Motor control method and apparatus, electronic device, and storage medium

Abstract

Embodiments of the present disclosure provide a motor control method and apparatus, an electronic device, and a storage medium. The method is used for a torque control mode of a motor. The method comprises: obtaining the rotational speed of the motor, and determining whether the rotational speed of the motor meets a preset rotational speed condition; when the rotational speed of the motor meets the preset rotational speed condition, obtaining a motor target torque, and determining whether the motor target torque meets a preset torque range; when the motor target torque meets the preset torque range, obtaining a corresponding duration during which the motor target torque meets the preset torque range, and on the basis of the duration and a preset delay duration, determining whether the motor enters a transistor-on state.

Description

Motor control method and device, electronic device and storage medium CROSS-REFERENCE TO RELATED APPLICATIONS

[0001] The embodiments of this application are based on the Chinese patent application with application number: CN202410205323.8 and application date of February 23, 2024, and claim the priority of the Chinese patent application. The entire content of the Chinese patent application is hereby introduced into the embodiments of this application as a reference. Technical Field

[0002] The embodiments of the present disclosure relate to the field of motor control technology, and in particular to a motor control method and device, an electronic device, and a storage medium. Background Art

[0003] Permanent magnet synchronous motors (PMSMs) have become an essential component in industries such as automotive (especially new energy vehicles), medical electronics, and aerospace. However, current methods for controlling the switching transistors (MOSFETs) of PMSMs in torque control mode still fall short of their intended use. Therefore, improvements are urgently needed to improve these methods. Summary of the Invention

[0004] In view of this, embodiments of the present disclosure provide a method and apparatus for controlling a motor, an electronic device, and a storage medium.

[0005] To achieve the above objectives, the technical solution of the present disclosure is implemented as follows:

[0006] In a first aspect, an embodiment of the present disclosure provides a method for controlling a motor, which is used in a torque control mode of the motor; the method includes: obtaining a motor speed, and determining whether the motor speed satisfies a preset speed condition; when the motor speed satisfies the preset speed condition, obtaining a motor target torque, and determining whether the motor target torque satisfies a preset torque range; when the motor target torque satisfies the preset torque range, obtaining a duration corresponding to when the motor target torque satisfies the preset torque range, and determining whether the motor enters an open-tube state based on the duration and a preset delay duration.

[0007] In a second aspect, an embodiment of the present disclosure provides a control device for a motor, the device comprising: a first judgment module, configured to: obtain a motor speed, and determine whether the motor speed meets a preset speed condition; a second judgment module, configured to: obtain a motor target torque, and determine whether the motor target torque meets a preset torque range, if the motor speed meets the preset speed condition; a third judgment module, configured to: obtain a duration corresponding to when the motor target torque meets the preset torque range, and determine whether the motor enters an open-tube state based on the duration and a preset delay duration.

[0008] In a third aspect, an embodiment of the present disclosure provides an electronic device, comprising: a storage device for storing executable instructions; and a processing device for executing the executable instructions stored in the storage device to implement the motor control method described in the above technical solution.

[0009] In a fourth aspect, an embodiment of the present disclosure provides a storage medium, in which a computer program is stored. When the computer program is executed, the motor control method described in the above technical solution is implemented.

[0010] The embodiments of the present disclosure provide a method and device for controlling a motor, an electronic device, and a storage medium. In the embodiments of the present disclosure, it is first determined whether the motor speed meets the preset speed condition; if the motor speed meets the preset speed condition, it is then determined whether the motor target torque meets the preset torque range; if the motor target torque meets the preset torque range, it is finally determined whether the motor enters the open-tube state based on the duration corresponding to the motor target torque meeting the preset torque range and the preset delay duration. In this way, the vehicle's power, economy, and torque control accuracy can be balanced, and the motor's switch tube control method in the torque control mode can be optimized to achieve precise control of the motor's switch tube. BRIEF DESCRIPTION OF THE DRAWINGS

[0011] FIG1 is a flow chart of a method for controlling a motor according to an embodiment of the present disclosure;

[0012] FIG2 is a schematic diagram of the absolute value of the first target torque of the motor and the number of sampling cycles provided by an example;

[0013] FIG3 is a schematic diagram of the absolute value of the first target torque of the motor and the absolute value of the motor torque difference provided by an example;

[0014] FIG4 is a second flow chart of a method for controlling a motor according to an embodiment of the present disclosure;

[0015] FIG5 is a block diagram of a motor control device according to an embodiment of the present disclosure;

[0016] FIG6 is a block diagram of an electronic device provided by an embodiment of the present disclosure.

[0017] The reference numerals include: 500, control device; 502, first judgment module; 504, second judgment module; 506, third judgment module; 600, electronic device; 602, storage device; 604, processing device; 606, read-only memory; 608, random access memory; 610, bus; 612, input / output interface; 614, input device; 616, output device; 618, communication device. DETAILED DESCRIPTION

[0018] The following will clearly and completely describe the technical solutions in the embodiments of the present disclosure in conjunction with the embodiments of the present disclosure and the accompanying drawings. Obviously, the embodiments described are only part of the embodiments of the present disclosure, not all of the embodiments. Based on the embodiments of the present disclosure, all other embodiments obtained by ordinary technicians in this field without making any creative efforts are within the scope of protection of the present disclosure.

[0019] In the following description, numerous specific details are provided to provide a more thorough understanding of the present disclosure. However, it will be apparent to those skilled in the art that the present disclosure can be practiced without one or more of these details. In other instances, certain technical features known in the art are not described to avoid confusion with the present disclosure; that is, all features of actual embodiments are not described herein, nor are well-known functions and structures described in detail.

[0020] Permanent magnet synchronous motors (PMSMs) have become an essential component of new energy vehicles. When the drive motor is in 0 N·m control mode and in the off-state, if the torque control accuracy of the drive motor is poor, the actual torque of the drive motor may fluctuate around 0 N·m, causing loss of high-voltage battery charge due to the drive motor's operation. Furthermore, excessive motor torque fluctuations can cause vehicle jitter and other issues, resulting in a poor driving experience for the driver.

[0021] In view of this, embodiments of the present disclosure provide a motor control method and device, an electronic device, and a storage medium. The motor control method provided in embodiments of the present disclosure is applicable to electric vehicles and hybrid electric vehicles.

[0022] Referring to FIG1 , FIG1 is a flow chart of a motor control method according to an embodiment of the present disclosure. As shown in FIG1 , an embodiment of the present disclosure provides a motor control method, which is used in a torque control mode of the motor; the method includes:

[0023] Step S101: Obtain the motor speed and determine whether the motor speed meets the preset speed condition;

[0024] Step S102: when the motor speed meets the preset speed condition, obtaining the motor target torque and determining whether the motor target torque meets the preset torque range;

[0025] Step S103: When the motor target torque meets the preset torque range, obtain the duration corresponding to the motor target torque meeting the preset torque range, and determine whether the motor enters the open-tube state based on the duration and the preset delay time.

[0026] In this disclosed embodiment, the motor speed is first determined to meet a preset speed condition. If so, the motor target torque is then determined to meet a preset torque range. If so, the motor target torque is then determined to meet the preset torque range. Finally, based on the duration of the target torque meeting the preset torque range and the preset delay time, the motor is determined to enter the open-circuit state. This balances vehicle power, economy, and response control accuracy, optimizes the motor's switching control method in torque control mode, and achieves precise control of the motor's switching.

[0027] It should be noted that when the drive motor is in the 0 N·m control mode and in the open-circuit state, if the drive motor operates in the high speed range, the back EMF generated by the drive motor exceeds the bus voltage. This is rectified and fed back to the high-voltage battery through the freewheeling diode, forming a closed loop. This generates a large braking torque at the drive motor end. At the same time, this uncontrollable passive rectification causes the drive motor's back EMF to have a significant impact on components connected to the DC bus (such as bus capacitors and insulated-gate bipolar transistors (IGBTs)). Furthermore, a disadvantage of the open-circuit state is that if the drive motor's target torque (i.e., motor torque request) changes suddenly, the drive motor will first execute the closed-circuit operation and then execute the motor torque request, resulting in a delay in the torque response.

[0028] It should be noted that when the drive motor is in the 0 N·m control mode and in the open-circuit state, if the drive motor is operating in the low speed range, the back EMF generated by the drive motor is lower than the bus voltage and cannot be fed back to the high-voltage battery through the freewheeling diode, thus failing to form a closed loop. In this case, the drive motor is running at no load. In other words, the back EMF of the drive motor will not cause any impact or damage to devices connected to the DC bus.

[0029] In summary, if the drive motor is to enter the open-tube state in the 0 N·m control mode, it must be running in the low-speed range. In other words, to determine whether the drive motor can enter the open-tube state in the 0 N·m control mode, it is necessary to first determine whether the drive motor is running in the low-speed range.

[0030] In the embodiment of the present disclosure, in step S101 , the motor speed is obtained to determine whether the motor speed meets a preset speed condition.

[0031] Here, the preset speed condition includes a first speed and a second speed, where the first speed is less than the second speed. In other words, the preset speed condition limits the motor speed range to between the first speed and the second speed; wherein the first speed can also be referred to as the maximum speed of 0N·m open pipe, and the second speed can also be referred to as the minimum speed of 0N·m closed pipe. For example, the first speed can be 5000 rpm, and the second speed can be 5500 rpm. The present disclosure does not specifically limit the specific values ​​of the first speed and the second speed, and they can be determined based on the actual operating conditions of the drive motor.

[0032] Here, if the motor speed meets the preset speed condition, the next step is required to determine whether the motor enters the open state. If the motor speed does not meet the preset speed condition, the motor is determined to be in the closed state. In other words, the preset speed condition is a necessary but not sufficient condition for determining whether the motor can enter the open state.

[0033] In the above technical solution, if the motor speed at the current moment is less than the first speed, it is determined that the motor speed at the current moment meets the preset speed condition, that is, the motor speed at the current moment meets the speed condition for the motor to enter the open tube state; if the motor speed at the current moment is greater than the second speed, it is determined that the motor speed at the current moment does not meet the preset speed condition, that is, the motor speed at the current moment does not meet the speed condition for the motor to enter the open tube state, that is, the motor is in the closed tube state; if the motor speed at the current moment is between the first speed and the second speed, the size relationship between the motor speed at the previous moment and the motor speed at the current moment is judged, and based on the size relationship between the motor speed at the previous moment and the motor speed at the current moment, it is determined whether the motor enters the open tube state.

[0034] In the above technical solution, if the motor speed at the previous moment is less than the motor speed at the current moment, that is, the motor speed is on an increasing trend, then it is determined that the motor speed at the current moment meets the preset speed condition, that is, the motor speed at the current moment meets the speed condition for the motor to enter the open-tube state. This is mainly due to the fact that the motor speed may fluctuate, and a hysteresis region for motor speed fluctuations needs to be provided. If the motor speed is on an increasing trend, then the motor speed at the previous moment may be less than the first speed, that is, the motor at the previous moment may be running in a low speed zone, that is, the motor at the previous moment may be in the open-tube state. Therefore, based on the possibility that the motor at the previous moment is in the open-tube state, it is determined that the motor speed at the current moment meets the speed condition for the motor to enter the open-tube state. In this way, the motor can maintain the open-tube operating state of the previous moment, avoiding frequent switching of the motor.

[0035] In the above technical solution, if the motor speed at the previous moment is greater than the motor speed at the current moment, that is, the motor speed is on a decreasing trend, then it is determined that the motor speed at the current moment does not meet the preset speed condition, that is, the motor speed at the current moment does not meet the speed condition for the motor to enter the open-tube state. Similarly, this is also taken into account that the motor speed may fluctuate. If the motor speed is on a decreasing trend, then the motor speed at the previous moment may be greater than the second speed, that is, the motor at the previous moment may be running in the high speed zone, that is, the motor at the previous moment may be in the closed-tube state. Therefore, based on the fact that the motor may be in the closed-tube state at the previous moment, it is determined that the motor speed at the current moment does not meet the speed condition for the motor to enter the open-tube state. In this way, the motor can maintain the closed-tube operating state of the previous moment, avoiding frequent switching of the motor.

[0036] Assume that the preset speed condition is set to a specific value, such as 5000rpm. When the motor speed is less than 5000rpm, it is determined that the motor is running in the low speed zone, that is, the motor enters the open-tube state; when the motor speed is greater than 5000rpm, it is determined that the motor is running in the high speed zone, that is, the motor enters the closed-tube state. If the motor speed fluctuates around 5000rpm, the motor will frequently switch between the open-tube state and the closed-tube state, which may reduce the service life of the IGBT. Compared to setting the preset speed condition to a specific value, the embodiment of the present disclosure sets the preset speed condition to a speed range, which can provide a buffer area for motor speed fluctuations and avoid the motor from frequently switching between the open-tube state and the closed-tube state.

[0037] In the embodiment of the present disclosure, in step S102 , when the motor speed meets the preset speed condition, the motor target torque is obtained to determine whether the motor target torque meets the preset torque range.

[0038] Here, the preset torque range includes a first torque and a second torque, the first torque is less than the second torque and the absolute value of the first torque is the same as the absolute value of the second torque. That is, the preset torque range defines the motor target torque range as between the first torque and the second torque; wherein the first torque is a negative torque and the second torque is a positive torque. In the embodiment of the present disclosure, the preset torque range can be expressed as (-M Buff , M Buff ), the first torque can be expressed as -M Buff , the second torque can be expressed as M Buff .

[0039] Here, if the motor target torque meets the preset torque range, that is, the motor target torque enters (-M Buff , M Buff) range, then the next step is required to determine whether the motor enters the open-tube state; if the motor target torque does not meet the preset torque range, then it is determined that the motor is in the closed-tube state.

[0040] Theoretically, the motor can only enter the open-tube state when it is 0 N·m. In practice, it is very difficult to control the motor to enter the open-tube state when it is 0 N·m and to control the motor to enter the closed-tube state when it is not 0 N·m. In addition, the motor target torque may fluctuate around 0 N·m, so the motor will frequently switch between the open-tube state and the closed-tube state, which may reduce the service life of the IGBT. Compared with setting the motor target torque to 0 N·m before the motor can enter the open-tube state, the embodiment of the present disclosure sets a preset torque range, which can provide a buffer area for the fluctuation of the motor target torque and avoid the motor frequently switching between the open-tube state and the closed-tube state.

[0041] As for the specific values ​​of the first torque and the second torque, the preset torque range can be determined based on the fluctuation of the target torque command received by the motor, the torque response when the motor enters the open-tube state, and the torque response performance under the fluctuation of the motor target torque.

[0042] As shown in formula 1, M Buff is the second torque in the preset torque range, M BuffRaw is the initial torque range, r M_Adapt Update coefficient for torque range self-learning.

[0043] M Buff =M BuffRaw × (1 + r M_Adapt ) (Formula 1)

[0044] In Equation 1, the initial torque range M BuffRaw Since it is a known quantity, the optimal torque value can be selected during vehicle testing and development. This can take into account the fluctuation of the target torque command received by the motor and avoid frequent switching of the motor. Torque range self-learning update coefficient r M_Adapt The initial value of is 0, which can be continuously updated and saved after the vehicle is powered off. Thus, using formula 1, according to the initial torque range M BuffRaw and torque range self-learning update coefficient r M_Adapt , the second torque M in the preset torque range can be calculated Buff , and then determine the preset torque range (-M Buff , M Buff ).

[0045] In the above technical solution, if the motor target torque is between the first torque and the second torque, it is determined that the motor target torque meets the preset torque range, that is, the motor target torque meets the torque condition for the motor to enter the open-tube state; if the motor target torque is less than the first torque or the motor target torque is greater than the second torque, it is determined that the motor target torque does not meet the preset torque range, that is, the motor target torque does not meet the torque condition for the motor to enter the open-tube state, that is, the motor is in the closed-tube state.

[0046] Compared to setting the torque condition to 0 N·m so that the motor can enter the open-tube state, the embodiment of the present disclosure sets the torque condition to a preset torque range, which can provide a buffer area for the motor target torque fluctuation and avoid the motor from frequently switching between the open-tube state and the closed-tube state.

[0047] In the embodiment of the present disclosure, in step S103, when the motor target torque meets the preset torque range, the duration corresponding to the motor target torque meeting the preset torque range is obtained, and based on the duration and the preset delay duration, it is determined whether the motor enters the open-tube state.

[0048] Here, the duration of time that the motor target torque meets the preset torque range refers to the time from when the motor target torque enters the preset torque range (-M Buff , M Buff ) starts timing, and the motor target torque is kept within the preset torque range (-M Buff , M Buff ) within the corresponding duration. That is, the motor target torque enters the preset torque range (-M Buff , M Buff ), the motor will not immediately open the tube, but will keep the motor target torque within the preset torque range (-M Buff , M Buff ) and delay for a while, waiting for the motor target torque to become stable before the pipe opening operation can be performed.

[0049] Here, the preset delay duration is a specific value, which can be represented as T. The specific value of the preset delay duration can be determined based on different vehicle driving modes, the difference between the target remaining state of charge (SOC) of the power battery and the actual remaining power battery charge, and other factors. The following section describes how to determine the preset delay duration T in detail.

[0050] In some embodiments, step S103 includes: if the motor target torque range meets the preset torque range and the duration corresponding to the preset torque range is greater than or equal to the preset delay duration, it is determined that the motor enters the open-tube state; if the motor target torque range meets the preset torque range and the duration corresponding to the preset torque range is less than the delay duration, it is determined that the motor has not entered the open-tube state, that is, the motor is in the closed-tube state.

[0051] Refer to Formula 2, where T is the preset delay time, T Raw is the initial delay time, ∆T Raw is the delay compensation duration, r T_Adapt It is the delay time self-learning update coefficient.

[0052] T=(T Raw +∆T Raw )×(1+r T_Adapt ) (Formula 2)

[0053] In formula 2, the initial delay time T Raw is a known quantity, which refers to the time from when the motor target torque meets the preset torque range to when the motor actual torque does not meet the preset torque range. The initial delay time T can be determined according to the following method: the motor receives the target torque command to meet the preset torque range (-M Buff , M Buff ), the motor torque response control, torque closed loop response control does not exceed ±M Buff The time when the target torque command received from the motor meets the preset torque range (-M Buff , M Buff ) and the time starts from the moment the actual motor torque is within the preset torque range (-M Buff , M Buff ) mutations exceeding ±M Buff until the moment.

[0054] In Equation 2, the delay compensation duration ∆T Raw It is a known quantity, which is calculated based on the driving mode and the difference between the target remaining capacity of the power battery and the actual remaining capacity of the power battery SOC Diff Definitely got it.

[0055] In formula 2, the delay time self-learning update coefficient r T_Adapt The initial value of is 0, which can be continuously updated and saved after the vehicle is powered off. In this way, using formula 2, according to the initial delay time T Raw , delay compensation duration ∆T Raw and delay time self-learning update coefficient r T_Adapt , the preset delay time T can be calculated.

[0056] It should be noted that the vehicle's driving modes can be categorized into Economy (i.e., energy-saving mode), Normal, and Sport. Economy mode is more fuel-efficient and suitable for daily commuting; Normal mode maintains power while achieving better fuel economy; Sport mode offers a more aggressive driving style, providing greater power and speed. Economy mode controls engine speed through optimal gear selection, reducing unnecessary fuel consumption; Normal mode provides a more balanced throttle response and a simpler and more comfortable handling; Sport mode delivers a burst of instant power by increasing engine speed or quickly downshifting.

[0057] In economic mode, the shorter the preset delay time T, the earlier the motor opens, and there is no need to control the balance of the motor 0N·m after the motor opens, and the better the economy. In sports mode, the longer the preset delay time T, the later the motor opens to avoid untimely torque response when the driver suddenly accelerates. This is mainly because the vehicle can only obtain better dynamics when the motor is in the off-tube state. If the motor is in the on-tube state, the motor needs to perform the off-tube operation before it can respond to the dynamics, resulting in untimely torque response. In normal mode, the preset delay time T is between the preset delay time T corresponding to the economic mode and the sports mode. When only considering the vehicle's driving mode, the delay compensation time ∆T in economic mode Raw Minimum, delay compensation duration ∆T in sports mode Raw Maximum, delay compensation duration ∆T in normal mode Raw It is somewhere between the two mentioned above.

[0058] Assuming the vehicle's driving mode remains unchanged, the power battery SOC Diff The larger the value, the shorter the preset delay time T is to avoid the power battery SOC Diff Further reduce. Consider only the power battery SOC Diff When SOC Diff The larger the delay compensation time ∆T Raw The smaller.

[0059] Comprehensively consider the vehicle's driving mode and power battery SOC Diff , calibrate the delay compensation time ∆T Raw Different driving modes, different power battery SOC Diff Under the premise that the dynamic performance meets the requirements of vehicle development and acceleration performance, the smaller the SOC change, the better. Among them, the SOC change refers to the change in the actual remaining battery power over a period of time.

[0060] In a specific embodiment, the driving mode of the vehicle is the economic mode, and the power battery SOC Diff =0, the delay compensation time ∆T is obtained by calibration Raw =0.5s.

[0061] The torque range self-learning update coefficient r is described in detail below. M_Adapt and delay time self-learning update coefficient r T_Adapt Before performing a self-learning update, you need to first determine whether the vehicle meets the conditions for self-learning update.

[0062] In some embodiments, the method also includes: obtaining vehicle information and determining whether the vehicle meets the self-learning update conditions; if the vehicle meets the self-learning update conditions, updating the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working conditions; based on the updated torque range self-learning update coefficient and the updated delay time self-learning update coefficient under the corresponding working conditions, updating the preset torque range and preset delay time under the same working conditions.

[0063] Here, if the vehicle meets the self-learning update conditions, then the vehicle can perform self-learning update, updating the torque range self-learning update coefficient and the delay time self-learning update coefficient; if the vehicle does not meet the self-learning update conditions, then the vehicle cannot perform self-learning update, and still uses the torque range self-learning update coefficient and the delay time self-learning update coefficient after the last update.

[0064] Here, the self-learning update conditions of the torque range self-learning update coefficient and the delay time self-learning update coefficient are the same.

[0065] In some embodiments, the self-learning update conditions include:

[0066] (1) The motor target torque meets the preset torque range (-M Buff , M Buff );

[0067] (2) The driving mode of the vehicle does not change from the time when the motor target torque satisfies the preset torque range to the time when the motor target torque does not satisfy the preset torque range, that is, the driving mode of the vehicle does not change from the time when (1) is satisfied to the time when (1) is not satisfied;

[0068] (3) The motor has not entered the open state, that is, the motor is in the closed state;

[0069] (4) The air conditioner in the vehicle is not turned on;

[0070] (5) The sum of the power of thermal management and electrical equipment in the vehicle is less than the preset power;

[0071] (6) The generator in the vehicle is not in operation;

[0072] (7) The vehicle has not completed the update of the torque range self-learning update coefficient in a driving cycle;

[0073] (8) The vehicle has not yet completed the update of the delay duration self-learning update coefficient in a driving cycle.

[0074] Here, when the above conditions are met at the same time, the vehicle meets the self-learning update conditions.

[0075] Here, according to the self-learning update conditions (1) and (3), the motor target torque meets the preset torque range (-M Buff , M Buff ), and the motor target torque meets the preset torque range for a duration that is less than the preset delay time T, at which time the motor is in the off state.

[0076] Here, according to the self-learning update condition (5), the sum of the power of the thermal management and electrical equipment in the vehicle is less than the preset power, and the electrical power in the vehicle is less than the preset power. In a specific embodiment, the preset power is 0.1 kW.

[0077] Here, according to the self-learning update conditions (7) and (8), the vehicle's driving cycle refers to the process from ignition, operation, to shutdown. A vehicle's driving cycle can also be described as the process from key power on to key off. In other words, the vehicle can only update the torque range self-learning update coefficient once during the key power on and key off cycle; and the vehicle can only update the delay duration self-learning update coefficient once during the key power on and key off cycle.

[0078] The torque range and delay duration self-learning update coefficients must be updated based on the vehicle's operating conditions. These coefficients can vary depending on the vehicle's operating conditions. If the vehicle meets the self-learning update conditions, the torque range and delay duration self-learning update coefficients are updated for the corresponding operating conditions.

[0079] When the vehicle meets the self-learning update conditions, the following parameters can be recorded:

[0080] (1) Motor initial target torque M Start , refers to the first time the motor meets the preset torque range (-M Buff , M Buff ) corresponds to the motor target torque at the moment when the motor target torque enters the preset torque range (-M Buff , M Buff ) within the target torque of the motor;

[0081] (2) Power battery initial charge difference SOC DiffStart , refers to the first time that the motor target torque meets the preset torque range (-M Buff , M BuffThe difference between the target remaining capacity of the power battery and the actual remaining capacity of the power battery at the moment of ) is the power battery SOC Diff When the motor target torque first enters the preset torque range (-M Buff , M Buff ) is recorded as the first power battery SOC DiffStart ;

[0082] (3) Vehicle driving mode;

[0083] (4) Absolute value of motor torque difference |M TrqDiff | refers to the maximum value among the absolute values ​​of the difference between the motor target torque and the motor actual torque in each sampling period in the latest N sampling periods, where N is a positive integer.

[0084] Here, the absolute value of the motor torque difference |M TrqDiff |It can be determined according to the following method: the motor target torque and the motor actual torque can be collected in each sampling period, and the absolute value of the difference between the motor target torque and the motor actual torque corresponding to each sampling period is calculated; among the absolute values ​​of the differences between the N motor target torques and the motor actual torques corresponding to the latest N sampling periods, the maximum value of the absolute values ​​of the differences between the N motor target torques and the motor actual torques is selected as the absolute value of the motor torque difference|M TrqDiff |.

[0085] For example, when the number of sampling periods N=10, the absolute value of the difference between the motor target torque and the motor actual torque corresponding to each sampling period can be calculated, that is, the absolute value of the difference between the motor target torque and the motor actual torque of 10 motors is obtained; among the absolute values ​​of the difference between the motor target torque and the motor actual torque of 10 motors, the absolute value of the difference between the motor target torque and the motor actual torque is selected as the absolute value of the motor torque difference |M TrqDiff |.

[0086] Here, the most recent N sampling periods refer to the current sampling period as the first sampling period, the sampling period immediately preceding the current sampling period as the second sampling period, and so on, with the N-1th sampling period occurring earlier than the current sampling period as the Nth sampling period. In a specific embodiment, the sampling period may be 10 ms.

[0087] It should be noted that the number of sampling cycles N and the absolute value of the motor's first target torque |M Start | Related. Referring to FIG2, FIG2 is a schematic diagram of the absolute value of the first target torque of the motor and the number of sampling cycles provided in an example. As shown in FIG2, the absolute value of the first target torque of the motor|M Start The smaller | is, the smaller the number of sampling cycles N is; the absolute value of the motor's first target torque |M StartThe larger the | is, the larger the number of sampling cycles N is. This is mainly due to the absolute value of the motor's first target torque |M Start The smaller the value, the more you can feel the vehicle shaking when the torque fluctuation is the same; the absolute value of the motor's first target torque |M Start | is larger, and a too small number of sampling cycles N may result in too few samples, which in turn causes the torque range self-learning update coefficient to be falsely triggered too frequently.

[0088] It should be noted that the greater the fluctuation of the motor target torque, the more the number of sampling cycles needs to be increased to describe the fluctuation of the motor target torque as completely as possible. The present disclosure has no special limitation on the number of sampling cycles N, which can be calculated based on the absolute value of the motor's first target torque |M Start |Select the size.

[0089] In some embodiments, the same operating conditions include the same initial target torque of the motor, the same initial charge difference of the power battery, and the same driving mode.

[0090] Determining whether the two vehicles are operating in the same condition requires checking the consistency of three parameters: the initial target motor torque, the initial power battery charge difference, and the driving mode. Only when all three parameters are identical are the two vehicles considered to be operating in the same condition; otherwise, the two vehicles are considered to be operating in different conditions.

[0091] From the time when the vehicle meets the self-learning update conditions until the vehicle does not meet the self-learning update conditions, where the vehicle meets the self-learning update conditions means that the vehicle meets all the self-learning update conditions, and the vehicle does not meet the self-learning update conditions means that the vehicle does not meet at least one of the self-learning update conditions. If the reason why the vehicle does not meet the self-learning update conditions is that the motor enters the open-tube state, that is, condition (3) is not met, the following parameters can be recorded at this time:

[0092] (1) Motor open time T Spare , refers to the time from when the motor enters the open-tube state to when the motor requests to close the tube again under the same working conditions, that is, the time the motor is in the open-tube state;

[0093] (2) Power battery SOC change SOC DiffInterval , refers to the change in the actual remaining power of the power battery from the time the motor enters the open-tube state to the time the motor requests to close the tube again under the same working conditions.

[0094] In some embodiments, when the vehicle meets the self-learning update conditions, the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working condition are updated, including: according to the absolute value of the motor torque difference |M TrqDiff | and motor open-tube duration T Spare , determine how to update the torque range self-learning update coefficient r under the corresponding working conditions M_Adaptand delay time self-learning update coefficient r T_Adapt .

[0095] Specifically, the absolute value of the motor torque difference |M TrqDiff | and the preset torque difference M TrqDiffMax The relationship between the magnitudes of the motor torque difference |M TrqDiff The absolute value of the motor torque difference between the previous sampling period and the previous sampling period |M TrqDiff The relationship between the size of (z)| can be used to determine the torque fluctuation when the motor is in the closed state; the motor opening time T Spare The relationship between the size of the motor and the preset delay time T is used to determine the length of time the motor is in the open state; according to the torque fluctuation when the motor is in the closed state and the length of time the motor is in the open state, the torque range self-learning update coefficient r under the corresponding working condition is updated. M_Adapt and delay time self-learning update coefficient r T_Adapt .

[0096] Here, how to update the torque range self-learning update coefficient r under the corresponding working conditions M_Adapt and delay time self-learning update coefficient r T_Adapt , two factors need to be considered. First, the torque fluctuation when the motor is in the closed state needs to be considered; second, the length of time when the motor is in the open state needs to be considered. Based on the above two factors, determine how to update the torque range self-learning update coefficient r under the corresponding working conditions M_Adapt and delay time self-learning update coefficient r T_Adapt .

[0097] The present disclosure provides a preset torque difference M TrqDiffMax There is no special limitation, and those skilled in the art can make flexible choices according to actual conditions. In a specific embodiment, the preset torque difference M TrqDiffMax It can be 3N·m.

[0098] Regarding the first aspect, consider the torque fluctuation when the motor is in the off state: if the absolute value of the motor torque difference |M TrqDiff |Greater than the preset torque difference M TrqDiffMax , that is, the motor target torque fluctuates greatly; and the absolute value of the motor torque difference |M TrqDiff |Greater than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|, that is, the target torque of the motor is in an increasing trend; then it is determined that the motor is in the first torque state when it is in the off state, that is, the torque fluctuation of the motor is large when it is in the off state.

[0099] If the absolute value of the motor torque difference |M TrqDiff |Less than the preset torque difference M TrqDiffMax, that is, the motor target torque fluctuation is small; and the absolute value of the motor torque difference |M TrqDiff |Less than or equal to the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|, that is, the motor target torque is in a decreasing trend; then it is determined that the motor is in the second torque state when it is in the off state, that is, the torque fluctuation of the motor is small when it is in the off state.

[0100] Regarding the second aspect, consider the length of time the motor is in the open state: if the motor is open for a long time T Spare is less than or equal to the preset delay time T, then it is determined that the motor is in the first time state when in the open state, that is, the time the motor is in the open state is short; if the motor open time T Spare If the time is greater than the preset delay time T, it is determined that the motor is in the second time state when in the open tube state, that is, the time the motor is in the open tube state is longer.

[0101] Taking the above two factors into consideration, the following four examples illustrate how to update the torque range self-learning update coefficient r under the corresponding working conditions. M_Adapt and delay time self-learning update coefficient r T_Adapt .

[0102] (1) If the absolute value of the motor torque difference |M TrqDiff |Greater than the preset torque difference M TrqDiffMax (For example, M TrqDiffMax can be 3N·m), and the absolute value of the motor torque difference |M TrqDiff |Greater than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|; At the same time, the motor open time T Spare Less than or equal to the preset delay time T. This means that the motor is in the first torque state when the tube is closed and in the first time state when the tube is open, that is, the torque fluctuation is large when the tube is closed and the time the motor is in the open state is short. This can reduce the torque range self-learning update coefficient r under the same working conditions. M_Adapt , thereby reducing the preset torque range (−M Buff , M Buff ), avoid the frequency of the motor entering the open-tube state and improve jitter.

[0103] In the above technical solution, T Spare ≤k1×T. In a specific embodiment, k1=0.3.

[0104] As shown in formula 3, r M_Adapt is the torque range self-learning update coefficient after this update, r M_Adapt (z) is the torque range self-learning update coefficient after the last update, f(|M Start |,|MTrqDiff |) refers to the change in the torque range self-learning update coefficient and the absolute value of the motor's initial target torque |M Start |、Absolute value of motor torque difference|M TrqDiff Using Equation 3, the torque range self-learning update coefficient after this update can be calculated.

[0105] r M_Adapt =r M_Adapt (z)-f(|M Start |,|M TrqDiff |) (Formula 3)

[0106] Refer to FIG3, FIG3 is a schematic diagram of the absolute value of the first target torque of the motor and the absolute value of the motor torque difference provided by an example. As shown in FIG3, when the absolute value of the motor torque difference |M TrqDiff |Unchanged, the absolute value of the motor's initial target torque|M Start The smaller | is, the greater the f(|M Start |,|M TrqDiff |) is larger; the absolute value of the motor's first target torque |M Start |Unchanged, the absolute value of the motor torque difference|M TrqDiff |The larger the size, the greater the f(|M Start |,|M TrqDiff |) is larger.

[0107] (2) If the absolute value of the motor torque difference |M TrqDiff |Less than the preset torque difference M TrqDiffMax (For example, M TrqDiffMax can be 0.5N·m), and the absolute value of the motor torque difference |M TrqDiff |Not greater than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|; At the same time, the motor open time T Spare Less than or equal to the preset delay time T. This means that the motor is in the second torque state when the tube is closed and in the first time state when the tube is open, that is, the torque fluctuation is small when the tube is closed and the time the motor is in the open state is short. This can increase the torque range self-learning update coefficient r under the same working conditions. M_Adapt , thereby increasing the preset torque range (-M Buff , M Buff ), increase the frequency of the motor entering the open-tube state and improve economic efficiency.

[0108] In the above technical solution, T Spare ≤k2×T. In a specific embodiment, k2=0.6.

[0109] As shown in formula 4, r M_Adaptis the torque range self-learning update coefficient after this update, r M_Adapt (z) is the torque range self-learning update coefficient after the last update. Using Equation 4, the torque range self-learning update coefficient after this update can be calculated.

[0110] r M_Adapt =r M_Adapt (z) + 0.05 (Equation 4)

[0111] (3) If the absolute value of the motor torque difference |M TrqDiff |Greater than the preset torque difference M TrqDiffMax (For example, M TrqDiffMax can be 3N·m), and the absolute value of the motor torque difference |M TrqDiff |Greater than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|; At the same time, the motor open time T Spare This is greater than the preset delay time T. This indicates that the motor is in the first torque state when the motor is closed and in the second time state when the motor is open. In other words, the torque fluctuations are large when the motor is closed and the motor spends more time in the open state. This can reduce the delay time self-learning update coefficient under the same operating conditions, thereby reducing the preset delay time and allowing the motor to enter the open state earlier.

[0112] In the above technical solution, T Spare ≤k3×T. In a specific embodiment, k3=2.

[0113] As shown in Formula 5, r T_Adapt is the self-learning update coefficient of the delay time after this update, r T_Adapt (z) is the delay duration self-learning update coefficient after the last update, and ∆r1 is the change in the delay duration self-learning update coefficient. Using Equation 5, we can calculate the delay duration self-learning update coefficient after this update.

[0114] r T_Adapt =r T_Adapt (z)-∆r1 (Equation 5)

[0115] In a specific embodiment, ∆r1=0.1s.

[0116] It should be noted that if the driving mode corresponding to the working condition is the economic mode, then the update of the delay time self-learning update coefficient is shown in Formula 6. T_Adapt is the self-learning update coefficient of the delay time after this update, r T_Adapt (z) is the delay time self-learning update coefficient after the last update, and ∆r2 is the change in the delay time self-learning update coefficient. In this case, ∆r2 is not less than ∆r1.

[0117] r T_Adapt =r T_Adapt (z)-∆r2 (Equation 6)

[0118] In a specific embodiment, ∆r2=0.15s.

[0119] (4) If the absolute value of the motor torque difference |M TrqDiff |Less than the preset torque difference M TrqDiffMax (For example, M TrqDiffMax can be 0.5N·m), and the absolute value of the motor torque difference |M TrqDiff |Not greater than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|; At the same time, the motor open time T Spare Greater than the preset delay time T. This indicates that the motor is in the second torque state when in the off-state and in the second duration state when in the open-state. In other words, torque fluctuations are small in the off-state and the motor spends more time in the open-state. This increases the delay time self-learning update coefficient under the same operating conditions, thereby increasing the preset delay time, delaying the motor's entry into the open-state and improving vehicle acceleration.

[0120] In addition, the power battery SOC change SOC can also be determined DiffInterval Less than or equal to a preset SOC change amount SOC1. In a specific embodiment, the preset SOC change amount SOC1=0.1%.

[0121] In the above technical solution, T Spare ≤k4×T. In a specific embodiment, k4=3.

[0122] As shown in Formula 7, r T_Adapt is the self-learning update coefficient of the delay time after this update, r T_Adapt (z) is the delay duration self-learning update coefficient after the last update, and ∆r3 is the change in the delay duration self-learning update coefficient. Using Equation 7, we can calculate the delay duration self-learning update coefficient after this update.

[0123] r T_Adapt =r T_Adapt (z)−∆r3 (Equation 7)

[0124] In a specific embodiment, ∆r3=0.05s.

[0125] It should be noted that if the driving mode corresponding to the working condition is the power mode, if the absolute value of the motor torque difference |M TrqDiff |Less than the preset torque difference M TrqDiffMax (For example, M TrqDiffMaxcan be 0.5N·m), and the absolute value of the motor torque difference |M TrqDiff |Less than the absolute value of the motor torque difference in the previous sampling period|M TrqDiff (z)|; This indicates that the torque fluctuation is small when the motor is in the off state. At the same time, T Spare ≥k4×T, where k4=3. This means the motor is in the open state for a long time. In addition, SOC DiffInterval ≤1.1×SOC1. At this time, the update coefficient of the self-learning delay time is updated as shown in formula 8. T_Adapt is the self-learning update coefficient of the delay time after this update, r T_Adapt (z) is the delay time self-learning update coefficient after the last update, and ∆r4 is the change in the delay time self-learning update coefficient. In this case, ∆r4 is not less than ∆r3.

[0126] r T_Adapt =r T_Adapt (z)−∆r4 (Equation 8)

[0127] In a specific embodiment, ∆r4=0.15s.

[0128] Combining the above four self-learning update coefficients r for torque range M_Adapt Update of self-learning update coefficient r and delay time T_Adapt : If the motor is in the first torque state when the tube is closed and the motor is in the first duration state when the tube is open, that is, the torque fluctuation is large when the tube is closed and the time when the motor is in the open state is short, then reduce the torque range self-learning update coefficient r under the same working conditions M_Adapt If the motor is in the second torque state when the tube is closed and in the first duration state when the tube is open, that is, the torque fluctuation is small when the tube is closed and the time when the motor is in the open state is short, then increase the torque range self-learning update coefficient r under the same working conditions. M_Adapt If the motor is in the first torque state when the tube is closed and in the second time state when the tube is open, that is, the torque fluctuation is large when the tube is closed and the time when the motor is in the open state is long, then reduce the delay time self-learning update coefficient r under the same working conditions T_Adapt If the motor is in the second torque state when the tube is closed and the motor is in the second duration state when the tube is open, that is, the torque fluctuation is small when the tube is closed and the motor is in the second duration state when the tube is open, then increase the delay time self-learning update coefficient r under the same working conditions. T_Adapt .

[0129] In some embodiments, according to the updated torque range self-learning update coefficient and the updated delay time self-learning update coefficient under the corresponding working condition, the preset torque range and the preset delay time under the same working condition are updated, including: according to the initial torque range MBuffRaw And the updated torque range self-learning update coefficient r M_Adapt , determine the updated preset torque range M Buff ; According to the initial delay time T Raw , delay compensation duration ∆T Raw and the updated delay self-learning update coefficient r T_Adapt , determine the updated preset delay time T.

[0130] Here, referring to Formula 1, according to the initial torque range M BuffRaw And the updated torque range self-learning update coefficient r M_Adapt , the updated preset torque range M can be determined Buff . Refer to formula 2, according to the initial delay time T Raw , delay compensation duration ∆T Raw and the updated delay self-learning update coefficient r T_Adapt , determine the updated preset delay time T.

[0131] Referring to FIG4, FIG4 is a flow chart of the second embodiment of the motor control method provided by the present disclosure. As shown in FIG4, in step S401, the preset torque range (-M Buff , M Buff ).

[0132] In step S402, a preset delay time T for entering the open-tube state in the torque mode is obtained.

[0133] In step S403, if the self-learning update condition is met, the preset torque range (-M Buff , M Buff ) and the preset delay time T. Of course, the torque range self-learning update coefficient r needs to be updated first M_Adapt and delay time self-learning update coefficient r T_Adapt ; Then, according to equations 1 and 2, update the preset torque range under the same working conditions (-M Buff , M Buff ) and preset delay time T.

[0134] In step S404, it is determined whether the motor enters the open state. If the motor speed meets the preset speed condition, it is determined whether the motor target torque meets the preset torque range (-M Buff , M Buff ); When the motor target torque meets the preset torque range (-M Buff , M Buff ), it is determined that the motor target torque meets the preset torque range (-M Buff , M Buff) is greater than or equal to the preset delay time T, and then it is determined whether the motor can enter the open-tube state. That is, the motor target torque meets the preset torque range (-M Buff , M Buff ) and delay for the preset delay time T, the motor can start to enter the open-tube state.

[0135] Referring to FIG5 , FIG5 is a block diagram of a motor control device provided by an embodiment of the present disclosure. As shown in FIG5 , an embodiment of the present disclosure provides a motor control device. The embodiment of the present disclosure provides a motor control device, wherein the control device 500 includes: a first judgment module 502 configured to obtain a motor speed and determine whether the motor speed satisfies a preset speed condition; a second judgment module 504 configured to obtain a motor target torque when the motor speed satisfies the preset speed condition and determine whether the motor target torque satisfies a preset torque range; and a third judgment module 506 configured to obtain a duration corresponding to the motor target torque satisfying the preset torque range when the motor target torque satisfies the preset torque range, and determine whether the motor enters an open-tube state based on the duration and a preset delay time.

[0136] In some embodiments, the control device 500 also includes: a fourth judgment module, configured to: obtain vehicle information and determine whether the vehicle meets the self-learning update conditions; a first update module, configured to: update the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working conditions when the vehicle meets the self-learning update conditions; a second update module, configured to: update the preset torque range and preset delay time under the same working conditions based on the updated torque range self-learning update coefficient and the updated delay time self-learning update coefficient under the corresponding working conditions.

[0137] In some embodiments, the self-learning update conditions include: the motor target torque meets the preset torque range; the vehicle's driving mode remains unchanged from the time the motor target torque meets the preset torque range until the motor target torque does not meet the preset torque range; the motor does not enter the open-tube state; the air conditioner in the vehicle is not turned on; the sum of the power of the thermal management and electrical equipment in the vehicle is less than the preset power; the generator in the vehicle is not working; the vehicle has not completed the update of the torque range self-learning update coefficient in a driving cycle; the vehicle has not completed the update of the delay time self-learning update coefficient in a driving cycle.

[0138] In some embodiments, the same operating conditions include the same first target torque of the motor, the first power battery charge difference and the driving mode; wherein the first target torque of the motor is the target torque of the motor corresponding to the moment when the motor first meets the preset torque range; the first power battery charge difference is the difference between the target remaining power of the power battery corresponding to the moment when the motor target torque first meets the preset torque range and the actual remaining power of the power battery.

[0139] In some embodiments, the first update module is configured to: determine the torque fluctuation when the motor is in the off-tube state based on the size relationship between the absolute value of the motor torque difference and the preset torque difference, and based on the size relationship between the absolute value of the motor torque difference and the absolute value of the motor torque difference in the previous sampling period; wherein the absolute value of the motor torque difference is the maximum value among the absolute values ​​of the difference between the motor target torque and the motor actual torque in each sampling period in the most recent N sampling periods, and N is a positive integer; determine the length of time the motor is in the on-tube state based on the size relationship between the motor on-tube time and the preset delay time; the motor on-tube time is the time from the motor entering the on-tube state to the motor requesting to shut down under the same working conditions; based on the torque fluctuation when the motor is in the off-tube state and the length of time the motor is in the on-tube state, update the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working conditions.

[0140] In some embodiments, the first update module is configured to: if the absolute value of the motor torque difference is greater than the preset torque difference, and the absolute value of the motor torque difference is greater than the absolute value of the motor torque difference in the previous sampling period, determine that the motor is in the first torque state when it is in the off state; if the absolute value of the motor torque difference is less than the preset torque difference, and the absolute value of the motor torque difference is less than or equal to the absolute value of the motor torque difference in the previous sampling period, determine that the motor is in the second torque state when it is in the off state.

[0141] In some embodiments, the first update module is configured to: if the motor open-tube duration is less than or equal to the preset delay duration, determine that the motor is in the first duration state when in the open-tube state; if the motor open-tube duration is greater than the preset delay duration, determine that the motor is in the second duration state when in the open-tube state.

[0142] In some embodiments, the first update module is configured to: if the motor is in a first torque state when in the off-tube state and is in a first duration state when in the open-tube state, reduce the torque range self-learning update coefficient under the same working condition; if the motor is in a second torque state when in the off-tube state and is in a first duration state when in the open-tube state, increase the torque range self-learning update coefficient under the same working condition; if the motor is in a first torque state when in the off-tube state and is in a second duration state when in the open-tube state, reduce the delay duration self-learning update coefficient under the same working condition; if the motor is in a second torque state when in the off-tube state and is in a second duration state when in the open-tube state, increase the delay duration self-learning update coefficient under the same working condition.

[0143] In some embodiments, the second update module is configured to: determine the updated preset torque range based on the initial torque range and the updated torque range self-learning update coefficient; determine the updated preset delay period based on the initial delay period, the delay compensation period and the updated delay period self-learning update coefficient; wherein the initial delay period is the time from when the motor target torque meets the preset torque range to when the motor actual torque does not meet the preset torque range; the delay compensation period is determined based on the driving mode and the difference between the target remaining power of the power battery and the actual remaining power of the power battery.

[0144] In some embodiments, the third judgment module is configured to: determine that the motor enters the open-tube state if the duration is greater than or equal to the preset delay duration; and determine that the motor does not enter the open-tube state if the duration is less than the delay duration.

[0145] Referring to Figure 6 , which is a block diagram of an electronic device provided in an embodiment of the present disclosure, the present disclosure provides an electronic device 600 comprising: a storage device 602 for storing executable instructions; and a processing device 604 for executing the executable instructions stored in the storage device 602 to implement the motor control method of the above technical solution.

[0146] In the embodiments of the present disclosure, electronic device 600 may include, but is not limited to, mobile terminals such as mobile phones, laptop computers, digital broadcast receivers, personal digital assistants (PDAs), tablet computers, portable multimedia players (PMPs), or vehicle-mounted terminals, as well as fixed terminals such as digital televisions or desktop computers. The electronic device 600 illustrated in FIG6 is only one feasible embodiment and should not limit the functionality or scope of use of the embodiments of the present disclosure.

[0147] Here, the processing device 604 may be, for example, a central processing unit (CPU) and a graphics processing unit (GPU). The processing device 604 may perform various operations based on programs stored in a read-only memory (ROM) 606; alternatively, the processing device 604 may load programs stored in the storage device 602 into a random access memory (RAM) 608 to perform various operations. The RAM 608 may also store programs and data required for the electronic device 600 to perform various operations. The processing device 604, the ROM 606, and the RAM 608 are interconnected via a bus 610. An input / output interface 612 is also connected to the bus 610.

[0148] As shown in FIG6 , the electronic device 600 may further include an input device 614, an output device 616, and a communication device 618 connected to the input / output interface 612. The input device 614 may be, for example, a touch screen, a touchpad, a keyboard, a mouse, a camera, or a microphone. The output device 616 may be, for example, a display or a speaker. The communication device 618 may enable the electronic device 600 to communicate with other devices via wired or wireless communication to exchange data.

[0149] The present disclosure provides a storage medium storing a computer program that, when executed, implements the motor control method described in the above technical solution. The computer program includes program code for executing the motor control method described in the above technical solution.

[0150] In the embodiments of the present disclosure, the storage medium may be a volatile memory, such as a random access memory; or a non-volatile memory, such as a read-only memory, a flash memory, a hard disk drive (HDD), or a solid state drive (SSD).

[0151] Those skilled in the art will appreciate that embodiments of the present disclosure may be provided as methods, apparatuses, electronic devices, or computer program products. Thus, the present disclosure may take the form of hardware embodiments, software embodiments, or embodiments combining software and hardware. Furthermore, the present disclosure may take the form of a computer program product implemented on one or more computer-usable storage media containing computer-usable program code.

[0152] The flowcharts and block diagrams in the accompanying drawings illustrate the possible architectures, functions, and operations of the control methods, control devices, electronic devices, and storage media according to the embodiments of the present disclosure. Each box in the flowchart or block diagram may represent a unit (module), a program segment, or a portion of code, which contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative embodiments, the functions marked in the boxes may occur in an order different from that marked in the accompanying drawings. For example, two boxes shown in succession may actually be executed substantially in parallel, or they may sometimes be executed in the opposite order, depending on the functions involved. It should be noted that each box in the block diagram and / or flowchart, as well as combinations of boxes in the block diagram and / or flowchart, may be implemented using a dedicated hardware-based system that performs the specified function or operation, or may be implemented using a combination of dedicated hardware and computer instructions.

[0153] The units (modules) involved in the embodiments of the present disclosure may be implemented by software or by hardware.

[0154] An embodiment of the present disclosure also provides a vehicle that uses the motor control method of the above technical solution in a torque control mode.

[0155] Embodiments of the present disclosure provide a motor control method and device, electronic device, and storage medium. The method is used in a torque control mode for the motor and includes: obtaining a motor speed and determining whether the motor speed satisfies a preset speed condition; if the motor speed satisfies the preset speed condition, obtaining a motor target torque and determining whether the motor target torque satisfies a preset torque range; if the motor target torque satisfies the preset torque range, obtaining a duration corresponding to when the motor target torque satisfies the preset torque range, and determining whether the motor enters an open-circuit state based on the duration and a preset delay time. In the embodiment of the present disclosure, whether the motor speed satisfies the preset speed condition is first determined; if the motor speed satisfies the preset speed condition, whether the motor target torque satisfies the preset torque range is then determined; if the motor target torque satisfies the preset torque range, whether the motor enters an open-circuit state is finally determined based on the duration corresponding to when the motor target torque satisfies the preset torque range and a preset delay time. This method balances vehicle power, economy, and torque control accuracy, optimizes the motor switch control method in the torque control mode, and achieves precise control of the motor switch.

[0156] It should be understood that “one embodiment” or “an embodiment” mentioned throughout the specification means that specific features, structures or characteristics related to the embodiment are included in at least one embodiment of the present disclosure. Therefore, “in one embodiment” or “in an embodiment” appearing throughout the specification does not necessarily refer to the same embodiment. In addition, these specific features, structures or characteristics can be combined in one or more embodiments in any suitable manner. It should be understood that in the various embodiments of the present disclosure, the size of the serial numbers of the above-mentioned processes does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present disclosure. The serial numbers of the embodiments of the present disclosure are for description only and do not represent the advantages and disadvantages of the embodiments.

[0157] The above description is only a preferred embodiment of the present disclosure and does not limit the patent scope of the present disclosure. All equivalent structural transformations made by using the contents of the present disclosure and the drawings under the inventive concept of the present disclosure, or direct / indirect application in other related technical fields are included in the patent protection scope of the present disclosure.

Claims

1. A method for controlling a motor, the method being used in a torque control mode of the motor; the method comprising: Obtaining the motor speed, and determining whether the motor speed meets a preset speed condition; When the motor speed satisfies the preset speed condition, obtaining the motor target torque and determining whether the motor target torque satisfies the preset torque range; When the motor target torque satisfies the preset torque range, a duration corresponding to when the motor target torque satisfies the preset torque range is obtained, and whether the motor enters the open-tube state is determined based on the duration and the preset delay time.

2. The motor control method according to claim 1, wherein: The method further comprises: Obtaining vehicle information and determining whether the vehicle meets self-learning update conditions; When the vehicle meets the self-learning update condition, updating the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working condition; According to the updated torque range self-learning update coefficient and the updated delay time self-learning update coefficient under the corresponding working condition, the preset torque range and the preset delay time under the same working condition are updated.

3. The motor control method according to claim 2, wherein: The self-learning update conditions include: The motor target torque satisfies the preset torque range; During the period from when the motor target torque satisfies the preset torque range to when the motor target torque no longer satisfies the preset torque range, the driving mode of the vehicle remains unchanged; The motor has not entered the open-tube state; The air conditioner in the vehicle is not turned on; The sum of the power of thermal management and electrical equipment in the vehicle is less than a preset power; The generator in the vehicle is in an inoperative state; The vehicle has not completed updating the torque range self-learning update coefficient in a driving cycle; The vehicle has not completed updating the delay duration self-learning update coefficient in a driving cycle.

4. The motor control method according to claim 2, wherein: The same operating conditions include the same first target torque of the motor, the first power battery charge difference and the driving mode; wherein the first target torque of the motor is the target torque of the motor corresponding to the moment when the motor first meets the preset torque range; the first power battery charge difference is the difference between the target remaining power of the power battery and the actual remaining power of the power battery corresponding to the moment when the motor target torque first meets the preset torque range.

5. The motor control method according to claim 2, wherein: When the vehicle satisfies the self-learning update condition, updating the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working condition includes: The torque fluctuation of the motor when the motor is in the off state is determined based on a magnitude relationship between an absolute value of the motor torque difference and a preset torque difference, and a magnitude relationship between the absolute value of the motor torque difference and an absolute value of the motor torque difference in a previous sampling period; wherein the absolute value of the motor torque difference is the maximum value of the absolute value of the difference between the motor target torque and the motor actual torque in each of the most recent N sampling periods, where N is a positive integer; The length of time the motor is in the open state is determined based on the relationship between the motor open time and the preset delay time; the motor open time is the time from when the motor enters the open state to when the motor requests to close the motor under the same working conditions; According to the torque fluctuation when the motor is in the closed state and the length of time when the motor is in the open state, the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working conditions are updated.

6. The motor control method according to claim 5, wherein: The determining of the torque fluctuation when the motor is in the off state based on the magnitude relationship between the absolute value of the motor torque difference and the preset torque difference, and based on the magnitude relationship between the absolute value of the motor torque difference and the absolute value of the motor torque difference in the previous sampling period, includes: If the absolute value of the motor torque difference is greater than the preset torque difference, and the absolute value of the motor torque difference is greater than the absolute value of the motor torque difference in the previous sampling period, it is determined that the motor is in the first torque state when in the off state; If the absolute value of the motor torque difference is less than the preset torque difference, and the absolute value of the motor torque difference is less than or equal to the absolute value of the motor torque difference in the previous sampling period, it is determined that the motor is in the second torque state when in the shutdown state.

7. The motor control method according to claim 6, wherein: The determining of the duration of the motor being in the open state according to the relationship between the motor open time and the preset delay time includes: If the motor opening time is less than or equal to the preset delay time, determining that the motor is in the first time state when in the opening state; If the motor opening time length is greater than the preset delay time length, it is determined that the motor is in a second time length state when in the opening state.

8. The motor control method according to claim 7, wherein: The updating of the torque range self-learning update coefficient and the delay time self-learning update coefficient under the corresponding working condition according to the torque fluctuation when the motor is in the closed state and the length of time when the motor is in the open state includes: If the motor is in the first torque state when in the closed state and is in the first duration state when in the open state, reducing the torque range self-learning update coefficient under the same working conditions; If the motor is in the second torque state when in the closed state and is in the first duration state when in the open state, increasing the torque range self-learning update coefficient under the same working conditions; If the motor is in the first torque state when in the closed state and is in the second duration state when in the open state, reducing the delay duration self-learning update coefficient under the same working conditions; If the motor is in the second torque state when in the closed state and is in the second duration state when in the open state, the delay duration self-learning update coefficient under the same working conditions is increased.

9. The motor control method according to claim 2, wherein: The updating of the preset torque range and the preset delay time under the same working condition according to the updated torque range self-learning update coefficient and the updated delay time self-learning update coefficient under the corresponding working condition includes: Determine an updated preset torque range based on the initial torque range and the updated torque range self-learning update coefficient; The updated preset delay time is determined based on the initial delay time, the delay compensation time and the updated delay time self-learning update coefficient; wherein, the initial delay time is the time from when the motor target torque meets the preset torque range to when the motor actual torque does not meet the preset torque range; the delay compensation time is determined based on the driving mode and the difference between the target remaining power of the power battery and the actual remaining power of the power battery.

10. The motor control method according to claim 1, wherein: The determining, based on the duration and the preset delay duration, whether the motor enters the open-tube state includes: If the duration is greater than or equal to the preset delay duration, determining that the motor enters the open-tube state; If the duration is shorter than the delay duration, it is determined that the motor has not entered the open-tube state.

11. A control device for a motor, comprising: The first judgment module is configured to: obtain the motor speed and judge whether the motor speed meets the preset speed condition; The second judgment module is configured to: obtain the motor target torque when the motor speed meets the preset speed condition, and judge whether the motor target torque meets the preset torque range; The third judgment module is configured to: when the motor target torque meets the preset torque range, obtain the duration corresponding to the motor target torque meeting the preset torque range, and judge whether the motor enters the open-tube state according to the duration and the preset delay time.

12. An electronic device, comprising: a storage device for storing executable instructions; A processing device, configured to execute the executable instructions stored in the storage device to implement the motor control method according to any one of claims 1 to 10. 13 . A storage medium storing a computer program, wherein the computer program, when executed, implements the motor control method according to claim 1 .

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