Motor torque control method and apparatus, and storage medium

Abstract

A motor torque control method and apparatus, and a storage medium. The method comprises: on the basis of a first rotational speed of a motor at the current moment and a second rotational speed of the motor at the previous moment, determining whether a vehicle satisfies a first trigger condition corresponding to an anti-jitter mode; when the first trigger condition is satisfied, determining a compensation torque at the next moment on the basis of the first rotational speed and an anti-jitter angular velocity at the current moment; and updating the current torque on the basis of the compensation torque to obtain a target torque at the next moment.

Description

Methods, devices and storage media for controlling motor torque

[0001] This application claims priority to Chinese Patent Application No. 202411445395.6, filed on October 16, 2024, entitled "Method, Apparatus and Storage Medium for Controlling Motor Torque", the entire contents of which are incorporated herein by reference. Technical Field

[0002] This application relates to the field of vehicle control technology, and in particular to a method, device and storage medium for controlling motor torque. Background Technology

[0003] With the rapid development of the automotive industry, pure electric vehicles and hybrid vehicles have been widely used.

[0004] On the one hand, because the motor of a pure electric vehicle or hybrid vehicle is directly connected to the wheel through a single-stage transmission without a shifting structure, this physical characteristic makes the vehicle prone to insufficient damping during driving, which further causes vehicle vibration. On the other hand, the motor torque often changes frequently and significantly with driving conditions, and there is a switching of transmission gear surfaces caused by changes in torque direction. The underdamped characteristics caused by the relatively simple transmission system make the vehicle prone to vibration during conditions such as starting, rapid acceleration, rapid deceleration, transition from driving to energy recovery during acceleration, and exiting energy recovery, thus affecting the driver's riding experience.

[0005] Therefore, how to improve the vehicle vibration phenomenon that occurs during driving of pure electric vehicles and hybrid vehicles has become an urgent problem to be solved. Summary of the Invention

[0006] This application provides a method and apparatus for controlling motor torque, which can reduce vehicle vibration during operation, thereby improving the driver's riding experience. The technical solution is as follows:

[0007] On the one hand, a method for controlling motor torque is provided, the method comprising:

[0008] Get the motor's first speed at the current moment, the second speed at the previous moment, and the current torque;

[0009] Based on the first speed and the second speed, determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode;

[0010] If the vehicle meets the first triggering condition, the compensation torque for the next moment is determined based on the first rotational speed and the anti-shaking angular velocity at the current moment. The anti-shaking angular velocity is determined based on the anti-shaking angular velocity at the previous moment and the compensation torque at the current moment.

[0011] Based on the compensated torque, the current torque is updated to obtain the target torque for the next moment.

[0012] Optionally, determining whether the vehicle meets the first trigger condition corresponding to the anti-shake mode includes:

[0013] The maximum value between the first anti-jitter speed and the preset second anti-jitter speed is determined as the target anti-jitter speed, and the first anti-jitter speed is a preset multiple of the first speed;

[0014] If the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed, then the vehicle is determined to meet the first triggering condition.

[0015] Optionally, determining the compensation torque for the next moment based on the first rotational speed and the anti-jitter angular velocity at the current moment includes:

[0016] Determine the anti-jitter rotation speed corresponding to the anti-jitter angular velocity at the current moment;

[0017] The compensated speed is obtained based on the anti-jitter speed and the first speed adjustment PID controller;

[0018] The compensation torque is determined based on the compensation rotational speed.

[0019] Optionally, determining the compensation torque based on the compensation speed includes:

[0020] The initial torque is determined based on the compensated rotational speed;

[0021] The initial torque is filtered.

[0022] Based on a preset torque range, a threshold limit is applied to the initial torque after filtering to obtain the compensation torque, so that the compensation torque is within the preset torque range.

[0023] Optionally, the step of determining the anti-jitter angular velocity at the current moment includes:

[0024] The moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and the preset time interval are obtained, where the preset time interval is the time difference between the current moment and the previous moment.

[0025] Based on the compensation torque and the moment of inertia at the current moment, determine the anti-jitter angular acceleration at the current moment;

[0026] The anti-jitter angular velocity at the current moment is determined based on the anti-jitter angular acceleration at the previous moment, the anti-jitter angular velocity at the previous moment, and the preset time interval.

[0027] Optionally, obtaining the first rotational speed of the motor at the current moment includes:

[0028] The first rotational speed of the motor is calculated based on the rotation angle and rotation time of the motor.

[0029] On the other hand, a motor torque control device is provided, the device comprising:

[0030] The first acquisition module is used to acquire the motor's first speed at the current moment, the second speed at the previous moment, and the current torque;

[0031] The judgment module is used to determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode based on the first speed and the second speed.

[0032] The first determining module is used to determine the compensation torque at the next moment based on the first rotational speed and the anti-shaking angular velocity at the current moment if the vehicle meets the first triggering condition. The anti-shaking angular velocity is determined based on the anti-shaking angular velocity at the previous moment and the compensation torque at the current moment.

[0033] An update module is used to update the current torque based on the compensated torque to obtain the target torque at the next moment.

[0034] Optionally, the determination module includes:

[0035] The first determining submodule is used to determine the maximum value between the first anti-jitter speed and the preset second anti-jitter speed as the target anti-jitter speed, wherein the first anti-jitter speed is a preset multiple of the first speed;

[0036] The second determining submodule is used to determine that the vehicle meets the first triggering condition if the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed.

[0037] Optionally, the first determining module includes:

[0038] The third determining submodule is used to determine the anti-jitter rotation speed corresponding to the anti-jitter angular velocity at the current moment;

[0039] The first calculation submodule is used to adjust the PID controller based on the anti-jitter speed and the first speed to obtain the compensated speed;

[0040] The fourth determining submodule is used to determine the compensation torque based on the compensation speed.

[0041] Optionally, the fourth determining submodule is configured to: obtain an initial torque based on the compensation speed; filter the initial torque; and, based on a preset torque range, apply a threshold limit to the filtered initial torque to obtain the compensation torque, so that the compensation torque is within the preset torque range.

[0042] Optionally, the device further includes:

[0043] The second acquisition module is used to acquire the moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and a preset time interval, wherein the preset time interval is the time difference between the current moment and the previous moment.

[0044] The second determining module is used to determine the anti-jitter angular acceleration at the current moment based on the compensation torque and the moment of inertia at the current moment.

[0045] The third determining module is used to determine the anti-jitter angular velocity at the current moment based on the anti-jitter angular acceleration at the previous moment, the anti-jitter angular velocity at the previous moment, and the preset time interval.

[0046] Optionally, the first acquisition module includes:

[0047] The second calculation submodule is used to calculate the first speed of the motor based on the rotation angle and rotation time of the motor.

[0048] On the other hand, a computer device is provided, the computer device including one or more processors and one or more memories, the one or more memories storing at least one instruction, the instruction being loaded and executed by the one or more processors to implement the operation performed by the motor torque control method described above.

[0049] On the other hand, a storage medium is provided that stores at least one instruction, which is loaded and executed by a processor to implement the operation performed by the motor torque control method described above.

[0050] The beneficial effects of the technical solution provided in this application include at least the following:

[0051] This application provides a method for controlling motor torque. By using the motor's current first speed and the previous second speed, it is determined whether the vehicle meets the first trigger condition corresponding to the anti-vibration mode. If the first trigger condition is met, the compensation torque for the next moment is determined based on the first speed and the anti-vibration angular velocity at the current moment. The current torque is then updated based on the compensation torque to obtain the target torque for the next moment. In this way, after the first trigger condition is met, the motor speed fluctuation can be effectively suppressed in real time, thereby suppressing vehicle vibration and improving the vehicle's ride comfort. Attached Figure Description

[0052] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0053] Figure 1 is a flowchart of a motor torque control method provided in an embodiment of this application;

[0054] Figure 2 is a flowchart of another method for controlling motor torque provided in an embodiment of this application;

[0055] Figure 3 is a flowchart of the steps for determining the anti-jitter angular velocity at the current moment provided in an embodiment of this application;

[0056] Figure 4 is a schematic diagram of the structure of a motor torque control device provided in an embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0058] Electric vehicles can include pure electric vehicles and hybrid vehicles. Electric vehicles are powered by an onboard power source, using an electric motor to drive the wheels. Because the motor in pure electric vehicles or hybrid vehicles is directly connected to the wheels via a single-stage transmission without a gear shift mechanism, this physical characteristic makes the vehicle prone to insufficient damping during operation, further causing vehicle vibration. On the other hand, the motor torque often changes frequently and significantly with driving conditions, and there is transmission gear surface switching caused by changes in torque direction. The relatively simple transmission system results in underdamped characteristics, making the vehicle prone to vibration during conditions such as starting, rapid acceleration, rapid deceleration, transitions between driving and energy recovery during acceleration, and disengagement from energy recovery.

[0059] Based on this, the embodiments of this application provide a method for controlling motor torque, which effectively suppresses motor vibration in automobiles and improves driving comfort.

[0060] Figure 1 is a flowchart of a motor torque control method provided in an embodiment of this application. This method can be applied to the vehicle controller in an electric vehicle. Referring to Figure 1, the method includes the following steps.

[0061] Step 101: Obtain the motor's first speed at the current moment, the second speed at the previous moment, and the current torque.

[0062] Step 102: Based on the first speed and the second speed, determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode.

[0063] Step 103: If the vehicle meets the first trigger condition, determine the compensation torque for the next moment based on the first rotational speed and the anti-shaking angular velocity at the current moment.

[0064] The anti-shake angular velocity is determined based on the anti-shake angular velocity of the previous moment and the compensation torque of the current moment.

[0065] Step 104: Based on the compensation torque, update the current torque to obtain the target torque for the next moment.

[0066] This application provides a method for controlling motor torque. By using the motor's current first speed and the previous second speed, it is determined whether the vehicle meets the first trigger condition corresponding to the anti-vibration mode. When the first trigger condition is met, it indicates that the vehicle is vibrating under the current operating conditions. Then, based on the first speed and the anti-vibration angular velocity at the current moment, the compensation torque for the next moment is determined. Based on the compensation torque, the current torque is updated to obtain the target torque for the next moment. In this way, after the first trigger condition is met, the motor speed fluctuation can be effectively suppressed in real time, thereby suppressing vehicle vibration and improving the vehicle's ride comfort.

[0067] Figure 2 is a flowchart of another motor torque control method provided in an embodiment of this application. This method can be applied to the vehicle controller in an electric vehicle. Referring to Figure 2, the method includes the following steps.

[0068] Step 201: Obtain the motor's first speed at the current moment, the second speed at the previous moment, and the current torque.

[0069] The first rotational speed of the motor at the current moment can be the real-time rotational speed of the motor calculated in real time. In this embodiment, the first rotational speed of the motor can be calculated based on the rotation angle and rotation time of the motor. The rotation angle of the motor is the rotation angle from the previous moment to the current moment, and the rotation time is the time between the previous moment and the current moment. Specifically, the first rotational speed is obtained by dividing the rotation angle by the rotation time.

[0070] In this embodiment, the second rotational speed at the previous moment is obtained by dividing the rotation angle from the moment before the previous moment to the previous moment by the time corresponding to that rotation angle.

[0071] In this embodiment, the current torque is determined by a control signal that provides a certain output torque value based on the current state of the vehicle.

[0072] Step 202: Determine the maximum value between the first anti-shake speed and the preset second anti-shake speed as the target anti-shake speed.

[0073] The first anti-shaking speed is a preset multiple of the first speed; in this embodiment, the preset multiple can be any one of 1% to 1.5%.

[0074] The preset second anti-jitter speed is set in advance according to different situations. In the embodiments of this application, the preset second anti-jitter speed can be the minimum value of the motor speed difference or a preset speed value.

[0075] In this embodiment, a first anti-jitter speed and a preset second anti-jitter speed are compared, and the maximum value of the two is taken as the target anti-jitter speed. If the first anti-jitter speed is greater than the preset second anti-jitter speed, the first anti-jitter speed is taken as the target anti-jitter speed; if the first anti-jitter speed is less than the preset second anti-jitter speed, the second anti-jitter speed is taken as the target anti-jitter speed. If the first anti-jitter speed is equal to the preset second anti-jitter speed, either one of the two is taken as the target anti-jitter speed.

[0076] Step 203: If the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed, then the vehicle is determined to meet the first trigger condition.

[0077] It should be noted that in this embodiment of the application, the compensation torque calculated in the anti-shake mode is used to supplement the current torque provided by the vehicle motor control system, thereby improving the vehicle's vibration. Therefore, when the vehicle enters anti-shake mode, it can suppress vehicle vibration. Entering anti-shake mode requires meeting a first trigger condition. If the vehicle does not meet the first trigger condition, it indicates that the vehicle is not currently experiencing vibration or the overall vibration level is low. Therefore, there is no need to control the vehicle motor, and no compensation torque is output.

[0078] Step 204: Determine the anti-jitter speed corresponding to the anti-jitter angular velocity at the current moment.

[0079] The anti-shake angular velocity is determined based on the anti-shake angular velocity of the previous moment and the compensation torque of the current moment.

[0080] In this embodiment of the application, as shown in Figure 3, the steps for determining the anti-jitter angular velocity at the current moment include the following steps 2041-2043:

[0081] Step 2041: Obtain the moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and the preset time interval.

[0082] The preset time interval is the time difference between the current moment and the previous moment.

[0083] In this embodiment, the moment of inertia is related to the vehicle's mass, the differential ratio of the motor to the wheel shaft, and the wheel radius.

[0084] The moment of inertia is determined using Formula 1, which is as follows:

[0085] Where J is the moment of inertia, m is the mass of the vehicle, R1 is the differential ratio of the motor to the wheel, and R2 is the wheel radius.

[0086] In this embodiment of the application, the method for determining the compensation torque at the current moment is the same as the method for determining the compensation torque at the next moment for compensating the current torque in steps 204-206. The next moment is moment K+1. The only difference is that the moment corresponding to the compensation torque is different. The compensation torque at the current moment can be the compensation torque corresponding to moment K. By replacing K+1 with K, the compensation torque corresponding to moment K can be calculated based on steps 204-206.

[0087] In this embodiment of the application, the anti-jitter angular velocity at the previous moment is determined by Formula 2, which is as follows:

[0088] Where ω(k-1) is the anti-jitter angular velocity of the previous moment, ω(k-2) is the anti-jitter angular velocity of the two moments before the current moment, T(k-1) is the compensation torque of the previous moment, J is the moment of inertia, and Δt is the preset time interval.

[0089] It should be noted that the anti-jitter angular velocity of the previous moment and the anti-jitter angular velocity of the two moments before the current moment can be determined by referring to the method for determining the anti-jitter angular velocity of the current moment. By replacing K with K-1, the anti-jitter angular velocity corresponding to moment K-1 can be calculated based on steps 2041-2043. By replacing K with K-2, the anti-jitter angular velocity corresponding to moment K-2 can be calculated based on steps 2041-2043.

[0090] Step 2042: Determine the anti-shaking angular acceleration at the current moment based on the compensation torque and moment of inertia at the current moment.

[0091] In this embodiment, based on the compensation torque and moment of inertia at the current moment, the anti-jitter angular acceleration at the current moment is determined using Formula 3, which is as follows:

[0092] Where a(k) is the anti-jitter angular acceleration at the current moment, T(k) is the compensation torque at the current moment, and J is the moment of inertia.

[0093] Step 2043: Determine the anti-jitter angular velocity at the current moment based on the anti-jitter angular acceleration of the previous moment, the anti-jitter angular velocity of the previous moment, and the preset time interval.

[0094] In this embodiment, the anti-jitter angular acceleration at the previous moment, the anti-jitter angular velocity at the previous moment, and the preset time interval are used to determine the current anti-jitter angular velocity using Formula 4, which is as follows: ω(k)=ω(k-1)+a(k)·Δt Formula 4

[0095] Where ω(k-1) is the anti-jitter angular velocity at the previous moment, ω(k) is the anti-jitter angular velocity at the current moment, a(k) is the anti-jitter angular acceleration at the current moment, and Δt is the preset time interval.

[0096] In this embodiment of the application, the anti-jitter rotation speed corresponding to the current anti-jitter angular velocity is determined by Formula 5, which is as follows:

[0097] Where n(k) is the anti-jitter speed at the current moment, ω(k) is the anti-jitter angular velocity at the current moment, and π is pi. The unit of ω(k) is rad / s, and the unit of n(k) is r / min.

[0098] It should be noted that if the first trigger condition is triggered at the current moment, which is the initial moment of entering anti-jitter mode, then the values ​​of the parameters corresponding to moments before the current moment are assumed to be initial values. For example, the anti-jitter angular velocity and the compensation torque at the previous moment are initial values, which can be zero. If the current moment is not the initial moment of entering anti-jitter mode, the anti-jitter angular velocity and the compensation torque at the previous moment are calculated as described above.

[0099] Step 205: Adjust the PID controller based on the anti-jitter speed and the first speed to obtain the compensated speed.

[0100] In this embodiment, the anti-vibration speed and the first speed at the current moment are input into the PID controller. Based on the speed difference between the anti-vibration speed and the first speed at the current moment, the PID controller determines the adjustment parameters of the PID controller corresponding to the difference by looking up a table. The adjustment parameters include proportional adjustment parameters, integral adjustment parameters, and derivative adjustment parameters. By adjusting the PID controller according to the proportional adjustment parameters, integral adjustment parameters, and derivative parameters, the compensation torque can be calculated from the determined adjustment parameters of the PID controller, thereby obtaining the compensation torque for adjusting and suppressing vehicle vibration.

[0101] The table consulted when determining the PID controller's adjustment parameters is a one-dimensional table showing the correspondence between the speed difference and the proportional, integral, and derivative adjustment parameters. In other words, after determining the speed difference of the motor's current speed, a proportional adjustment parameter, an integral adjustment parameter, and a derivative adjustment parameter can be obtained by looking up the table.

[0102] Step 206: Determine the compensation torque based on the compensation speed.

[0103] In this embodiment of the application, determining the compensation torque based on the compensation speed includes:

[0104] The initial torque is obtained based on the compensation speed; the initial torque is filtered; based on a preset torque range, the filtered initial torque is thresholded to obtain the compensation torque, so that the compensation torque is within the preset torque range.

[0105] In this embodiment of the application, obtaining the initial torque based on the compensated rotational speed includes: multiplying the rate of change of the compensated rotational speed at the current moment by the moment of inertia to obtain the initial torque at the next moment. The rate of change of the compensated rotational speed at the current moment is obtained by dividing the difference between the compensated rotational speed at the current moment and the compensated rotational speed at the previous moment by a preset time interval.

[0106] It should be noted that the compensation speed, initial torque, and compensation torque in step 206 are all data corresponding to the next moment, so that the current torque can be updated according to the compensation torque at the next moment.

[0107] In this embodiment, filtering the initial torque includes performing a low-pass filter on the initial torque to obtain a filtered initial torque. The filtered initial torque can suppress high-frequency noise and improve the stability and reliability of the initial torque.

[0108] In this embodiment of the application, based on a preset torque range, a threshold limit is applied to the initial torque after filtering to obtain a compensation torque, including: comparing the magnitude relationship between the initial torque after filtering and the preset torque range, determining whether the initial torque after filtering is within the torque range, and if so, using the initial torque after filtering as the compensation torque; otherwise, using any torque value within the torque range as the compensation torque.

[0109] Specifically, when the initial torque after filtering is not within the torque range, the upper and lower limits of the preset torque range can be determined, and the limit closest to the initial torque after filtering between the upper and lower limits can be used as the compensation torque.

[0110] Step 207: Based on the compensation torque, update the current torque to obtain the target torque for the next moment.

[0111] In this embodiment, the compensation torque is added to the current torque to obtain the target torque. After obtaining the target torque, the motor is controlled to rotate according to the target torque.

[0112] This application provides a method for controlling motor torque. By using the motor's current first speed and the previous second speed, it is determined whether the vehicle meets the first trigger condition corresponding to the anti-vibration mode. When the first trigger condition is met, it indicates that the vehicle is vibrating under the current operating conditions. Then, based on the first speed and the anti-vibration angular velocity at the current moment, the compensation torque for the next moment is determined. Based on the compensation torque, the current torque is updated to obtain the target torque for the next moment. In this way, after the first trigger condition is met, the motor speed fluctuation can be effectively suppressed in real time, thereby suppressing vehicle vibration and improving the vehicle's ride comfort.

[0113] Figure 4 is a schematic diagram of a motor torque control device provided in an embodiment of this application. Referring to Figure 4, the control device includes:

[0114] The first acquisition module 401 is used to acquire the first speed of the motor at the current moment, the second speed at the previous moment, and the current torque;

[0115] The judgment module 402 is used to determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode based on the first speed and the second speed.

[0116] The first determining module 403 is used to determine the compensation torque for the next moment based on the first rotational speed and the anti-shaking angular velocity at the current moment if the vehicle meets the first triggering condition. The anti-shaking angular velocity is determined based on the anti-shaking angular velocity at the previous moment and the compensation torque at the current moment.

[0117] The update module 404 is used to update the current torque based on the compensation torque to obtain the target torque at the next moment.

[0118] Optionally, the judgment module 402 includes:

[0119] The first determining submodule is used to determine the maximum value between the first anti-shake speed and the preset second anti-shake speed as the target anti-shake speed, wherein the first anti-shake speed is a preset multiple of the first speed;

[0120] The second determining submodule is used to determine that the vehicle meets the first triggering condition if the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed.

[0121] Optionally, the first determining module 403 includes:

[0122] The third determining submodule is used to determine the anti-jitter speed corresponding to the anti-jitter angular velocity at the current moment;

[0123] The first calculation submodule is used to adjust the PID controller based on the anti-jitter speed and the first speed to obtain the compensated speed;

[0124] The fourth determination submodule is used to determine the compensation torque based on the compensation speed.

[0125] Optionally, the fourth determining submodule is used to: obtain the initial torque based on the compensation speed; filter the initial torque; and limit the filtered initial torque to a threshold based on a preset torque range to obtain the compensation torque, so that the compensation torque is within the preset torque range.

[0126] Optionally, the device also includes:

[0127] The second acquisition module is used to acquire the moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and the preset time interval, which is the time difference between the current moment and the previous moment.

[0128] The second determining module is used to determine the anti-jitter angular acceleration at the current moment based on the compensation torque and moment of inertia at the current moment.

[0129] The third determining module uses the anti-jitter angular acceleration based on the previous time step, the anti-jitter angular velocity of the previous time step, and the preset time interval to determine the anti-jitter angular velocity of the current time step.

[0130] Optionally, the first acquisition module 401 includes:

[0131] The second calculation submodule is used to calculate the first speed of the motor based on the motor's rotation angle and rotation time.

[0132] This application provides a motor torque control device. By using the motor's current first speed and the previous second speed, it determines whether the vehicle meets the first trigger condition corresponding to the anti-vibration mode. When the first trigger condition is met, it indicates that the vehicle is vibrating under the current operating conditions. Then, based on the first speed and the anti-vibration angular velocity at the current moment, the compensation torque for the next moment is determined. The current torque is updated based on the compensation torque to obtain the target torque for the next moment. In this way, after the first trigger condition is met, the motor speed fluctuation can be effectively suppressed in real time, thereby suppressing vehicle vibration and improving the vehicle's ride comfort.

[0133] It is understood that the motor torque control device provided in the above embodiments is only an example of the division of the above functional modules. In actual applications, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the device can be divided into different functional modules to complete all or part of the functions described above.

[0134] Furthermore, the embodiments of the motor torque control device and motor torque control method provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0135] This application also provides a computer device, which includes one or more processors and one or more memories. The one or more memories store at least one instruction, which is loaded and executed by the one or more processors to perform the operation of the motor torque control method in the above method embodiments.

[0136] This application embodiment also provides a storage medium storing at least one instruction, which is loaded and executed by a processor to implement the operation performed by the motor torque control method in the above method embodiment.

[0137] Those skilled in the art will understand that all or part of the steps of the above embodiments can be implemented by hardware or by a program instructing related hardware. The program can be stored in a computer-readable storage medium, such as a read-only memory, a disk, or an optical disk.

[0138] The above are merely exemplary embodiments of this application and are not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application shall be included within the protection scope of this application.

Claims

1. A method for controlling motor torque, the method comprising: Get the motor's first speed at the current moment, the second speed at the previous moment, and the current torque; Based on the first speed and the second speed, determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode; If the vehicle meets the first triggering condition, the compensation torque for the next moment is determined based on the first rotational speed and the anti-shaking angular velocity at the current moment. The anti-shaking angular velocity is determined based on the anti-shaking angular velocity at the previous moment and the compensation torque at the current moment. Based on the compensated torque, the current torque is updated to obtain the target torque for the next moment.

2. The method of claim 1, wherein, The determination of whether the vehicle meets the first trigger condition corresponding to the anti-shake mode includes: The maximum value between the first anti-jitter speed and the preset second anti-jitter speed is determined as the target anti-jitter speed, and the first anti-jitter speed is a preset multiple of the first speed; If the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed, then the vehicle is determined to meet the first triggering condition.

3. The method of claim 1, wherein, The step of determining the compensation torque for the next moment based on the first rotational speed and the anti-jitter angular velocity at the current moment includes: Determine the anti-jitter rotation speed corresponding to the anti-jitter angular velocity at the current moment; The compensated speed is obtained based on the anti-jitter speed and the first speed adjustment PID controller; The compensation torque is determined based on the compensation rotational speed.

4. The method of claim 3, wherein, The determination of the compensation torque based on the compensation speed includes: The initial torque is obtained based on the compensated rotational speed; The initial torque is filtered. Based on a preset torque range, a threshold limit is applied to the initial torque after filtering to obtain the compensation torque, so that the compensation torque is within the preset torque range.

5. The method of claim 1, wherein, The steps for determining the anti-jitter angular velocity at the current moment include: The moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and the preset time interval are obtained, where the preset time interval is the time difference between the current moment and the previous moment. Based on the compensation torque and the moment of inertia at the current moment, determine the anti-jitter angular acceleration at the current moment; The anti-jitter angular velocity at the current moment is determined based on the anti-jitter angular acceleration at the previous moment, the anti-jitter angular velocity at the previous moment, and the preset time interval.

6. The method of claim 1, wherein, Obtaining the first rotational speed of the motor at the current moment includes: The first rotational speed of the motor is calculated based on the rotation angle and rotation time of the motor.

7. A motor torque control device, characterized in that, The device includes: The first acquisition module is used to acquire the motor's first speed at the current moment, the second speed at the previous moment, and the current torque; The judgment module is used to determine whether the vehicle meets the first trigger condition corresponding to the anti-shake mode based on the first speed and the second speed. The first determining module is used to determine the compensation torque for the next moment based on the first rotational speed and the anti-shaking angular velocity at the current moment if the vehicle meets the first triggering condition. The anti-shaking angular velocity is determined based on the anti-shaking angular velocity at the previous moment and the compensation torque at the current moment. An update module is used to update the current torque based on the compensated torque to obtain the target torque at the next moment.

8. The apparatus of claim 7, wherein, The judgment module includes: The first determining submodule is used to determine the maximum value between the first anti-jitter speed and the preset second anti-jitter speed as the target anti-jitter speed, wherein the first anti-jitter speed is a preset multiple of the first speed; The second determining submodule is used to determine that the vehicle meets the first triggering condition if the absolute value of the difference between the first speed and the second speed is greater than the target anti-shaking speed.

9. The apparatus of claim 7, wherein, The first determining module includes: The third determining submodule is used to determine the anti-jitter rotation speed corresponding to the anti-jitter angular velocity at the current moment; The first calculation submodule is used to adjust the PID controller based on the anti-jitter speed and the first speed to obtain the compensated speed; The fourth determining submodule is used to determine the compensation torque based on the compensation speed.

10. The apparatus of claim 9, wherein, The fourth determining submodule is used to: obtain the initial torque based on the compensated rotational speed; and perform filtering processing on the initial torque; Based on a preset torque range, a threshold limit is applied to the initial torque after filtering to obtain the compensation torque, so that the compensation torque is within the preset torque range.

11. The apparatus of claim 7, wherein, The device further includes: The second acquisition module is used to acquire the moment of inertia, the compensation torque at the current moment, the anti-jitter angular velocity at the previous moment, and a preset time interval, wherein the preset time interval is the time difference between the current moment and the previous moment. The second determining module is used to determine the anti-jitter angular acceleration at the current moment based on the compensation torque and the moment of inertia at the current moment. The third determining module is used to determine the anti-jitter angular velocity at the current moment based on the anti-jitter angular acceleration at the previous moment, the anti-jitter angular velocity at the previous moment, and the preset time interval.

12. The apparatus of claim 7, wherein, The first acquisition module includes: The second calculation submodule is used to calculate the first speed of the motor based on the rotation angle and rotation time of the motor.

13. A computer device, comprising: The computer device includes one or more processors and one or more memories, wherein at least one instruction is stored in the one or more memories, the instruction being loaded and executed by the one or more processors to perform the operation performed by the motor torque control method as described in any one of claims 1 to 6.

14. A storage medium, characterized by The storage medium stores at least one instruction, which is loaded and executed by a processor to perform the operation of the motor torque control method as described in any one of claims 1 to 6.

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