Hydraulic retarder torque control method, system, electronic device, medium, and vehicle

Abstract

The present application relates to the technical field of vehicles, and provides a hydraulic retarder torque control method, system, electronic device, medium and vehicle; the hydraulic retarder torque control method comprises the following steps: based on a preset low speed interval, a plurality of working condition parameters of the hydraulic retarder in a steady state are collected; based on the plurality of working condition parameters, a preset algorithm is used to construct a torque correlation model; real-time working condition data of the hydraulic retarder in a driving process is acquired; wherein the real-time working condition data at least includes a rotor real-time speed and working cavity oil real-time pressure; according to the comparison result of the rotor real-time speed and the preset low speed interval, a corresponding preset control strategy is triggered to control the actual braking torque output by the hydraulic retarder. The present application solves the technical defects that the existing hydraulic retarder cannot accurately adjust the proportional valve parameters, resulting in speed reduction fluctuations, lag, deficiency or jerk.

Description

Technical Field

[0001] This invention relates to the field of vehicle technology, and more particularly to a hydraulic retarder torque control method, system, electronic device, medium, and vehicle. Background Technology

[0002] Current hydraulic retarders primarily generate braking torque through fluid viscous resistance. Torque regulation relies on proportional valves to control fluid pressure and flow, and the relationship between the proportional valve and torque is crucial for precise control. Existing methods achieve good control at medium to high speeds, but at low speeds (typically below 500 r / min), the complex internal fluid flow and nonlinear changes in viscosity lead to an unclear quantitative relationship between the proportional valve and torque, making it impossible to precisely adjust the proportional valve parameters. This results in problems such as deceleration fluctuations, lag, insufficient braking, or jerking. Existing solutions do not address this core pain point, have limited control accuracy, and struggle to meet the smooth deceleration requirements of low-speed scenarios. Summary of the Invention

[0003] The purpose of this invention is to provide a torque control method, system, electronic device, medium, and vehicle for a hydraulic retarder. This invention solves the technical defects of existing hydraulic retarders that cannot accurately adjust the proportional valve parameters, leading to deceleration fluctuations, lag, insufficient speed, or jerking. The specific solution is as follows:

[0004] The torque control method for a hydraulic retarder includes the following steps:

[0005] S1: Based on a preset low speed range, collect multiple sets of operating parameters of the hydraulic retarder in steady state; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, proportional valve input current and actual braking torque;

[0006] S2: Based on multiple sets of operating parameters, a torque correlation model is constructed using a preset algorithm;

[0007] S3: Acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber;

[0008] S4: Based on the comparison between the real-time rotor speed and the preset low speed range, the corresponding preset control strategy is triggered to control the hydraulic retarder to output the actual braking torque.

[0009] Optionally, S2 specifically includes:

[0010] The torque correlation model uses rotor speed n, working chamber oil pressure P, and proportional valve input current I as input variables, and actual braking torque M as output variable.

[0011] The torque correlation model is constructed using a nonlinear regression algorithm; the formula is:

[0012] ;

[0013] In the formula, The coefficients are model coefficients, which are obtained by fitting the collected working parameters using the least squares method. During the fitting process, the determination coefficient of the torque correlation model is greater than or equal to the first threshold.

[0014] Optionally, S4 specifically includes:

[0015] If the real-time rotor speed is greater than the upper limit of the preset low speed range, the linear proportional control method is used to adjust the input current of the proportional valve to complete the torque control of the hydraulic retarder.

[0016] If the real-time rotor speed falls within the preset low speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder.

[0017] Optionally, if the real-time rotor speed falls within a preset low-speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder, specifically including:

[0018] If the real-time rotor speed falls into the preset low speed range, the vehicle's braking information is collected; wherein, the braking information includes at least: the gear information of the hydraulic retarder and the pedal opening information;

[0019] Based on the vehicle's braking information, the driver's expected deceleration needs are identified, and the target braking torque corresponding to the real-time rotor speed is determined.

[0020] The real-time rotor speed and real-time oil pressure in the working chamber are input into the torque correlation model. The target input current of the proportional valve corresponding to the target braking torque is obtained by back calculation, and the proportional valve is controlled according to the target input current of the proportional valve.

[0021] Optionally, S4 may further include:

[0022] Collect the actual braking torque of the hydraulic retarder;

[0023] Obtain the torque deviation between the actual braking torque and the target braking torque;

[0024] If the torque deviation is less than the preset deviation threshold, the target input current of the proportional valve remains unchanged.

[0025] If the torque deviation is greater than or equal to the preset deviation threshold, the PID control algorithm is used to dynamically correct the target input current of the proportional valve based on the torque deviation, until the adjustment stops when the torque deviation is less than the preset deviation threshold.

[0026] Optionally, the following steps may also be included:

[0027] Cumulative operating time of the hydraulic retarder;

[0028] When the hydraulic retarder reaches the preset update cycle, it collects operating data in the preset low speed range and refits the torque correlation model to update the model coefficients.

[0029] A hydraulic retarder torque control system, applied to the method described above; the system includes:

[0030] The data acquisition module is configured to acquire multiple sets of operating parameters of the hydraulic retarder in steady state based on a preset low speed range; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, proportional valve input current and actual braking torque;

[0031] The model building module is configured to build a torque correlation model based on multiple sets of working condition parameters and using a preset algorithm;

[0032] The acquisition module is configured to acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber;

[0033] The control module is configured to trigger a corresponding preset control strategy based on the comparison between the real-time rotor speed and the preset low-speed range, thereby controlling the hydraulic retarder to output the actual braking torque.

[0034] An electronic device includes: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method.

[0035] A computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method.

[0036] A vehicle comprising:

[0037] An electronic device for implementing the steps of the method;

[0038] A processor that runs a program, and when the program runs, it executes the steps of the method from data output by the electronic device.

[0039] A storage medium for storing a program that, when run, executes the steps of the method on data output from an electronic device.

[0040] The beneficial effects of this invention are as follows:

[0041] This invention provides a torque control method, system, electronic equipment, and storage medium for a hydraulic retarder. By collecting multiple sets of steady-state complete operating parameters within a preset low-speed range, transient fluctuations are avoided, providing sufficient and effective data for constructing a torque correlation model. Then, a torque correlation model adapted to low-speed scenarios is constructed using these operating parameters, accurately establishing the nonlinear coupling relationship between proportional valve current, rotor speed, oil pressure, and braking torque at low speeds. This solves the problems of fuzzy mapping relationships, oil filling lag, and large torque fluctuations in traditional linear control within the 100-500 r / min range. By collecting two core real-time operating data points—rotor speed and working chamber oil pressure—during driving, complex sensor sampling is eliminated, reducing the data transmission and computational load of the vehicle's electronic control system and enhancing real-time performance. The corresponding control strategy is triggered based on the comparison between the rotor's real-time speed and the preset low-speed range, balancing the efficiency of conventional operating condition control with the accuracy of low-speed torque control. Overall, this improves the technical problems of uneven deceleration and lag in control response in the low-speed range, enhancing the braking control stability and driving comfort of the hydraulic retarder. Attached Figure Description

[0042] Figure 1 This is a schematic flowchart of a hydraulic retarder torque control method according to an embodiment of the present invention;

[0043] Figure 2 This is a schematic flowchart of a hydraulic retarder torque control method according to one embodiment of the present invention. Detailed Implementation

[0044] To make the objectives, technical solutions, and advantages of this invention clearer, the following description will be provided in conjunction with the appendix. Figure 1 and Figure 2 The present invention will be described in further detail below. It is obvious that the described embodiments are merely some, not all, of the embodiments of the present invention. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without inventive effort are within the scope of protection of the present invention.

[0045] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms, and “multiple” generally includes at least two unless the context clearly indicates otherwise.

[0046] It should be understood that the term "and / or" used in this article is merely a description of the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A existing alone, A and B existing simultaneously, and B existing alone. Additionally, the character " / " in this article generally indicates that the preceding and following related objects have an "or" relationship.

[0047] It should be understood that although the terms first, second, third, etc., may be used in the embodiments of the present invention, these descriptions should not be limited to these terms. These terms are only used to distinguish the descriptions. For example, first may also be referred to as second without departing from the scope of the embodiments of the present invention, and similarly, second may also be referred to as first.

[0048] Depending on the context, the words “if” or “suppose” as used here can be interpreted as “when” or “in response to determination” or “in response to detection.” Similarly, depending on the context, the phrases “if determination” or “if detection (of the stated condition or event)” can be interpreted as “when determination” or “in response to determination” or “when detection (of the stated condition or event)” or “in response to detection (of the stated condition or event).”

[0049] It should also be noted that the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that an article or device that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such an article or device. Without further limitation, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the article or device that includes said element.

[0050] It should be noted that any symbols and / or numbers present in the specification that are not marked in the accompanying drawings are not reference numerals.

[0051] To facilitate understanding of the hydraulic retarder torque control method provided by this invention, the hardware system device involved in this invention is described below. The hardware system device includes a hydraulic retarder body, a sensor module, a controller (hydraulic retarder ECU), a proportional valve, and a hydraulic oil source. These components work together to provide hardware support for the execution of the control method. The sensor module includes a speed sensor, a current sensor, a pressure sensor, a torque sensor, and an oil temperature sensor.

[0052] Operating condition classification: The low speed threshold of the hydraulic retarder is set at 500 r / min. This is the clear boundary. This low speed range (100-500 r / min) is the core applicable scenario of this method. It mainly solves the control problem of unclear correlation between proportional valve and torque in this range. The operating condition classification is completed by the controller based on the rotor speed data collected by the speed sensor, so as to realize the automatic identification of the operating condition.

[0053] like Figure 1 The torque control method for the hydraulic retarder shown includes the following steps:

[0054] S1: Based on a preset low speed range, collect multiple sets of operating parameters of the hydraulic retarder in steady state; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, oil temperature, proportional valve input current and actual braking torque;

[0055] S2: Based on multiple sets of operating parameters, a torque correlation model is constructed using a preset algorithm;

[0056] S3: Acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber;

[0057] S4: Based on the comparison between the real-time rotor speed and the preset low speed range, the corresponding preset control strategy is triggered. Using the torque correlation model, the hydraulic retarder is controlled to output the actual braking torque based on the real-time operating data.

[0058] Specifically, this invention avoids transient fluctuations by collecting multiple sets of steady-state complete operating condition parameters within a preset low-speed range, providing sufficient and effective data for the construction of a torque correlation model. Then, it constructs a torque correlation model adapted to low-speed scenarios using these operating condition parameters. This model accurately constructs the nonlinear coupling relationship between proportional valve current, rotor speed, oil pressure, and braking torque at low speeds, solving the problems of fuzzy mapping relationships, oil filling lag, and large torque fluctuations in traditional linear control within the 100-500 r / min range. Furthermore, it collects two core real-time operating parameters during vehicle operation: rotor speed and working chamber oil pressure. Real-time data is collected without the need for complex sensor sampling, reducing the data transmission and computational load of the vehicle's electronic control system and improving real-time performance. The corresponding control strategy is triggered based on the comparison between the rotor's real-time speed and the preset low-speed range. Mature linear proportional control is used at medium and high speeds to ensure system compatibility and operational continuity, while a dedicated torque correlation model is used in the low-speed range to achieve refined nonlinear compensation control. This balances the control efficiency under conventional operating conditions with the torque control accuracy under low-speed conditions, and improves the technical problems of uneven deceleration and lag in control response in the low-speed range, thereby enhancing the braking control stability and ride comfort of the hydraulic retarder.

[0059] It is understood that in this embodiment, when the fluctuation ranges of rotor speed, working chamber oil pressure, braking torque, and oil temperature are all below the corresponding fluctuation thresholds within a continuously preset time period, the current state is determined to be the steady state of the hydraulic retarder, and a set of data sampling is completed. Specifically, for the low-speed range, the controller initiates a dedicated parameter acquisition process, collecting multiple sets of operating parameters under stable working conditions of the retarder through the sensor module to ensure the representativeness and validity of the data. The collected operating parameters specifically include rotor speed, proportional valve input current, working chamber oil pressure, oil temperature, and actual braking torque. Each set of operating parameters corresponds to a stable working state of the hydraulic retarder, avoiding the impact of instantaneous fluctuations on subsequent model construction. The proportional valve drive module controls the proportional valve input current I to increase from the minimum operating current to the maximum operating current (step size 0.1A-0.6A) according to the step size set by the controller, while the rotor speed is adjusted in preset step sizes of 50 r / min, ensuring that the collected data comprehensively covers all typical operating conditions within the low-speed range. The collected data is transmitted to the controller in real time, providing sufficient and effective data support for subsequent model construction.

[0060] In one specific embodiment, S2 specifically includes:

[0061] The torque correlation model uses rotor speed, working chamber oil pressure, and proportional valve input current as input variables, and actual braking torque as output variable.

[0062] The torque correlation model is constructed using a nonlinear regression algorithm; the formula is: ;

[0063] In the formula, The model coefficients are obtained by fitting the collected working parameters using the least squares method. During the fitting process, the determination coefficient of the torque correlation model is greater than or equal to the first threshold.

[0064] Specifically, the torque correlation model constructed in this invention uses rotor speed, working chamber oil pressure, and proportional valve input current as input variables. It can characterize the influence of the coupling effect of multiple physical quantities on braking torque in the low-speed range, and has stronger adaptability compared to linear models using a single or few variables. The torque correlation model is built using a multivariate nonlinear regression formula, which can accurately restore the nonlinear torque change law caused by oil viscosity and oil filling lag under low-speed conditions, overcoming the defect of large mapping deviation of traditional linear models in the low-speed range. The model coefficients are uniformly fitted and solved by the least squares method to the measured steady-state parameters. The fitting process forces the determination coefficient to be greater than the first threshold to ensure the fitting accuracy of the torque joint model and filter out distorted fitting results with large deviations. This makes the output torque of the torque joint model highly consistent with the actual braking torque, providing a high-precision mathematical carrier for the accurate back-calculation of the proportional valve current at low speeds during subsequent driving, thereby reducing the problems of low-speed torque fluctuation and control lag, and improving the smoothness and control accuracy of the hydraulic retarder's low-speed braking adjustment.

[0065] For example, the proportional valve input current I, rotor speed n, and working chamber oil pressure P are used as model input features, and the actual braking torque M is used as model output features to clarify the input-output correspondence of the model. The controller uses a multivariate nonlinear regression algorithm to construct a torque correlation model specific to the low-speed range. This model uses the proportional valve input current, rotor speed, and working chamber oil pressure as input variables and the actual braking torque as the output variable. Its specific expression is as follows: ;

[0066] In the formula, The model coefficients are obtained by the controller through least squares fitting of the collected operating data. During the fitting process, the controller strictly controls the model's coefficient of determination to be ≥0.95 to ensure that the model can accurately reflect the correlation between input and output characteristics. At the same time, it fully considers the comprehensive influence of proportional valve input current, rotor speed, and working chamber pressure on braking torque at low speeds, and realizes the quantitative correlation between proportional valve control parameters and torque.

[0067] In one specific embodiment, see [reference] Figure 2 As shown, S4 specifically includes:

[0068] If the real-time rotor speed is greater than the upper limit of the preset low speed range, the linear proportional control method is used to adjust the input current of the proportional valve to complete the torque control of the hydraulic retarder.

[0069] If the real-time rotor speed falls within the preset low speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder.

[0070] Specifically, this invention employs a reliable linear proportional control method directly under high-speed conditions. This method is simple to operate, has a fast response speed, and requires no complex model calculations, ensuring simple and efficient control under normal driving conditions and good compatibility with the original vehicle control system. When the rotor's real-time speed enters the low-speed range where nonlinear characteristics are significant, a dynamic control algorithm is used. The high-precision nonlinear torque correlation model mentioned above is used to accurately solve the target input current of the proportional valve, thereby specifically compensating for the torque nonlinearity deviation caused by oil viscosity and oil filling lag at low speeds. This solves the problems of inaccurate torque prediction, deceleration jerking, and response lag in the low-speed range with single linear control.

[0071] In one specific embodiment, if the real-time rotor speed falls within a preset low-speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder, specifically including:

[0072] If the real-time rotor speed falls into the preset low speed range, the vehicle's braking information is collected; wherein, the braking information includes at least: the gear information of the hydraulic retarder and the pedal opening information;

[0073] Based on the vehicle's braking information, the driver's expected deceleration needs are identified, and the target braking torque corresponding to the real-time rotor speed is determined.

[0074] The real-time rotor speed and real-time oil pressure in the working chamber are input into the torque correlation model. The target input current of the proportional valve corresponding to the target braking torque is obtained by back calculation, and the proportional valve is controlled according to the target input current of the proportional valve.

[0075] It is understandable that when the rotor's real-time speed is in the low-speed range, the driver's true deceleration intention can be accurately identified by collecting two types of braking information: the retarder gear position and the brake pedal opening. This allows for matching the target braking torque to different deceleration intensity requirements, avoiding a disconnect between torque output and the driver's operating intention. Furthermore, the real-time rotor speed and the real-time oil pressure in the working chamber are input into a pre-constructed high-precision torque correlation model for inverse solving to obtain the target input current of the proportional valve. By using a regression model that can characterize low-speed nonlinear characteristics, the defects of torque mapping distortion and oil filling lag in traditional linear control at low speeds are avoided, achieving accurate conversion from target torque to drive current. The advantage of this design is that this invention uses a nonlinear model as the calculation carrier to achieve directional and precise control of the hydraulic retarder's braking torque at low speeds, effectively improving the phenomenon of low-speed braking jerking and fluctuating deceleration force, and enhancing the smoothness of braking when driving downhill.

[0076] For example: During vehicle operation, the sensor module collects the real-time rotor speed n of the hydraulic retarder. oThe controller monitors the real-time oil pressure in the working chamber and transmits the data to the controller in real time. The controller first identifies the operating condition in real time and determines whether the current real-time speed is within the preset low-speed range. If n0 is in a medium-to-high speed operating condition, the controller directly outputs control commands to the proportional valve drive module and uses existing conventional control methods (such as linear proportional control) to adjust the proportional valve input current to achieve conventional torque control, ensuring the continuity and compatibility of control. If n0 is in the low-speed range, the controller obtains the driver's expected deceleration demand through the vehicle braking signal and determines the corresponding target braking torque. The controller then substitutes the currently collected rotor real-time speed and working chamber oil real-time pressure P0 into the constructed torque correlation model to back-calculate the target input current of the proportional valve required to achieve the target braking torque. Subsequently, the controller outputs control commands to the proportional valve drive module to control the proportional valve to output the corresponding current.

[0077] In one specific embodiment, S4 further includes:

[0078] Collect the actual braking torque of the hydraulic retarder;

[0079] Obtain the torque deviation between the actual braking torque and the target braking torque;

[0080] If the torque deviation is less than the preset deviation threshold, the target input current of the proportional valve remains unchanged.

[0081] If the torque deviation is greater than or equal to the preset deviation threshold, the PID control algorithm is used to dynamically correct the target input current of the proportional valve based on the torque deviation, and the adjustment is stopped when the torque deviation is less than the preset deviation threshold.

[0082] Specifically, this invention obtains the torque deviation by collecting the actual braking torque output by the hydraulic retarder and subtracting it from the target braking torque. A preset deviation threshold is used to determine steady-state operating conditions and deviation exceeding the threshold. When the torque deviation is less than the preset threshold, the current drive current remains unchanged, reducing unnecessary repetitive calculations by the controller and lowering the load on the electronic control system. When the torque deviation exceeds the preset threshold, a PID control algorithm dynamically corrects the target input current of the proportional valve based on the torque deviation and continuously iterates until the torque deviation falls within the allowable range. The advantage of this design is that it effectively offsets torque output errors caused by various operating condition disturbances such as oil temperature changes, component wear, and oil pressure fluctuations. It compensates for minor deviations in the static fitting of the torque correlation model, forming a composite control architecture that combines pre-judgment of the torque correlation model with PID correction. This improves the overall steady-state control accuracy of braking torque in the low-speed range, reduces torque output fluctuations, and makes the deceleration force of the hydraulic retarder stable and controllable, improving the driving comfort and braking control reliability of the vehicle when driving downhill.

[0083] For example: The actual braking torque M0 is collected in real time by a torque sensor and transmitted to the controller. The controller then calculates the torque deviation between the actual torque and the target torque. And dynamically adjust according to the magnitude of torque deviation: If If the deviation is less than or equal to the preset threshold, the controller maintains the current proportional valve input current unchanged; if... >Preset deviation threshold, controller based on deviation The PID control algorithm is adopted to output correction commands to the proportional valve drive module, which dynamically corrects the target input current of the proportional valve and continuously adjusts it until the torque deviation between the actual braking torque and the target braking torque meets the preset requirements. This ensures that the deceleration process is smooth and accurate at low speeds and avoids problems such as insufficient deceleration, excessive jerking, or lag in response.

[0084] In one specific embodiment, the present invention further includes the following steps:

[0085] Cumulative operating time of the hydraulic retarder;

[0086] When the hydraulic retarder reaches the preset update cycle, it collects operating data in the preset low speed range and refits the torque correlation model to update the model coefficients.

[0087] It is understood that this invention accumulates the working time of the hydraulic retarder in real time. After the accumulated time reaches the preset update cycle, it automatically collects low-speed range operating data and refits and updates the torque correlation model coefficients. The advantage of this design is that it can adaptively compensate for the torque nonlinearity drift caused by factors such as seal aging, oil performance degradation, and valve body wear after long-term use of the hydraulic retarder. It eliminates the need for manual on-site calibration, greatly reducing later operating costs. By periodically iteratively updating the model coefficients, it can maintain the fitting accuracy of the torque correlation model for a long time, avoiding the situation where the low-speed torque prediction deviation gradually increases and the deceleration jerking intensifies as the equipment ages. This continuously ensures the accuracy and smoothness of the hydraulic retarder torque control in the low-speed range and effectively extends the reliable working cycle of the control algorithm.

[0088] For example, considering that hydraulic retarders may experience mechanical wear and oil aging during long-term use, leading to changes in their operating characteristics and affecting the accuracy of the torque correlation model, the controller incorporates a built-in adaptive model update logic. The controller records the retarder's operating time, and when a preset update cycle (e.g., every 100 hours) is reached, it automatically initiates a new operating condition data acquisition process. This involves collecting new operating condition data within the low-speed range using sensor modules, and then refitting the existing torque correlation model using the newly acquired valid data. This updates the model coefficients, ensuring that the model consistently and accurately matches the retarder's actual operating state, maintaining long-term control accuracy stability without frequent manual calibration, thus further improving the practicality and reliability of this method.

[0089] On the other hand, the present invention provides a hydraulic retarder torque control system applied to the method described therein; the system includes:

[0090] The data acquisition module is configured to acquire multiple sets of operating parameters of the hydraulic retarder in steady state based on a preset low-speed range; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, proportional valve input current and actual braking torque;

[0091] The model building module is configured to build a torque correlation model based on multiple sets of working condition parameters and using a preset algorithm;

[0092] The acquisition module is configured to acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber;

[0093] The control module is configured to trigger a corresponding preset control strategy based on the comparison between the real-time rotor speed and the preset low-speed range, thereby controlling the hydraulic retarder to output the actual braking torque.

[0094] On the other hand, the present invention provides an electronic device, comprising: a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other through the communication bus; characterized in that the memory stores a computer program, and when the computer program is executed by the processor, the processor performs the steps of the method described therein.

[0095] On the other hand, the present invention provides a computer-readable storage medium storing a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method.

[0096] On the other hand, the present invention provides a vehicle comprising:

[0097] An electronic device for implementing the steps of the method;

[0098] A processor that runs a program, and when the program runs, it executes the steps of the method from data output by the electronic device.

[0099] A storage medium for storing a program that, when run, executes the steps of the method on data output from an electronic device.

[0100] The embodiments described above are merely illustrative of several implementations of the present invention, and while the descriptions are specific and detailed, they should not be construed as limiting the scope of the present invention. It should be noted that those skilled in the art can make various modifications and improvements without departing from the concept of the present invention, and these modifications and improvements all fall within the scope of protection of the present invention. Therefore, the scope of protection of the present invention should be determined by the appended claims.

Claims

1. A torque control method for a hydraulic retarder, characterized in that, Includes the following steps: S1: Based on a preset low speed range, collect multiple sets of operating parameters of the hydraulic retarder in steady state; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, proportional valve input current and actual braking torque; S2: Based on multiple sets of operating parameters, a torque correlation model is constructed using a preset algorithm; S3: Acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber; S4: Based on the comparison between the real-time rotor speed and the preset low speed range, the corresponding preset control strategy is triggered. Using the torque correlation model, the hydraulic retarder is controlled to output the actual braking torque based on the real-time operating data.

2. The torque control method for a hydraulic retarder according to claim 1, characterized in that, S2 includes: The torque correlation model is constructed by taking the rotor speed n, the working chamber oil pressure P, and the proportional valve input current I as input variables, and the actual braking torque M as output variable. The torque correlation model is constructed using a nonlinear regression algorithm; the formula is: ； In the formula, The model coefficients are obtained by fitting the collected working parameters using the least squares method. During the fitting process, the determination coefficient of the torque correlation model is greater than or equal to the first threshold.

3. The torque control method for a hydraulic retarder according to claim 2, characterized in that, S4 includes: If the real-time rotor speed is greater than the upper limit of the preset low speed range, the linear proportional control method is used to adjust the input current of the proportional valve to complete the torque control of the hydraulic retarder. If the real-time rotor speed falls within the preset low speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder.

4. The torque control method for a hydraulic retarder according to claim 3, characterized in that, If the real-time rotor speed falls within the preset low-speed range, a dynamic control algorithm is used to calculate the target input current of the proportional valve to complete the torque control of the hydraulic retarder, specifically including: If the real-time rotor speed falls into the preset low speed range, the vehicle's braking information is collected; wherein, the braking information includes at least: the gear information of the hydraulic retarder and the pedal opening information; Based on the vehicle's braking information, the driver's expected deceleration needs are identified, and the target braking torque corresponding to the real-time rotor speed is determined. The real-time rotor speed and real-time oil pressure in the working chamber are input into the torque correlation model. The target input current of the proportional valve corresponding to the target braking torque is obtained by back calculation, and the proportional valve is controlled according to the target input current of the proportional valve.

5. The torque control method for a hydraulic retarder according to claim 4, characterized in that, S4 further includes: Collect the actual braking torque of the hydraulic retarder; Obtain the torque deviation between the actual braking torque and the target braking torque; If the torque deviation is less than the preset deviation threshold, the target input current of the proportional valve remains unchanged. If the torque deviation is greater than or equal to the preset deviation threshold, the PID control algorithm is used to dynamically correct the target input current of the proportional valve based on the torque deviation, until the adjustment stops when the torque deviation is less than the preset deviation threshold.

6. The torque control method for a hydraulic retarder according to any one of claims 1-5, characterized in that, It also includes the following steps: Cumulative operating time of the hydraulic retarder; When the hydraulic retarder reaches the preset update cycle, it collects operating data in the preset low speed range and refits the torque correlation model to update the model coefficients.

7. A torque control system for a hydraulic retarder, characterized in that, The system is applied to the method according to any one of claims 1-6; the system comprises: The data acquisition module is configured to acquire multiple sets of operating parameters of the hydraulic retarder in steady state based on a preset low-speed range; wherein, the operating parameters include at least: rotor speed, working chamber oil pressure, proportional valve input current and actual braking torque; The model building module is configured to build a torque correlation model based on multiple sets of working condition parameters and using a preset algorithm; The acquisition module is configured to acquire real-time operating data of the hydraulic retarder during operation; wherein, the real-time operating data includes at least: real-time rotor speed and real-time oil pressure in the working chamber; The control module is configured to trigger a corresponding preset control strategy based on the comparison between the real-time rotor speed and the preset low-speed range, thereby controlling the hydraulic retarder to output the actual braking torque.

8. An electronic device, comprising: The system comprises a processor, a communication interface, a memory, and a communication bus, wherein the processor, the communication interface, and the memory communicate with each other via the communication bus; characterized in that the memory stores a computer program, which, when executed by the processor, causes the processor to perform the steps of the method described in any one of claims 1-6.

9. A computer-readable storage medium, characterized in that, The device stores a computer program executable by an electronic device, which, when run on the electronic device, causes the electronic device to perform the steps of the method as described in any one of claims 1 to 6.

10. A vehicle, characterized in that, include: An electronic device for implementing the steps of the method as described in any one of claims 1 to 6; A processor that runs a program that, when the program is running, performs the steps of the method as described in any one of claims 1 to 6 from data output by the electronic device. A storage medium for storing a program that, when run, performs the steps of the method as described in any one of claims 1 to 6 on data output from an electronic device.

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