Vehicle motor control method and apparatus, and device

Abstract

The present application discloses a vehicle motor control method and apparatus, and a device. The method comprises: acquiring target torque, an initial rotating speed, an initial voltage and an initial rotor temperature of a motor; correcting the initial rotating speed on the basis of the initial rotor temperature, the initial voltage and a preset reference condition to obtain a corrected rotating speed; correcting the target torque on the basis of the initial rotor temperature, the initial voltage and the preset reference condition to obtain corrected torque; and acquiring a target quadrature and direct axis current from first relationship data on the basis of the corrected torque and the corrected rotating speed, and controlling the motor to operate on the basis of the target quadrature and direct axis current, so that the deviation between mechanical torque and the target torque of the motor is less than a preset deviation threshold, wherein the first relationship data comprises a plurality of correspondences determined by testing the motor under the preset reference condition, each correspondence indicates that a rotating speed and torque of the motor correspond to the required quadrature and direct axis current.

Description

Vehicle motor control method, device and equipment

[0001] This application claims priority to Chinese patent application No. 202311569367.0 filed on November 21, 2023, the entire contents of which are incorporated by reference into this application. Technical Field

[0002] The present application belongs to the field of motor technology, and in particular relates to a motor control method, device and equipment for a vehicle. Background Art

[0003] Electric vehicle motors generally use synchronous or asynchronous motors. Permanent magnet synchronous motors are widely used in domestic new energy vehicles due to their high efficiency and high power density. The motor controller of a permanent magnet synchronous motor controls the magnitude of the three-phase current by outputting three-phase voltage, thereby controlling the magnitude of the output torque. A common practice is to first map the motor on a test bench. Under normal circumstances, it is necessary to obtain the target AC and DC axis currents based on different voltages, torques, and speeds to achieve precise torque control of the motor. In other words, it is necessary to test the corresponding relationship of three-dimensional table data in advance. However, the calibration and storage of three-dimensional table data is a huge workload and very time-consuming, which prolongs the development cycle of the entire vehicle. Therefore, the long initial testing time of the motor is a technical problem that needs to be solved urgently. Technical issues

[0004] The embodiments of the present application provide a method, device, and apparatus for controlling a motor of a vehicle, which solve the technical problem of long initial testing time of the motor. Technical Solutions

[0005] In a first aspect, an embodiment of the present application provides a motor control method for a vehicle, comprising: obtaining a target torque, an initial speed, an initial voltage and an initial rotor temperature of the motor; correcting the initial speed according to the initial rotor temperature, the initial voltage and a preset reference condition to obtain a corrected speed; correcting the target torque according to the initial rotor temperature, the initial voltage and the preset reference condition to obtain a corrected torque; obtaining a target AC and DC axis current from first relationship data according to the corrected torque and the corrected speed, and controlling the operation of the motor according to the target AC and DC axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes a plurality of corresponding relationships determined by testing the motor under the preset reference conditions, and each corresponding relationship corresponds to the speed, torque and required AC and DC axis current of the motor.

[0006] In combination with the first aspect of the present application, in some embodiments, the preset reference conditions include a reference voltage and a rotor reference temperature; the initial speed is corrected according to the rotor initial temperature, the initial voltage and the preset reference conditions to obtain a corrected speed, including: obtaining an equivalent speed according to the initial voltage, the reference voltage and the initial speed, and the equivalent speed is obtained according to the influence of different voltages of the motor on the speed conversion; obtaining a first correction coefficient according to the rotor initial temperature and the rotor reference temperature, and the first correction coefficient is obtained according to the influence of different rotor temperatures of the motor on the speed conversion; determining the corrected speed according to the product of the first correction coefficient and the equivalent speed.

[0007] In combination with the first aspect of the present application, in some embodiments, the equivalent speed is obtained based on the initial voltage, the reference voltage and the initial speed, including: multiplying a proportional value by the product of the initial speed as the equivalent speed, and the proportional value is the quotient of the reference voltage and the initial voltage.

[0008] In combination with the first aspect of the present application, in some embodiments, obtaining the first correction coefficient based on the rotor initial temperature and the rotor reference temperature includes: obtaining the temperature change rate of the rotor magnetic flux relative to the rotor of the motor, and the temperature difference between the rotor reference temperature and the rotor initial temperature; determining the first correction coefficient based on the temperature difference and the temperature change rate.

[0009] In combination with the first aspect of the present application, in some embodiments, the target torque is corrected according to the initial rotor temperature, the initial voltage and the preset reference conditions to obtain a corrected torque, including: obtaining a second correction coefficient, the second correction coefficient is obtained according to the influence of different rotor temperatures of the motor on the torque conversion; obtaining a third correction coefficient, the third correction coefficient is obtained according to the influence of different speeds of the motor on the torque conversion; and obtaining the corrected torque according to the second correction coefficient, the third correction coefficient and the target torque.

[0010] In combination with the first aspect of the present application, in some embodiments, obtaining the second correction coefficient includes: using the first correction coefficient as the second correction coefficient.

[0011] In combination with the first aspect of the present application, in some embodiments, obtaining the third correction coefficient includes: obtaining second relationship data, the second relationship data including a negative correlation between the rotational speed and the correction coefficient; and obtaining the third correction coefficient from the second relationship data based on the initial rotational speed.

[0012] In combination with the first aspect of the present application, in some embodiments, obtaining the target AC and DC axis current from the first relationship data based on the corrected torque and the corrected speed includes: obtaining two corresponding relationships from the first relationship data based on the corrected torque and the corrected speed, the deviations of the corresponding speeds in the two corresponding relationships from the corrected speeds are less than a preset first deviation threshold, and the deviations of the corresponding torques in the two corresponding relationships from the corrected torques are less than a preset second deviation threshold; performing linear interpolation according to the two corresponding relationships to obtain the target AC and DC axis current.

[0013] In the second aspect, an embodiment of the present application provides a motor control device for a vehicle, comprising: an acquisition unit for acquiring the target torque, initial speed, initial voltage and initial rotor temperature of the motor; a speed correction unit for correcting the initial speed according to the initial rotor temperature, the initial voltage and preset reference conditions to obtain a corrected speed; a torque correction unit for correcting the target torque according to the initial rotor temperature, the initial voltage and the preset reference conditions to obtain a corrected torque; a current acquisition unit for acquiring the target AC and DC axis current from first relationship data according to the corrected torque and the corrected speed, and controlling the operation of the motor according to the target AC and DC axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes multiple corresponding relationships determined by testing the motor under the preset reference conditions, and each corresponding relationship corresponds to the speed, torque and required AC and DC axis current of the motor.

[0014] In a third aspect, an embodiment of the present application provides an electronic device comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the method described in any one of the first aspects is implemented. Beneficial effects

[0015] One or more technical solutions provided by the embodiments of this application achieve at least the following technical effects or advantages:

[0016] The embodiment of the present application obtains the target torque, initial speed, initial voltage, and initial rotor temperature of the motor; corrects the initial speed according to the initial rotor temperature, initial voltage, and preset reference conditions to obtain a corrected speed; corrects the target torque according to the initial rotor temperature, initial voltage, and preset reference conditions to obtain a corrected torque; obtains the target quadrature and direct-axis current from first relationship data based on the corrected torque and corrected speed, and controls the operation of the motor according to the target quadrature and direct-axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes multiple pairs determined by testing the motor under preset reference conditions. In general, it is necessary to obtain the target quadrature and direct-axis current based on different voltages, torques, and speeds of the motor to achieve precise torque control of the motor, that is, it is necessary to test and obtain the corresponding relationship of three-dimensional table data in advance. The embodiment of the present application corrects the torque and speed according to the influence of different motor voltages and different rotor temperatures to obtain the corrected torque and corrected speed. It is only necessary to obtain the target quadrature and direct-axis current based on different torques and speeds to achieve torque control of the motor, that is, it is only necessary to test and obtain the corresponding relationship of two-dimensional table data in advance. Therefore, the early testing time of the motor is reduced and the R&D cycle is shortened. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, a brief introduction will be given below to the drawings required for use in the description of the embodiments. Obviously, the drawings described below are some embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on these drawings without any creative work.

[0018] FIG1 is a flow chart of a motor control method for a vehicle according to an embodiment of the present application;

[0019] FIG2 is a functional module diagram of a motor control device for a vehicle according to an embodiment of the present application;

[0020] FIG3 is a schematic structural diagram of an electronic device in an embodiment of the present application. Modes for Carrying Out the Invention

[0021] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments of this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0022] In this application, the descriptions of "first", "second", etc. are for descriptive purposes only and should not be understood as indicating or implying their relative importance or implicitly indicating the number of the technical features indicated. Therefore, the features specified as "first" or "second" may explicitly or implicitly include at least one of such features. In addition, the technical solutions between the various embodiments can be combined with each other, but this must be based on the fact that they can be implemented by ordinary technicians in this field. When the combination of technical solutions is contradictory or cannot be implemented, it should be deemed that such combination of technical solutions does not exist and is not within the scope of protection required by this application.

[0023] The present invention provides a method for controlling a motor of a vehicle. Referring to FIG1 , the method includes the following steps S101 to S104 :

[0024] S101: Obtain the target torque, initial speed, initial voltage, and initial rotor temperature of the motor.

[0025] Obtaining the initial speed of the motor may involve collecting the real-time speed signal of the motor and performing a first-order low-pass filter on the real-time speed signal to obtain the initial speed. Obtaining the initial voltage of the motor may involve collecting the real-time DC bus voltage signal of the motor and performing a first-order low-pass filter on the real-time DC bus voltage signal to obtain the initial voltage. The motor may be a permanent magnet synchronous motor.

[0026] S102: Correcting the initial rotational speed according to the initial rotor temperature, initial voltage, and preset reference conditions to obtain a corrected rotational speed.

[0027] The preset reference conditions include a reference voltage and a rotor reference temperature, wherein the reference voltage refers to the voltage of the motor.

[0028] In some implementations, step S102 may include steps S1021 to S1023:

[0029] S1021: Obtain an equivalent speed based on the initial voltage, the reference voltage, and the initial speed. The equivalent speed is obtained based on the effect of different voltages on speed conversion of the motor.

[0030] Obtaining the equivalent speed according to the initial voltage, the reference voltage, and the initial speed may include: multiplying the proportional value by the product of the initial speed to obtain the equivalent speed, where the proportional value is the quotient of the reference voltage and the initial voltage.

[0031] The speed conversion refers to converting an initial speed under an initial condition into a corrected speed under a preset reference condition, where the initial condition refers to the voltage of the motor being the initial voltage and the temperature of the rotor being the initial rotor temperature.

[0032] S1022: Obtain a first correction coefficient according to the rotor initial temperature and the rotor reference temperature. The first correction coefficient is obtained based on the influence of different rotor temperatures of the motor on speed conversion.

[0033] Obtaining a first correction coefficient based on the rotor initial temperature and the rotor reference temperature may include: obtaining the temperature change rate of the rotor flux relative to the rotor of the motor, and the temperature difference between the rotor reference temperature and the rotor initial temperature; and determining the first correction coefficient based on the temperature difference and the temperature change rate.

[0034] The temperature change rate refers to the ratio of the temperature change of the rotor magnetic flux when the rotor temperature changes by one degree Celsius. Determining the first correction coefficient based on the temperature difference and the temperature change rate may involve taking the sum of the temperature product and one as the first correction coefficient, where the temperature product refers to the product of the temperature difference and the temperature change rate.

[0035] S1023: Determine a corrected speed according to a product of the first correction coefficient and the equivalent speed.

[0036] Determining the corrected speed according to the product of the first correction coefficient and the equivalent speed may be: taking the product of the first correction coefficient and the equivalent speed as the corrected speed.

[0037] S103: Correcting the target torque according to the rotor initial temperature, initial voltage and preset reference conditions to obtain a corrected torque.

[0038] In some implementations, step S103 may include S1031 to S1033:

[0039] S1031: Obtain a second correction coefficient, where the second correction coefficient is obtained based on the influence of different rotor temperatures of the motor on torque conversion.

[0040] In some embodiments, obtaining the second correction coefficient may include: using the first correction coefficient as the second correction coefficient.

[0041] Torque conversion refers to converting the target torque under initial conditions into the corrected torque under preset reference conditions.

[0042] S1032: Obtain a third correction coefficient, where the third correction coefficient is obtained based on the influence of different motor speeds on torque conversion.

[0043] In some embodiments, obtaining the third correction coefficient may include: obtaining second relationship data, the second relationship data including a negative correlation between the rotational speed and the correction coefficient; and obtaining the third correction coefficient from the second relationship data according to the initial rotational speed.

[0044] S1033: Obtain a correction torque according to the second correction coefficient, the third correction coefficient and the target torque.

[0045] In some embodiments, the correction torque is obtained according to the second correction coefficient, the third correction coefficient, and the target torque, and the product of the second correction coefficient, the third correction coefficient, and the target torque may be used as the correction torque.

[0046] The value interval of the third correction coefficient is (0, 1).

[0047] Rotor temperature affects the output torque by affecting the rotor flux. Torque is divided into permanent magnet torque and reluctance torque. Permanent magnet torque is affected by rotor temperature; higher rotor temperature results in greater attenuation of permanent magnet torque. Furthermore, permanent magnet torque contributes more at low speeds and less at high speeds. Therefore, varying speeds or rotor temperatures will result in different torque attenuation. Therefore, considering the impact of varying motor speeds or rotor temperatures on torque conversion improves torque control accuracy.

[0048] S104: Obtain the target AC-axis current from the first relationship data based on the corrected torque and the corrected speed, and control the motor operation based on the target AC-axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes multiple corresponding relationships determined by testing the motor under preset reference conditions, and each corresponding relationship is the correspondence between the speed and torque of the motor and the required AC-axis current.

[0049] Each corresponding relationship in the first relationship data satisfies a preset condition. Specifically, assuming that the first relationship data includes a first corresponding relationship, and the first corresponding relationship includes a first speed, a first torque, and a first quadrature- and direct-axis current, then, when the motor speed is the first speed, the motor is controlled based on the first quadrature- and direct-axis current, and the deviation between the motor's mechanical torque and the first torque is less than a preset torque deviation threshold, wherein the mechanical torque is the remaining torque after the motor's total output torque overcomes the loss torque. The quadrature- and direct-axis currents include a d-axis current and a q-axis current for providing to the motor.

[0050] The target quadrature-direction current is obtained based on the corrected torque and the corrected speed. If, under preset reference conditions, the motor operation is controlled based on the target quadrature-direction current, the deviation between the motor's mechanical torque and the corrected torque can be made less than a preset deviation threshold. However, in the embodiment of the present application, the actual voltage of the motor is not the reference voltage but the initial voltage, and the temperature of the rotor is not the rotor reference temperature but the rotor initial temperature. The corrected torque and corrected speed are obtained by taking into account the effects of different voltages and different rotor temperatures. Therefore, by controlling the motor operation based on the target quadrature-direction current, the deviation between the motor's mechanical torque and the target torque can be made less than a preset deviation threshold. The preset deviation threshold can be any value less than 1 Newton-meter, such as 0.8 Newton-meter, 0.5 Newton-meter, or 0.1 Newton-meter.

[0051] The first relationship data is determined through pre-testing. The number of tests determines the number of corresponding relationships of the first relationship data. If the number of corresponding relationships is large enough, then the corresponding target AC and DC axis currents can be directly obtained from the first relationship data based on the corrected torque and corrected speed. If the number of corresponding relationships is not large enough, then the corresponding target AC and DC axis currents need to be obtained from the first relationship data through linear interpolation based on the corrected torque and corrected speed. The following are explained separately:

[0052] In some embodiments, obtaining the target AC and DC axis current from the first relationship data based on the corrected torque and the corrected speed may include: obtaining two corresponding relationships from the first relationship data based on the corrected torque and the corrected speed, wherein the deviations of the corresponding speeds in the two corresponding relationships from the corrected speeds are less than a preset first deviation threshold, and the deviations of the corresponding torques in the two corresponding relationships from the corrected torques are less than a preset second deviation threshold; and performing linear interpolation according to the two corresponding relationships to obtain the target AC and DC axis current.

[0053] For example, assume that two corresponding relationships are a first corresponding relationship and a second corresponding relationship, respectively. The first corresponding relationship includes a first speed, a first torque, and a first Q-axis current, and the second corresponding relationship includes a second speed, a second torque, and a second Q-axis current. Then, if the deviations between the corresponding speeds in the two corresponding relationships and the corrected speed are less than a preset first deviation threshold, this means that the deviation between the first speed and the corrected speed is less than the preset first deviation threshold, and the deviation between the second speed and the corrected speed is less than the preset first deviation threshold. If the deviations between the corresponding torques in the two corresponding relationships and the corrected torque are less than a preset second deviation threshold, this means that the deviation between the first torque and the corrected torque is less than the preset second deviation threshold, and the deviation between the second torque and the corrected torque is less than the preset second deviation threshold. Linear interpolation is performed based on the two corresponding relationships to obtain the target Q-axis current. This can be done by: if the corrected speed is within the average range of the first speed and the second speed, and if the corrected torque is within the average range of the first torque and the second torque, the average of the first Q-axis current and the second Q-axis current is used as the target Q-axis current.

[0054] Linear interpolation is performed based on the two corresponding relationships to obtain the target AC and DC axis currents. The number of samples representing the first relationship data is small. At this time, through linear interpolation, even with a small number of pre-tests, a relatively accurate target AC and DC axis current can be obtained, avoiding the need for a large number of pre-tests and achieving the effect of improving test efficiency.

[0055] In some embodiments, obtaining the target AC and DC axis current from the first relationship data based on the corrected torque and the corrected speed may also include: obtaining a corresponding relationship from the first relationship data based on the corrected torque and the corrected speed, the deviation between the speed of a corresponding relationship and the corrected speed is less than a preset third deviation threshold, the deviation between the torque of a corresponding relationship and the corrected torque is less than a preset fourth deviation threshold, the third deviation threshold is less than the first deviation threshold, and the fourth deviation threshold is less than the second deviation threshold; and using the AC and DC axis current of a corresponding relationship as the target AC and DC axis current.

[0056] For example, assuming that a corresponding relationship is the first corresponding relationship, the first corresponding relationship includes the first speed, the first torque and the first AC-axis current. Then, the deviation between the speed of a corresponding relationship and the corrected speed is less than the preset third deviation threshold, which means that the deviation between the first speed and the corrected speed is less than the preset third deviation threshold, that is, the first speed and the corrected speed are close in size. The deviation between the torque of a corresponding relationship and the corrected torque is less than the preset fourth deviation threshold, which means that the deviation between the first torque and the corrected torque is less than the preset fourth deviation threshold, that is, the first torque and the corrected torque are close in size. Taking the AC-axis current of a corresponding relationship as the target AC-axis current means taking the first AC-axis current as the target AC-axis current.

[0057] The AC and DC axis currents of a corresponding relationship are used as the target AC and DC axis currents, and the number of samples representing the first relationship data is sufficient, thereby achieving more accurate acquisition of the target AC and DC axis currents.

[0058] Under normal circumstances, it is necessary to obtain the target AC and DC axis current based on the different voltages, torques, and speeds of the motor to achieve precise torque control of the motor, that is, it is necessary to test in advance to obtain the corresponding relationship of the three-dimensional table data. The embodiment of the present application corrects the torque and speed according to the influence of different motor voltages and different rotor temperatures to obtain the corrected torque and corrected speed. It is only necessary to obtain the target AC and DC axis current based on different torques and speeds to achieve torque control of the motor, that is, it is only necessary to test in advance to obtain the corresponding relationship of the two-dimensional table data. Therefore, the early testing time of the motor is reduced and the research and development cycle is shortened.

[0059] Based on the same inventive concept, as shown in FIG2 , an embodiment of the present application provides a motor control device 10 for a vehicle, comprising: an acquisition unit 110 for acquiring the target torque, initial speed, initial voltage and initial rotor temperature of the motor; a speed correction unit 120 for correcting the initial speed according to the initial rotor temperature, initial voltage and preset reference conditions to obtain a corrected speed; a torque correction unit 130 for correcting the target torque according to the initial rotor temperature, initial voltage and preset reference conditions to obtain a corrected torque; a current acquisition unit 140 for acquiring the target AC and DC axis current from the first relationship data according to the corrected torque and the corrected speed, and controlling the motor operation according to the target AC and DC axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes multiple corresponding relationships determined by testing the motor under preset reference conditions, and each corresponding relationship is the correspondence between the speed and torque of the motor and the required AC and DC axis current.

[0060] The preset reference conditions include reference voltage and rotor reference temperature;

[0061] The speed correction unit 120 includes: an equivalent speed subunit, which is used to obtain an equivalent speed based on the initial voltage, the reference voltage and the initial speed, and the equivalent speed is obtained based on the influence of different voltages of the motor on the speed conversion; a first coefficient acquisition subunit, which is used to obtain a first correction coefficient based on the initial rotor temperature and the rotor reference temperature, and the first correction coefficient is obtained based on the influence of different rotor temperatures of the motor on the speed conversion; a speed determination subunit, which is used to determine the corrected speed based on the product of the first correction coefficient and the equivalent speed.

[0062] The equivalent speed subunit is specifically used to: multiply the proportional value by the initial speed to obtain the equivalent speed, where the proportional value is the quotient of the reference voltage and the initial voltage.

[0063] The first coefficient acquisition subunit is specifically used to: obtain the temperature change rate of the rotor flux relative to the rotor of the motor, and the temperature difference between the rotor reference temperature and the rotor initial temperature; and determine the first correction coefficient according to the temperature difference and the temperature change rate.

[0064] The torque correction unit 130 includes: a second coefficient acquisition subunit, used to obtain a second correction coefficient, the second correction coefficient is obtained based on the influence of different rotor temperatures of the motor on the torque conversion; a third coefficient acquisition subunit, used to obtain a third correction coefficient, the third correction coefficient is obtained based on the influence of different speeds of the motor on the torque conversion; a torque determination subunit, used to obtain a corrected torque based on the second correction coefficient, the third correction coefficient and the target torque.

[0065] The second coefficient obtaining subunit is specifically configured to use the first correction coefficient as the second correction coefficient.

[0066] The third coefficient acquisition subunit is specifically used to: acquire second relationship data, the second relationship data including the negative correlation between the rotational speed and the correction coefficient; and obtain the third correction coefficient from the second relationship data according to the initial rotational speed.

[0067] The current acquisition unit 140 is specifically used to: obtain two corresponding relationships from the first relationship data based on the corrected torque and the corrected speed, wherein the deviations between the corresponding speeds in the two corresponding relationships and the corrected speeds are less than a preset first deviation threshold, and the deviations between the corresponding torques in the two corresponding relationships and the corrected torques are less than a preset second deviation threshold; and perform linear interpolation based on the two corresponding relationships to obtain the target quadrature and direct axis currents.

[0068] For more implementation details of the motor control device 10 for a vehicle in the embodiment of the present application, please refer to the aforementioned motor control method for a vehicle, and for the sake of brevity of the description, they will not be repeated here.

[0069] Based on the same inventive concept, an embodiment of the present application also provides an electronic device, as shown in Figure 3, including a memory 304, a processor 302, and a computer program stored on the memory 304 and capable of running on the processor 302. The processor 302 executes the program to implement the steps described in any implementation of the vehicle motor control method embodiment.

[0070] In FIG3 , a bus architecture (represented by bus 300) is shown. Bus 300 may include any number of interconnected buses and bridges. Bus 300 links various circuits together, including one or more processors represented by processor 302 and memory represented by memory 304. Bus 300 may also link various other circuits together, such as peripherals, voltage regulators, and power management circuits, all of which are well known in the art and, therefore, will not be described further herein. Bus interface 305 provides an interface between bus 300 and receiver 301 and transmitter 303. Receiver 301 and transmitter 303 may be the same component, namely a transceiver, which provides a unit for communicating with various other devices over a transmission medium. Processor 302 is responsible for managing bus 300 and general processing, while memory 304 may be used to store data used by processor 302 when performing operations.

[0071] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and implementations are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwiring, or a combination of any of these. Furthermore, the functional units may be integrated into a single processing unit, each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0072] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. Among them, the device embodiments described above are only exemplary. For example, the division of the units can be a logical function division. In actual implementation, there may be other division methods, such as multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the mutual coupling or direct coupling or communication connection shown or discussed can be through some interfaces, indirect coupling or communication connection of units or modules, which can be electrical or other forms.

[0073] The units described as separate components may or may not be physically separate, and the components of the control device may or may not be physical units, that is, they may be located in one place or distributed across multiple units. Some or all of the units may be selected according to actual needs to achieve the purpose of the present embodiment.

[0074] If the integrated unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute all or part of the steps of the method described in each embodiment of the present application. The aforementioned storage medium includes: various media that can store program codes, such as a USB flash drive, a read-only memory (ROM), a random access memory (RAM), a mobile hard disk, a magnetic disk or an optical disk.

[0075] The foregoing is merely an embodiment of the present application and is not intended to limit the present application. Various modifications and variations are possible for those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present application shall be included within the scope of the claims of the present application.

Claims

1. A motor control method for a vehicle, wherein: The motor control method of the vehicle comprises: Obtain the target torque, initial speed, initial voltage and initial rotor temperature of the motor; Correcting the initial rotation speed according to the initial temperature of the rotor, the initial voltage and a preset reference condition to obtain a corrected rotation speed; Correcting the target torque according to the rotor initial temperature, the initial voltage and the preset reference condition to obtain a corrected torque; The target AC and DC axis current is obtained from the first relationship data according to the corrected torque and the corrected speed, and the operation of the motor is controlled according to the target AC and DC axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes a plurality of corresponding relationships determined by testing the motor under the preset reference conditions, and each of the corresponding relationships is a correspondence between the speed and torque of the motor and the required AC and DC axis current.

2. The motor control method for a vehicle according to claim 1, wherein: The preset reference conditions include a reference voltage and a rotor reference temperature; The step of correcting the initial rotation speed according to the initial temperature of the rotor, the initial voltage and a preset reference condition to obtain a corrected rotation speed includes: According to the initial voltage, the reference voltage and the initial speed, an equivalent speed is obtained, wherein the equivalent speed is obtained according to the influence of different voltages of the motor on speed conversion; Obtaining a first correction coefficient according to the rotor initial temperature and the rotor reference temperature, wherein the first correction coefficient is obtained according to the influence of different rotor temperatures of the motor on the speed conversion; The corrected rotational speed is determined according to a product of the first correction coefficient and the equivalent rotational speed.

3. The motor control method for a vehicle according to claim 2, wherein: The obtaining of an equivalent rotation speed according to the initial voltage, the reference voltage and the initial rotation speed comprises: The product of the proportional value and the initial rotation speed is obtained as the equivalent rotation speed, and the proportional value is the quotient of the reference voltage and the initial voltage.

4. The motor control method for a vehicle according to claim 2, wherein: The step of obtaining a first correction coefficient according to the rotor initial temperature and the rotor reference temperature includes: Acquire the temperature change rate of the rotor flux relative to the rotor of the motor, and the temperature difference between the rotor reference temperature and the rotor initial temperature; The first correction coefficient is determined according to the temperature difference and the temperature change rate.

5. The motor control method for a vehicle according to claim 2, wherein: The step of correcting the target torque according to the rotor initial temperature, the initial voltage and the preset reference condition to obtain the corrected torque includes: Obtaining a second correction coefficient, where the second correction coefficient is obtained according to the influence of different rotor temperatures of the motor on torque conversion; Obtaining a third correction coefficient, wherein the third correction coefficient is obtained according to the influence of different rotation speeds of the motor on the torque conversion; The correction torque is obtained according to the second correction coefficient, the third correction coefficient and the target torque.

6. The motor control method for a vehicle according to claim 5, wherein: The obtaining of the second correction coefficient comprises: The first correction coefficient is used as the second correction coefficient.

7. The motor control method for a vehicle according to claim 5, wherein: The obtaining of the third correction coefficient comprises: Acquire second relationship data, wherein the second relationship data includes a negative correlation between the rotation speed and the correction coefficient; The third correction coefficient is obtained from the second relationship data according to the initial rotation speed.

8. The motor control method for a vehicle according to any one of claims 1 to 7, wherein: The step of obtaining the target AC-axis and DC-axis current from the first relationship data according to the corrected torque and the corrected speed includes: Obtaining two corresponding relationships from the first relationship data according to the corrected torque and the corrected speed, wherein deviations of the corresponding speeds in the two corresponding relationships from the corrected speed are less than a preset first deviation threshold, and deviations of the corresponding torques in the two corresponding relationships from the corrected torque are less than a preset second deviation threshold; Linear interpolation is performed according to the two corresponding relationships to obtain the target AC and DC axis currents.

9. A motor control device for a vehicle, wherein: The motor control device of the vehicle comprises: An acquisition unit, used to acquire a target torque, an initial speed, an initial voltage, and an initial rotor temperature of the motor; A speed correction unit, used for correcting the initial speed according to the initial temperature of the rotor, the initial voltage and a preset reference condition to obtain a corrected speed; a torque correction unit, configured to correct the target torque according to the rotor initial temperature, the initial voltage and the preset reference condition to obtain a corrected torque; A current acquisition unit is used to obtain the target AC and DC axis current from the first relationship data according to the corrected torque and the corrected speed, and control the operation of the motor according to the target AC and DC axis current so that the deviation between the mechanical torque of the motor and the target torque is less than a preset deviation threshold, wherein the first relationship data includes a plurality of corresponding relationships determined by testing the motor under the preset reference conditions, and each of the corresponding relationships is a correspondence between the speed and torque of the motor and the required AC and DC axis current.

10. An electronic device, wherein: The electronic device comprises: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein the processor implements the method according to any one of claims 1 to 8 when executing the computer program.

Images