table.

4. The method according to claim 3, characterized in that, After determining the anti-slide feedforward torque, the method also includes: setting an adjustable notch filter at the output end of the anti-slide feedforward torque, and adjusting the anti-slide feedforward torque by configuring the calibrable center frequency and bandwidth.

5. The method according to claim 1, characterized in that, The process of determining the closed-loop torque for preventing slope slippage includes: Based on the relationship between vehicle weight, motor speed difference, and PID control terms, a second mapping table is pre-constructed. Based on the current vehicle weight and the current motor speed difference, find the corresponding PID control item in the second mapping table; Based on the PID control term and the current motor speed difference, the anti-slip closed-loop torque is obtained.

6. The method according to claim 1, characterized in that, The process of obtaining the target control torque for the motor to prevent slippage includes: Set a torque transition gradient; Based on the anti-slip slope feedforward torque and torque transition gradient, the anti-slip slope feedforward torque after gradient transition is obtained; Based on the anti-slip feedforward torque after gradient transition and the anti-slip closed-loop torque, the target control torque for anti-slip of the motor is obtained.

7. The method according to claim 1, characterized in that, The conditions for exiting the anti-slip slope include: It has braking control; Alternatively, the motor's anti-slip target control torque may be less than the torque required by the driver.

8. A motor anti-slip control system, characterized in that, The system is configured to implement the method according to any one of claims 1-7, the system comprising: The anti-slip-in module is used to obtain the target anti-slip-in control torque of the motor based on the anti-slip-in feedforward torque and the anti-slip-in closed-loop torque when the anti-slip-in condition is triggered. The anti-slippage exit module is used to exit the motor anti-slippage torque control when the anti-slippage exit condition is triggered.

9. The system according to claim 8, characterized in that, The system also includes: The feedforward torque determination unit is used to pre-build a first mapping table based on the relationship between vehicle weight, slope gradient and feedforward torque; and to look up the corresponding feedforward torque in the first mapping table based on the current vehicle weight and the current slope gradient.

10. The system according to claim 8, characterized in that, The system also includes: The closed-loop torque determination unit is used to pre-build a second mapping table based on the relationship between vehicle weight, motor speed difference, and PID control term; and to look up the corresponding PID control term in the second mapping table based on the current vehicle weight and the current motor speed difference; and to obtain the anti-slip closed-loop torque based on the PID control term and the current motor speed difference.

11. An electronic device, characterized in that, The electronic device includes: At least one processor, and a memory communicatively connected to said at least one processor; The memory stores a computer program that can be executed by the at least one processor to enable the at least one processor to perform the steps of the method according to any one of claims 1-7.

12. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to perform the steps of the method according to any one of claims 1-7.

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