A motor torque zero-crossing control method and device and storage medium

Abstract

The application relates to the technical field of motor control, in particular to a motor torque zero-crossing control method, equipment and a storage medium. The method comprises the following steps: acquiring a torque value of a motor in real time; if it is determined according to the torque value that the motor enters a torque zero-crossing interval from a non-torque zero-crossing interval, then the active damping control function of the motor is closed. When the motor enters the torque zero-crossing interval, the active damping control function of the motor is closed, the followability of the actual torque of the motor to the command torque in the torque zero-crossing stage is ensured, the demand for accurate torque control in the stage is met, the whole vehicle impact in the torque zero-crossing interval is optimized, the knocking NVH problem in the torque zero-crossing interval is improved, and the driving comfort of the vehicle is improved.

Description

Technical Field

[0001] This application relates to the field of motor control technology, and more specifically, to a control method, device, and storage medium for torque zero crossing. Background Technology

[0002] During the operation of new energy vehicles, the motor torque will cross zero when it transitions from positive torque to negative torque or from negative torque to positive torque, or when the torque direction changes during the start-up, mode switching, or shutdown of the range extender generator.

[0003] When the torque crosses zero, the pair of gears transmitting torque will cross the gap between the gear teeth, causing a change in the force-bearing tooth surface. If the motor torque rises or falls too quickly during this transition, the tooth surface will quickly cross the gap and collide, resulting in tooth knocking NVH (Noise, Vibration, Harshness) problems, accompanied by a sense of impact throughout the vehicle.

[0004] In view of the above, this application is hereby submitted. Summary of the Invention

[0005] The purpose of this application is to provide a control method, device and storage medium for motor torque zero crossing, so as to solve the tooth knocking NVH problem and vehicle impact problem during torque zero crossing.

[0006] To achieve the above objectives, this application adopts the following technical solution: Firstly, this application provides a method for controlling the zero-torque crossing of a motor, including: Real-time acquisition of motor torque value; If the motor is determined to have entered the torque zero-crossing range from a non-torque zero-crossing range based on the torque value, then the active damping control function of the motor is turned off.

[0007] Secondly, this application provides a control device for motor torque zero crossing, comprising: The acquisition module is used to acquire the torque value of the motor in real time; The control module is configured to disable the active damping control function of the motor if it is determined, based on the torque value, that the motor has entered the torque zero-crossing range from a non-torque zero-crossing range.

[0008] Thirdly, this application provides an electronic device, comprising: At least one processor, and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable the at least one of the processors to perform the above-described motor torque zero-crossing control method.

[0009] Fourthly, this application provides a computer-readable storage medium storing computer instructions for causing the computer to execute the above-described motor torque zero-crossing control method.

[0010] Compared with the prior art, the beneficial effects of this application are as follows: This application disables the motor's active damping control function when the motor is detected to have entered the torque zero-crossing range, ensuring that the actual torque of the motor follows the command torque during the torque zero-crossing phase, thus meeting the requirements for precise torque control during this phase; it also optimizes the vehicle impact during the torque zero-crossing range, improves the tooth knocking NVH problem during the torque zero-crossing range, and enhances the vehicle's driving comfort. Attached Figure Description

[0011] To more clearly illustrate the technical solutions in the specific embodiments of this application or the prior art, the drawings used in the description of the specific embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of this application. For those skilled in the art, other drawings can be obtained from these drawings without creative effort.

[0012] Figure 1 This is a schematic diagram of motor torque under active damping control in the prior art; Figure 2 This is a flowchart illustrating a method for controlling the zero-crossing of motor torque provided in an embodiment of this application; Figure 3 This is a schematic diagram of the torque zero-crossing range provided in an embodiment of this application; Figure 4 This is a flowchart illustrating another method for controlling the zero-crossing of motor torque provided in an embodiment of this application; Figure 5 This is a flowchart illustrating another method for controlling the zero-crossing of motor torque provided in an embodiment of this application; Figure 6 This is a schematic diagram of the structure of a motor torque zero-crossing control device provided in an embodiment of this application; Figure 7 This is a schematic diagram of the structure of the electronic device provided in the embodiments of this application. Detailed Implementation

[0013] The following description, in conjunction with the accompanying drawings, illustrates exemplary embodiments of this application, including various details to aid understanding. These should be considered merely exemplary. Therefore, those skilled in the art will recognize that various changes and modifications can be made to the embodiments described herein without departing from the scope and spirit of this application. Similarly, for clarity and brevity, descriptions of well-known functions and structures are omitted in the following description.

[0014] The motor provided in this application is used in motor-driven vehicles and is suitable for situations where motor torque is controlled. To facilitate the introduction of the solution provided in this application, the active damping control function commonly used in motor control in the prior art is first introduced.

[0015] Figure 1 This diagram illustrates motor torque under active damping control in existing technology. The horizontal axis represents time, and the vertical axis represents torque. The red line represents the motor speed over time, showing a slow increase in motor speed. The pink line represents the active damping compensation torque over time, and the blue line represents the vehicle acceleration over time. The two green lines represent the command torque and actual torque over time, respectively. During the transition from negative to positive torque (e.g., when the accelerator pedal is depressed), the motor teeth commutate, resulting in a slow increase in motor speed. When active damping control is enabled, it compensates for the actual motor torque, generating active damping compensation torque. Under this compensation, the actual motor torque does not follow the slow increase of the command torque; instead, it rapidly transitions to the command torque after the motor speed stabilizes, causing a noticeable change in vehicle acceleration, a significant impact, and in severe cases, a knocking sound. Conversely, during the transition from positive to negative torque (e.g., when the accelerator pedal is released), the motor teeth also commutate. When the active damping control function is enabled, the function compensates for the actual torque of the motor, causing the motor speed to quickly transition to the command torque after stabilizing, resulting in a noticeable impact and knocking sound in the vehicle.

[0016] In view of the aforementioned technical problems, embodiments of this application provide a control method for motor torque crossing zero, which is executed by a motor torque crossing zero control device. This device can be composed of hardware and / or software and integrated into an electronic device.

[0017] See Figure 2 The method provided in this embodiment specifically includes the following operations: S110: Real-time acquisition of motor torque value.

[0018] S120. If the motor is determined to enter the torque zero-crossing range from the non-torque zero-crossing range based on the torque value, then the active damping control function of the motor is turned off.

[0019] At S110, depending on the sensors configured on the vehicle, different methods can be used to acquire the motor torque value in real time. Here are some optional methods: 1) Use a torque sensor to collect the motor torque.

[0020] A torque sensor is a device that can directly measure the output torque of a motor. By mounting a torque sensor on the motor shaft, the motor's torque value can be obtained in real time. This method is accurate and reliable, directly reflecting the actual torque output of the motor. Torque sensors are characterized by high sensitivity and high resolution, enabling them to accurately capture changes in the motor's torque.

[0021] 2) Use a rotary encoder to collect the motor torque.

[0022] Rotary encoders are typically mounted on the output shaft of a motor. By measuring the motor's angular velocity or linear velocity, the motor's torque can be indirectly calculated. This method is suitable for high-precision torque measurement applications. In practical applications, it is necessary to combine the motor's characteristic curves and corresponding algorithms to convert the rotary encoder's measurement data into torque values.

[0023] 3) Use the motor torque monitoring function to collect the motor torque.

[0024] Some motor drivers have built-in functions for real-time monitoring of motor torque. For example, users can enable torque monitoring by setting parameters and view the motor torque in real time on the control interface.

[0025] 4) The motor torque is acquired through a PLC (Programmable Logic Controller).

[0026] A torque sensor is connected between the motor and the load. The torque sensor converts the obtained torque into a current or voltage signal. This current or voltage signal can be output to a PLC device for signal processing, thereby realizing real-time torque acquisition.

[0027] 5) The torque of the motor is indirectly obtained using the current method.

[0028] The current method is an indirect way to measure motor torque. It involves measuring the stator current of the motor and calculating the output torque based on a motor model. This method does not require additional sensors, but its accuracy can be affected by the complexity of the motor model and the accuracy of the current measurement. Therefore, when using the current method for torque measurement, it is necessary to ensure the accuracy of both the motor model and the current measurement.

[0029] In summary, there are multiple methods available for acquiring real-time motor torque. The specific method chosen depends on factors such as the type of motor, the required measurement accuracy, and the application scenario. In practical applications, it is necessary to select the most suitable torque measurement method based on the specific circumstances and ensure the accuracy and reliability of the measurement results.

[0030] At S120, the torque zero-crossing range refers to the range of torque change from positive to negative or from negative to positive. For example, the torque zero-crossing range is -20 Nm to 20 Nm, or -5 Nm to 5 Nm. This embodiment pre-determines the motor's torque zero-crossing range, without limiting the specific determination method. The non-torque zero-crossing range is the range outside the initial torque zero-crossing range.

[0031] The real-time collected torque value is compared with the torque zero-crossing interval. If the torque value enters the torque zero-crossing interval, the motor's active damping control function is turned off. This embodiment does not limit the method of turning off the active damping control function. In some embodiments, if it is determined that the motor is in the torque zero-crossing interval based on the torque value, a shutdown signal is sent to the motor controller to turn off the motor's active damping control function; that is, the motor's active damping control function is turned off within the motor's torque zero-crossing interval. When the motor's active damping control function is turned off, the motor may not generate active damping compensation torque, i.e., the active damping compensation torque value is 0. If it is determined that the motor exits the torque zero-crossing interval based on the torque value, i.e., enters a non-torque zero-crossing interval from the torque zero-crossing interval, for example, exceeding 20 Nm, an activation signal is sent to the motor controller to activate the motor's active damping control function. This active damping control function calculates the active damping compensation torque and applies it to the motor.

[0032] Figure 3 This is a schematic diagram of the torque zero-crossing range provided in this application embodiment. The torque zero-crossing range is the area marked by the box, and the rest are non-torque zero-crossing ranges. By disabling the active damping control function in the torque zero-crossing range, the adjusted compensation torque is maintained at 0, instead of using the original compensation torque. This ensures the following of the actual motor torque to the command torque during the torque zero-crossing stage, meeting the requirement for precise torque control in this stage; it also optimizes the vehicle impact in the torque zero-crossing range, improves the tooth knocking NVH problem in the torque zero-crossing range, and enhances the vehicle's driving comfort.

[0033] In some cases, if the active damping compensation torque is set to 0 immediately upon the motor entering the torque zero-crossing range, the actual torque of the motor will change abruptly, which is detrimental to the driving stability of the vehicle. Therefore, this embodiment optimizes the above embodiment by gradually reducing the active damping compensation torque to 0 during the entry phase of the torque zero-crossing range. Figure 4This is a flowchart illustrating another method for controlling the zero-crossing of motor torque provided in an embodiment of this application, including the following operations: S210: Real-time acquisition of motor torque value.

[0034] This operation is described in S110 and will not be repeated in this embodiment.

[0035] S220. If the motor is determined to be in the entry stage of the torque zero-crossing range based on the torque value, the active damping compensation torque of the motor is gradually reduced to 0.

[0036] Starting from the first critical point where the torque value transitions from the non-torque zero-crossing range to the torque zero-crossing range, the first set time period t1 is defined as the entry stage of the torque zero-crossing range. Assuming the active damping compensation torque value at the first critical point is 'a', where 'a' is not equal to 0, the active damping compensation torque 'a' needs to be gradually reduced to 0 at the end of the first set time period t1 to achieve a smooth transition of the motor's actual torque. This embodiment does not limit the decreasing trend or magnitude of the active damping compensation torque.

[0037] Optionally, if the motor is determined to be in the zero-torque range entry stage based on the torque value, the active damping compensation torque of the motor is reduced to 0 according to a first slope, that is, the active damping compensation torque is controlled to decrease to 0 at a constant speed. The first slope and the first set duration are obtained by calibrating the motor quality during the entry stage. In one example, the motor noise is used as the calibration indicator. Multiple selectable first slopes and multiple selectable first set durations are preset. The first slopes and first set durations are combined in pairs to obtain multiple combinations. A zero-torque test is performed on each combination, i.e., the vehicle is manipulated to bring the motor into the zero-torque range, and the noise emitted by the motor is collected during the test. The combination with the lowest noise is selected as the calibrated first slope and first set duration.

[0038] S230. When the active damping compensation torque drops to 0, the active damping control function of the motor is turned off.

[0039] At the end of the entry phase into the torque zero-crossing range, the active damping compensation torque drops to 0. At this point, the motor's active damping control function is turned off, maintaining the active damping compensation torque at 0. Alternatively, the active damping compensation torque function can be directly turned off when entering the torque zero-crossing range from a non-torque zero-crossing range.

[0040] This embodiment controls the active damping compensation torque to decrease to 0 according to the first slope, ensuring the stability of the motor's active torque and further achieving driving stability.

[0041] In some cases, if the active damping compensation torque is directly restored from 0 to the target torque as soon as the motor exits the torque zero-crossing range (i.e., from the torque zero-crossing range to the non-torque zero-crossing range), the actual torque of the motor will change abruptly, which is not conducive to the driving stability of the whole vehicle.

[0042] The target torque is determined jointly by the active damping compensation algorithm and the motor's operating conditions. The active damping compensation algorithm aims to improve the motor's stability and performance by detecting motor vibrations or speed fluctuations and generating corresponding compensation torques to counteract these fluctuations. This algorithm is typically designed based on the motor's dynamic model and control strategy. For example, sensors (such as accelerometers and speed sensors) are used to collect the motor's vibration or speed signals. The collected signals are preprocessed, such as through filtering and noise reduction. Feature extraction is performed on the preprocessed signals, such as extracting vibration frequency and amplitude. Filters (such as Butterworth high-pass filters) are used to extract speed fluctuation information. Based on the extracted feature information and motor parameters, algorithms (such as state-space equations and transfer functions) are used to calculate the required compensation torque (i.e., the target compensation torque). In practical applications, it may be necessary to determine the optimal target compensation torque through experiments or simulations. The calculated target torque is then output to the motor's control system to generate the corresponding compensation torque.

[0043] This embodiment is an optimization based on the above embodiment. If it is determined from the torque value that the motor has entered the non-torque zero-crossing range from the torque zero-crossing range, a start signal is sent to the motor controller to start the active damping control function of the motor and control the motor by using the active damping compensation torque.

[0044] Optionally, during the exit phase of the torque zero-crossing range, the active damping compensation torque is controlled to gradually increase from 0 to the target compensation torque. Figure 5 This is a flowchart illustrating another method for controlling the zero-crossing of motor torque provided in this application, including the following operations: S310: Real-time acquisition of motor torque value.

[0045] This operation is described in S110 and will not be repeated in this embodiment.

[0046] S320. If the motor is determined to be in the exit phase of the torque zero-crossing range based on the torque value, a start signal is sent to the motor controller, and the active damping compensation torque of the motor is gradually increased from 0 to the target compensation torque.

[0047] Starting from the second critical point where the torque value transitions from the zero-crossing torque range to the non-zero-crossing torque range, the second set time period t2 is defined as the exit phase of the zero-crossing torque range. If, based on the torque value, it is determined that the motor has entered the non-zero-crossing torque range (i.e., entered the exit phase), a start signal is sent to the motor controller to activate the motor's active damping control function. Assuming the active damping compensation torque value is 0 at the second critical point, the active damping compensation torque needs to be gradually increased from 0 to the target compensation torque by the end of the second set time period t2 to achieve a smooth transition of the motor's actual torque. This embodiment does not limit the upward trend or the magnitude of the active damping compensation torque.

[0048] Optionally, if the motor is determined to be in the exit phase of the torque zero-crossing range based on the torque value, the motor's active damping compensation torque is increased to the target compensation torque according to the second slope; that is, the active damping compensation torque is controlled to increase to the target compensation torque at a constant speed. The second slope and the second set duration are obtained by calibrating the motor quality during the exit phase. In one example, motor noise is used as the calibration indicator. Multiple selectable second slopes and multiple selectable second set durations are preset. The second slopes and second set durations are combined in pairs to obtain multiple combinations. A torque zero-crossing test is performed for each combination, i.e., the vehicle is manipulated to make the motor exit the torque zero-crossing range, and the noise emitted by the motor is collected during the test. The combination with the lowest noise is selected as the calibrated second slope and second set duration.

[0049] After reaching the target compensation torque, the motor controller continues to update the target compensation torque according to the active damping compensation algorithm and the motor operating conditions, and also updates the actual motor torque.

[0050] This embodiment controls the active damping compensation torque to rise to the target compensation torque according to the second slope, ensuring the smoothness of the motor's active torque and further achieving driving smoothness.

[0051] This embodiment, based on the above embodiments, defines a method for determining the torque zero-crossing range. Optionally, the operating conditions of the motor, the temperature range, and the vehicle speed range are obtained; the torque zero-crossing range is determined based on the motor's operating conditions, the temperature range, and the vehicle speed range.

[0052] Selecting the torque zero-crossing range is a process that comprehensively considers multiple factors. In practical applications, dynamic adjustments and optimizations are needed based on the motor's operating conditions, the temperature range, and the vehicle speed range to achieve the best control effect within the torque zero-crossing range.

[0053] The operating conditions of the motor, including load size and working environment, directly affect its torque output. Higher motor temperatures can easily damage internal electrical components, potentially reducing torque output and making the torque zero-crossing range more complex. Changes in vehicle speed also directly impact torque output. During vehicle operation, increases or decreases in speed will alter the motor load, thus affecting torque output. Therefore, it is necessary to consider the influence of vehicle speed on the motor's torque zero-crossing range.

[0054] In one specific implementation, multiple operating conditions, temperature ranges, and vehicle speed ranges are set in the experiment or simulation. By adjusting the torque zero-crossing range under each set of parameters, the motor torque is smoothly controlled. For example, under a certain operating condition, temperature range, and vehicle speed range, the torque zero-crossing range is adjusted to between -5 N·m and 5 N·m. Within this range, the rate of torque change is effectively controlled to ensure smooth torque commutation.

[0055] See Figure 6 This application provides a control device for motor torque crossing zero, including an acquisition module and a control module.

[0056] The acquisition module is used to acquire the torque value of the motor in real time; the control module is used to disable the active damping control function of the motor if it is determined from the torque value that the motor has entered the torque zero-crossing range from the non-torque zero-crossing range.

[0057] Optionally, the control module includes a descent unit and a shutdown unit.

[0058] A descent unit is used to gradually reduce the active damping compensation torque of the motor to 0 if it is determined from the torque value that the motor is in the entry stage of the torque zero-crossing range; a shut-off unit is used to shut off the active damping control function of the motor when the active damping compensation torque drops to 0; wherein, the entry stage of the torque zero-crossing range is defined as the period from the first critical point when the torque value changes from the non-torque zero-crossing range to the torque zero-crossing range.

[0059] Optionally, the descent unit is specifically used to reduce the active damping compensation torque of the motor to 0 according to a first slope if it is determined from the torque value that the motor is in the entry stage of the torque zero-crossing range; wherein, the first slope and the first set duration are obtained by calibrating the quality of the motor in the entry stage.

[0060] Optionally, the device further includes a start module for sending a start signal to the motor controller to activate the active damping control function of the motor if it is determined from the torque value that the motor has entered a non-torque zero-crossing range from the torque zero-crossing range.

[0061] Optionally, the starting module is specifically used to send a starting signal to the motor controller if it is determined from the torque value that the motor is in the exit phase of the torque zero-crossing interval, and to gradually increase the active damping compensation torque of the motor from 0 to the target compensation torque; wherein, the exit phase of the torque zero-crossing interval is defined as the period from the second critical point where the torque value changes from the torque zero-crossing interval to the non-torque zero-crossing interval.

[0062] Optionally, when the starting module gradually increases the active damping compensation torque of the motor from 0 to the target compensation torque, it is specifically used to: increase the active damping compensation torque of the motor to the target compensation torque according to a second slope; wherein, the second slope and the second set duration are obtained by calibrating the quality of the motor entering the stage.

[0063] Optionally, the device also includes a determining module for acquiring the operating conditions of the motor, the temperature range, and the vehicle speed range; and determining the torque zero-crossing range based on the operating conditions of the motor, the temperature range, and the vehicle speed range.

[0064] like Figure 7 As shown, this embodiment provides an electronic device, including: At least one processor; and A memory communicatively connected to at least one of the processors; wherein, The memory stores instructions executable by at least one of the processors, which enable the processor to perform the described-described motor torque zero-crossing control method. Since at least one processor in this electronic device can execute the described method, it possesses at least the same advantages as the described method.

[0065] Optionally, the electronic device also includes interfaces for connecting the various components, including high-speed interfaces and low-speed interfaces. The components are interconnected using different buses and can be mounted on a common motherboard or otherwise installed as needed. The processor can process instructions executed within the electronic device, including instructions stored in or on memory to display graphical information of a GUI (Graphical User Interface) on an external input / output device (such as a display device coupled to the interface). In other embodiments, multiple processors can be used with multiple memories, and / or multiple buses can be used with multiple memories, if desired. Similarly, multiple electronic devices (e.g., as a server array, a group of blade servers, or a multiprocessor system) can be connected, each providing some of the necessary operations. Figure 7 Take processor 301 as an example.

[0066] The memory 302, as a computer-readable storage medium, can be used to store software programs, computer-executable programs, and modules, such as the program instructions / modules corresponding to the motor torque zero-crossing control method in this embodiment. The processor 301 executes various functional applications and data processing of the device by running the software programs, instructions, and modules stored in the memory 302, thereby realizing the aforementioned motor torque zero-crossing control method.

[0067] The memory 302 may primarily include a program storage area and a data storage area. The program storage area may store the operating system and applications required for at least one function; the data storage area may store data created based on terminal usage. Furthermore, the memory 302 may include high-speed random access memory and non-volatile memory, such as at least one disk storage device, flash memory device, or other non-volatile solid-state storage device. In some instances, the memory 302 may further include memory remotely located relative to the processor 301, which can be connected to the device 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.

[0068] The electronic device may further include an input device 303 and an output device 304. The processor 301, memory 302, input device 303, and output device 304 can be connected via a bus or other means. Figure 7 Taking the example of a connection between China and Israel via a bus.

[0069] Input device 303 can receive input digital or character information, and output device 304 may include a display device, an auxiliary lighting device (e.g., an LED), and a haptic feedback device (e.g., a vibration motor). The display device may include, but is not limited to, a liquid crystal display (LCD), a light-emitting diode (LED) display, and a plasma display. In some embodiments, the display device may be a touchscreen.

[0070] This embodiment provides a computer-readable storage medium storing computer instructions for instructing a computer to perform the methods described above. The computer instructions on this computer-readable storage medium, used to instruct a computer to perform the methods described above, thus possess at least the same advantages as the methods described above.

[0071] The medium in this application may be any combination of one or more computer-readable media. The medium may be a computer-readable signal medium or a computer-readable storage medium. The medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of the medium (a non-exhaustive list) include: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this document, the medium may be any tangible medium containing or storing a program that may be used by or in connection with an instruction execution system, apparatus, or device.

[0072] Computer-readable signal media may include data signals propagated in baseband or as part of a carrier wave, carrying computer-readable program code. Such propagated data signals may take various forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination thereof. Computer-readable signal media may also be any computer-readable medium other than computer-readable storage media, capable of sending, propagating, or transmitting programs for use by or in connection with an instruction execution system, apparatus, or device.

[0073] Program code contained on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wire, optical fiber, RF (Radio Frequency), or any suitable combination thereof.

[0074] Computer program code for performing the operations of this application can be written in one or more programming languages ​​or a combination thereof. Programming languages ​​include object-oriented programming languages—such as Java, Smalltalk, and C++—as well as conventional procedural programming languages—such as the "C" language or similar programming languages. The program code can 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 remote computers, the remote computer can 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 it can be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0075] It should be understood that the various forms of processes shown above can be used to rearrange, add, or delete steps. For example, the steps described in this application can be executed in parallel, sequentially, or in different orders, as long as the desired result of the technical solution disclosed in this application can be achieved, and this is not limited herein.

[0076] The specific embodiments described above do not constitute a limitation on the scope of protection of this application. Those skilled in the art should understand that various modifications, combinations, sub-combinations, and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions, and improvements made within the spirit and principles of this application should be included within the scope of protection of this application.

Claims

1. A method for controlling the zero-crossing of motor torque, characterized in that, include: Real-time acquisition of motor torque value; If the motor is determined to have entered the torque zero-crossing range from a non-torque zero-crossing range based on the torque value, then the active damping control function of the motor is turned off.

2. The method according to claim 1, characterized in that, If, based on the torque value, it is determined that the motor has entered the torque zero-crossing range from a non-torque zero-crossing range, then the active damping control function of the motor is disabled, including: If the motor is determined to be in the entry phase of the torque zero-crossing range based on the torque value, the active damping compensation torque of the motor is gradually reduced to 0. When the active damping compensation torque drops to 0, the active damping control function of the motor is turned off; Specifically, the entry phase of the torque zero-crossing range is defined as the period within which the torque value transitions from the non-torque zero-crossing range to the torque zero-crossing range, starting from the first critical point.

3. The method according to claim 2, characterized in that, If the motor is determined to be entering the zero-crossing torque range based on the torque value, the active damping compensation torque of the motor is gradually reduced to 0, including: If it is determined from the torque value that the motor is in the entry stage of the torque zero-crossing range, the active damping compensation torque of the motor is reduced to 0 according to the first slope; The first slope and the first set duration are obtained by calibrating the quality of the motor entering the stage.

4. The method according to claim 1, characterized in that, After disabling the active damping control function of the motor, the following is also included: If the torque value determines that the motor has moved from the torque zero-crossing range to the non-torque zero-crossing range, a start signal is sent to the motor controller to activate the motor's active damping control function.

5. The method according to claim 4, characterized in that, Sending a start signal to the motor controller to activate the active damping control function of the motor includes: If the motor is determined to be in the exit phase of the torque zero-crossing range based on the torque value, a start signal is sent to the motor controller, and the active damping compensation torque of the motor is gradually increased from 0 to the target compensation torque. Specifically, the exit phase of the torque zero-crossing range is defined as the period within which the torque value transitions from the torque zero-crossing range to the non-torque zero-crossing range, starting from the second critical point.

6. The method according to claim 5, characterized in that, Gradually increasing the active damping compensation torque of the motor from 0 to the target compensation torque includes: The active damping compensation torque of the motor is increased to the target compensation torque according to the second slope; The second slope and the second set duration are obtained by calibrating the quality of the motor entering the stage.

7. The method according to claim 1, characterized in that, If, based on the torque value, it is determined that the motor has entered the torque zero-crossing range from a non-torque zero-crossing range, the active damping control function of the motor is turned off before the following steps are included: Obtain the operating conditions, temperature range, and vehicle speed range of the motor; The torque zero-crossing range is determined based on the motor's operating conditions, temperature range, and vehicle speed range.

8. A control device for zero torque crossing of a motor, characterized in that, include: The acquisition module is used to acquire the torque value of the motor in real time; The control module is configured to disable the active damping control function of the motor if it is determined, based on the torque value, that the motor has entered the torque zero-crossing range from a non-torque zero-crossing range.

9. An electronic device, characterized in that, include: At least one processor, and a memory communicatively connected to at least one of the processors; The memory stores instructions that can be executed by at least one of the processors, which are executed by at least one of the processors to enable the at least one of the processors to perform the motor torque zero-crossing control method according to any one of claims 1-7.

10. A computer-readable storage medium, characterized in that, The medium stores computer instructions for causing the computer to execute the control method for zero-torque control of the motor as described in any one of claims 1-7.

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