CN109955726A - A kind of Motor torque filtering method, device and vehicle - Google Patents
A kind of Motor torque filtering method, device and vehicle Download PDFInfo
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- CN109955726A CN109955726A CN201711435128.0A CN201711435128A CN109955726A CN 109955726 A CN109955726 A CN 109955726A CN 201711435128 A CN201711435128 A CN 201711435128A CN 109955726 A CN109955726 A CN 109955726A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2045—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for optimising the use of energy
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W10/00—Conjoint control of vehicle sub-units of different type or different function
- B60W10/04—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units
- B60W10/08—Conjoint control of vehicle sub-units of different type or different function including control of propulsion units including control of electric propulsion units, e.g. motors or generators
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W20/00—Control systems specially adapted for hybrid vehicles
- B60W20/10—Controlling the power contribution of each of the prime movers to meet required power demand
- B60W20/15—Control strategies specially adapted for achieving a particular effect
- B60W20/16—Control strategies specially adapted for achieving a particular effect for reducing engine exhaust emissions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2510/00—Input parameters relating to a particular sub-units
- B60W2510/08—Electric propulsion units
- B60W2510/083—Torque
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/10—Accelerator pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2540/00—Input parameters relating to occupants
- B60W2540/12—Brake pedal position
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2710/00—Output or target parameters relating to a particular sub-units
- B60W2710/08—Electric propulsion units
- B60W2710/083—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Power Engineering (AREA)
- Automation & Control Theory (AREA)
- Chemical & Material Sciences (AREA)
- Combustion & Propulsion (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
A kind of Motor torque filtering method, device and vehicle of the present invention, wherein electrode torque filtering method is used for vehicle, this method comprises: determining motor current torque, motor requested torque and electric machine operation state；According to the motor current torque, the motor requested torque and the electric machine operation state, torque gradient is determined；According to the motor current torque, the motor requested torque and the torque gradient, output torque is determined；This method is comprehensive to determine torque gradient according to real-time electric machine operation state and driver intention, and then exports filtered torque according to torque gradient, drives vehicle more steady, to improve the driving of vehicle.
Description
Technical field
The present invention relates to automobile technical field, in particular to a kind of Motor torque filtering method, device and vehicle.
Background technique
With increasingly lacking for the energy and getting worse for problem of environmental pollution, each automobile manufacturing enterprise will permanent strategic vehicle
Type has turned to pure electric automobile and hybrid vehicle, and either pure electric automobile or hybrid vehicle has required motor
As power output, Motor torque control influences the dynamic property of vehicle, driving, oil consumption, discharge all extremely important.
The filtering of the motor of existing hybrid vehicle and pure electric automobile is mainly divided into fixation according to the torque of request
Gradient section, no matter vehicle work under that operating condition, can all be carried out before requested torque reaches with fixed torque gradient
Torque load or drop are turned round, and cannot turn round gradient to the load of torque or drop according to the intention of motor instantaneous operating conditions and driver
It is adjusted, and then influences the driving of vehicle.
Summary of the invention
In view of this, the present invention is directed to propose a kind of Motor torque filtering method, to improve the driving of vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of Motor torque filtering method is used for vehicle, which is characterized in that the described method includes:
Determine motor current torque, motor requested torque and electric machine operation state；
According to the motor current torque, the motor requested torque and the electric machine operation state, torque ladder is determined
Degree；
According to the motor current torque, the motor requested torque and the torque gradient, output torque is determined.
Further, described according to the motor current torque, the motor requested torque and the motor work shape
State, the step of determining torque gradient, comprising:
According to the difference of the motor requested torque and the motor current torque, determine that driver requests, the driving
Member's request includes that torque load request or torque load shedding are requested；
According to the motor current torque, the motor requested torque and the Motor torque working region demarcated in advance,
Determine motor requested torque working region；
In pre-stored corresponding relationship, search with driver request, motor requested torque working region with
And the corresponding torque gradient of the electric machine operation state.
Further, the Motor torque working region demarcated in advance include: low torque region, zero passage torque region,
High torque region.
Further, the electric machine operation state includes: pure electric scholar row mode, electric Drive Mode and combined drive dynamic model
Formula.
Further, when the electric machine operation state is pure electric scholar row mode, in the pre-stored corresponding relationship
Torque gradient is marked according to the gear of the electronic bridge of rear axle and/or the aperture of accelerator pedal and/or the aperture of brake pedal
It is fixed；
When the electric machine operation state is electric Drive Mode or combination drive mode, the pre-stored corresponding pass
Torque gradient in system, according to the aperture of the gear of the electronic bridge of rear axle and/or motor speed and/or accelerator pedal, and/or system
The aperture of dynamic pedal is demarcated.
Compared with the existing technology, a kind of Motor torque filtering method of the present invention has the advantage that
A kind of Motor torque filtering method of the present invention is used for vehicle, this method comprises: determining that motor is currently turned round
Square, motor requested torque and electric machine operation state；According to the motor current torque, the motor requested torque and described
Electric machine operation state determines torque gradient；According to the motor current torque, the motor requested torque and torque ladder
Degree, determines output torque；This method is comprehensive to determine torque gradient according to real-time electric machine operation state and driver intention,
And then filtered torque is exported according to torque gradient, drive vehicle more steady, to improve the driving of vehicle.
Another object of the present invention is to propose a kind of Motor torque filter, to improve the driving of vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of Motor torque filter, is used for vehicle, and described device includes:
State determining module, for determining motor current torque, motor requested torque and electric machine operation state；
Gradient determining module, for according to the motor current torque, the motor requested torque and the motor work
Make state, determines torque gradient；
Torque output module, for according to the motor current torque, the motor requested torque and torque ladder
Degree, determines output torque.
Further, the gradient determining module, comprising:
It requests to determine submodule, for the difference according to the motor requested torque and the motor current torque, determine
Driver's request, driver's request include that torque load request or torque load shedding are requested；
Region determines submodule, for according to the motor current torque, the motor requested torque and calibration in advance
Motor torque working region, determine motor requested torque working region；
Gradient inquires submodule, in pre-stored corresponding relationship, searching and driver request, the motor
Requested torque working region and the electric machine operation state, corresponding torque gradient.
Further, the electric machine operation state includes: pure electric scholar row mode, electric Drive Mode and combined drive dynamic model
Formula.
Further, when the electric machine operation state is pure electric scholar row mode, in the pre-stored corresponding relationship
Torque gradient is marked according to the gear of the electronic bridge of rear axle and/or the aperture of accelerator pedal and/or the aperture of brake pedal
It is fixed；
When the electric machine operation state is electric Drive Mode or combination drive mode, the pre-stored corresponding pass
Torque gradient in system, according to the aperture of the gear of the electronic bridge of rear axle and/or motor speed and/or accelerator pedal, and/or system
The aperture of dynamic pedal is demarcated.
A kind of Motor torque filter is had compared with the existing technology with a kind of above-mentioned Motor torque filtering method
Some advantages are identical, and details are not described herein.
Another object of the present invention is to propose a kind of vehicle, to improve the driving of vehicle.
In order to achieve the above objectives, the technical scheme of the present invention is realized as follows:
A kind of vehicle, the vehicle include Motor torque filter described in any of the above embodiments.
A kind of vehicle and a kind of above-mentioned Motor torque filtering method compared with the existing technology possessed by advantage it is identical,
Details are not described herein.
Detailed description of the invention
The attached drawing for constituting a part of the invention is used to provide further understanding of the present invention, schematic reality of the invention
It applies example and its explanation is used to explain the present invention, do not constitute improper limitations of the present invention.In the accompanying drawings:
Fig. 1 is a kind of step flow chart of Motor torque filtering method described in one embodiment of the invention；
Fig. 2 is the step process that torque gradient is determined in a kind of Motor torque filtering method described in one embodiment of the invention
Figure；
Fig. 3 works for the Motor torque demarcated in advance in a kind of Motor torque filtering method described in one embodiment of the invention
The schematic diagram in region；
Fig. 4 is a kind of structural block diagram of Motor torque filter described in one embodiment of the invention；
Fig. 5 is the structural frames of gradient determining module in a kind of Motor torque filter described in one embodiment of the invention
Figure；
Description of symbols:
10- forward direction low torque region；11- positive going zeror crossing torque region；12- forward direction high torque region；00- negative sense low torque
Region；01- negative sense zero passage torque region；02 negative sense high torque region.
Specific embodiment
It should be noted that in the absence of conflict, the feature in embodiment and embodiment in the present invention can phase
Mutually combination.
The present invention will be described in detail below with reference to the accompanying drawings and embodiments.
One embodiment of the invention provides a kind of Motor torque filtering method, is used for vehicle, and referring to Fig.1, this method can be with
Include:
Step 101: determining motor current torque, motor requested torque and electric machine operation state.
Specifically, motor current torque, motor requested torque and electric machine operation state can be according to the feedbacks of vehicle
Signal determines.Wherein motor current torque can be preceding primary filtered Motor torque.
Electric machine operation state may include pure electric scholar row mode, electric Drive Mode and three kinds of combination drive mode.In reality
Border application in, can determine as follows above-mentioned electric machine operation state: first determine whether vehicle electric scholar line flag position whether
Activation, electric machine operation state is 0 if activation；Need to check the engine of vehicle if electric scholar line flag position is not activated
Stop working flag bit, and engine stop, which works, determines that electric machine operation state is 1, and engine operation determines that electric machine operation state is
2, in this way, available following three kinds of electric machine operation states: pure electricity scholar row mode 0；Electric Drive Mode 1；Combination drive mode
2。
Step 102: according to motor current torque, motor requested torque and electric machine operation state, determining torque gradient.
In one implementation, motor current torque, motor requested torque and preset motor can be passed through
Torque working region determines that working region is requested in driver's request and motor, further according to pre-stored torque gradient and the person of sailing
Request, motor request working region and electric machine operation state corresponding relationship, determine torque gradient, this implementation it is detailed
Thin introduce can refer to subsequent embodiment.But the application is not limited to a kind of above-mentioned implementation, it is all can be according to the electricity
Machine current torque, the motor requested torque and the electric machine operation state determine the implementation of torque gradient all at this
Within the protection scope of embodiment.Wherein, pre-stored corresponding relationship can lead to vehicle driving more smoothly for target
Multiple Experimental Calibration is crossed to obtain.
Step 103: according to motor current torque, motor requested torque and torque gradient, determining output torque.
Specifically, the output torque after being filtered can be calculated using following formula:
Output torque=motor current torque+motor requested torque × torque gradient × system time
Wherein, it is in order to which computing system time internal torque rises or declines big that torque gradient is multiplied with system time
It is small, system time be specified torque gradient duration, this result can also by by torque gradient on the duration
Integral obtain.
In practical applications, torque output confirmation can also be carried out before output torque, it is therefore an objective to confirm final output
Filtering torque be not above the maximum of motor, minimum limitation, guarantee the practicability of filtering.If the output torque being calculated
Maximum, minimum limitation beyond motor, can execute drop power output.
A kind of Motor torque filtering method provided in this embodiment is used for vehicle, this method comprises: determining that motor is currently turned round
Square, motor requested torque and electric machine operation state；According to the motor current torque, the motor requested torque and described
Electric machine operation state determines torque gradient；According to the motor current torque, the motor requested torque and torque ladder
Degree, determines output torque；This method comprehensively considers real-time electric machine operation state and driver intention to determine torque gradient,
And then filtered torque is exported according to torque gradient, drive vehicle more steady, to improve the driving of vehicle.
In a kind of implementation of above-described embodiment, referring to Fig. 2, above-mentioned steps 102 be may further include:
Step 201: according to the difference of motor requested torque and motor current torque, determining that driver requests, driver asks
It asks including torque load request or the request of torque load shedding.
Specifically, driver's request is torque if motor requested torque and the difference of motor current torque are positive value
Load request, corresponding positive torque, at this moment can export 1；If motor requested torque and the difference of motor current torque are negative
Value, then driver's request is that torque load shedding is requested, at this moment corresponding negative sense torque can export 0.Wherein, positive torque and negative sense
Torque is the torque value that can be demarcated, it is therefore an objective to prevent torque from beating between positively and negatively.
Step 202: according to motor current torque, motor requested torque and the Motor torque working region demarcated in advance,
Determine motor requested torque working region.
Specifically, the Motor torque working region demarcated in advance includes: low torque region 0, zero passage torque region 1, high torsion
Square region 2.In practical applications, in conjunction with positive torque and negative sense torque, 6 Motor torque working regions can be demarcated in advance,
Referring to Fig. 3, such as: positive low torque region 10, positive going zeror crossing torque region 11, positive high torque region 12 and the low torsion of negative sense
Square region 00, negative sense zero passage torque region 01, negative sense high torque region 02.In this way, by judging that initial torque and target are turned round
Which Motor torque working region square falls in, so that it may which this Motor torque working region is determined as motor requested torque workspace
Domain.
Step 203: in pre-stored corresponding relationship, search with driver's request, motor requested torque working region with
And the corresponding torque gradient of electric machine operation state.
Specifically, pair of driver's request, motor requested torque working region and electric machine operation state and torque gradient
Should be related to can demarcate to obtain with vehicle driving more smoothly for target by test of many times.The shape as previously mentioned, motor works
State may include: pure electric scholar row mode, electric Drive Mode and combination drive mode.The torque ladder of these three electric machine operation states
It is identical to spend model, every kind of electric machine operation state can demarcate six Motor torque working regions, every kind of motor work shape in advance
Under state, the torque gradient of each Motor torque working region can be demarcated according to the actual situation.
For example, when electric machine operation state is pure electric scholar row mode, torque gradient in pre-stored corresponding relationship can be with
It is demarcated according to the gear of the electronic bridge of rear axle and/or the aperture of accelerator pedal and/or the aperture of brake pedal；When motor work
When to make state be electric Drive Mode or combination drive mode, the torque gradient in pre-stored corresponding relationship can basis
The aperture of the aperture and/or brake pedal of the gear and/or motor speed and/or accelerator pedal of the electronic bridge of rear axle is marked
It is fixed.
In practical applications, it can search according to above-mentioned pre-stored corresponding relationship, such as table and obtain asking with driver
It asks, motor requested torque working region and the corresponding torque gradient of electric machine operation state.
In the present embodiment, due to pre-stored corresponding relationship, it can also be demarcated by motor speed etc., be obtained in this way
Torque gradient has comprehensively considered real-time electric machine operation state, driver intention and motor speed, and then according to torque gradient
Filtered torque is exported, drives vehicle more steady, to improve the driving of vehicle.
A kind of Motor torque filter is provided in another embodiment of the application, is used for vehicle, referring to Fig. 4, the electricity
Machine torque filter may include:
State determining module 401, for determining motor current torque, motor requested torque and electric machine operation state.
Gradient determining module 402 is used for according to motor current torque, motor requested torque and electric machine operation state, really
Determine torque gradient.
Torque output module 402, for determining defeated according to motor current torque, motor requested torque and torque gradient
Torque out.
In a kind of implementation of the present embodiment, referring to Fig. 5, above-mentioned gradient determining module 402 be may further include:
It requests to determine that submodule 501 determines driver for the difference according to motor requested torque and motor current torque
Request, driver's request include that torque load request or torque load shedding are requested.
Region determines submodule 502, for according to motor current torque, motor requested torque and the motor demarcated in advance
Torque working region determines motor requested torque working region.
Gradient inquires submodule 503, requests for searching in pre-stored corresponding relationship with driver's request, motor
Torque working region and electric machine operation state, corresponding torque gradient.
Electric machine operation state in above-described embodiment may include: pure electric scholar row mode, electric Drive Mode and combined drive
Dynamic model formula.When electric machine operation state is pure electric scholar row mode, torque gradient in pre-stored corresponding relationship, according to rear axle electricity
The gear and/or the aperture of accelerator pedal and/or the aperture of brake pedal of dynamic bridge are demarcated；When electric machine operation state is electricity
When dynamic drive mode or combination drive mode, torque gradient in pre-stored corresponding relationship, according to the shelves of the electronic bridge of rear axle
The aperture of the aperture and/or brake pedal of position and/or motor speed and/or accelerator pedal is demarcated.
For device embodiment, since it is basically similar to the method embodiment, related so being described relatively simple
Place illustrates referring to the part of embodiment of the method.
A kind of vehicle is additionally provided in another embodiment of the application, which includes electricity described in any of the above-described embodiment
Machine torque filter.
The embodiment of the invention provides a kind of Motor torque filtering method, device and vehicle, wherein Motor torque filtering side
Method is used for vehicle, comprising: determines motor current torque, motor requested torque and electric machine operation state；Worked as according to the motor
Preceding torque, the motor requested torque and the electric machine operation state, determine torque gradient；It is currently turned round according to the motor
Square, the motor requested torque and the torque gradient, determine output torque；This method is comprehensive to work according to real-time motor
State, driver intention and motor speed export filtered torque according to torque gradient to determine torque gradient, make
Vehicle driving is more steady, to improve the driving of vehicle, while mentions the dynamic property of new energy vehicle, economy
Height, oil consumption, discharge will decrease.
The foregoing is merely illustrative of the preferred embodiments of the present invention, is not intended to limit the invention, all in essence of the invention
Within mind and principle, any modification, equivalent replacement, improvement and so on be should all be included in the protection scope of the present invention.
Claims (10)
1. a kind of Motor torque filtering method is used for vehicle, which is characterized in that the described method includes:
Determine motor current torque, motor requested torque and electric machine operation state；
According to the motor current torque, the motor requested torque and the electric machine operation state, torque gradient is determined；
According to the motor current torque, the motor requested torque and the torque gradient, output torque is determined.
2. the method according to claim 1, wherein described ask according to the motor current torque, the motor
The step of asking torque and the electric machine operation state, determining torque gradient, comprising:
According to the difference of the motor requested torque and the motor current torque, determine that driver requests, the driver asks
It asks including torque load request or the request of torque load shedding；
According to the motor current torque, the motor requested torque and the Motor torque working region demarcated in advance, determine
Motor requested torque working region；
In pre-stored corresponding relationship, search and driver request, motor requested torque working region and institute
State the corresponding torque gradient of electric machine operation state.
3. according to the method described in claim 2, it is characterized in that, the Motor torque working region demarcated in advance includes:
Low torque region, zero passage torque region, high torque region.
4. method according to any one of claims 1 to 3, which is characterized in that the electric machine operation state includes: pure electric scholar
Row mode, electric Drive Mode and combination drive mode.
5. according to the method described in claim 4, it is characterized in that, when the electric machine operation state is pure electric scholar row mode,
Torque gradient in the pre-stored corresponding relationship, according to the aperture of the gear of the electronic bridge of rear axle and/or accelerator pedal, and/
Or the aperture of brake pedal is demarcated；
When the electric machine operation state is electric Drive Mode or combination drive mode, in the pre-stored corresponding relationship
Torque gradient, according to the aperture of the gear of the electronic bridge of rear axle and/or motor speed and/or accelerator pedal, and/or braking is stepped on
The aperture of plate is demarcated.
6. a kind of Motor torque filter, it to be used for vehicle, which is characterized in that described device includes:
State determining module, for determining motor current torque, motor requested torque and electric machine operation state；
Gradient determining module, for according to the motor current torque, the motor requested torque and the motor work shape
State determines torque gradient；
Torque output module is used for according to the motor current torque, the motor requested torque and the torque gradient, really
Determine output torque.
7. device according to claim 6, which is characterized in that the gradient determining module, comprising:
It requests to determine submodule, for the difference according to the motor requested torque and the motor current torque, determines and drive
Member's request, driver's request include that torque load request or torque load shedding are requested；
Region determines submodule, for according to the motor current torque, the motor requested torque and the electricity demarcated in advance
Machine torque working region determines motor requested torque working region；
Gradient inquires submodule, requests for searching in pre-stored corresponding relationship with driver request, the motor
Torque working region and the electric machine operation state, corresponding torque gradient.
8. according to the described in any item devices of claim 6 to 7, which is characterized in that the electric machine operation state includes: pure electric scholar
Row mode, electric Drive Mode and combination drive mode.
9. device according to claim 8, which is characterized in that when the electric machine operation state is pure electric scholar row mode,
Torque gradient in the pre-stored corresponding relationship, according to the aperture of the gear of the electronic bridge of rear axle and/or accelerator pedal, and/
Or the aperture of brake pedal is demarcated；
When the electric machine operation state is electric Drive Mode or combination drive mode, in the pre-stored corresponding relationship
Torque gradient, according to the aperture of the gear of the electronic bridge of rear axle and/or motor speed and/or accelerator pedal, and/or braking is stepped on
The aperture of plate is demarcated.
10. a kind of vehicle, which is characterized in that the vehicle includes the described in any item Motor torque filtering dresses of claim 6 to 9
It sets.
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| CN201711435128.0A CN109955726A (en) | 2017-12-26 | 2017-12-26 | A kind of Motor torque filtering method, device and vehicle |
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| CN201711435128.0A CN109955726A (en) | 2017-12-26 | 2017-12-26 | A kind of Motor torque filtering method, device and vehicle |
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Cited By (10)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110356248A (en) * | 2019-07-19 | 2019-10-22 | 潍柴动力股份有限公司 | Control method, device, storage medium and the vehicle of Motor torque |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
| CN113071496A (en) * | 2021-04-13 | 2021-07-06 | 佛山市飞驰汽车科技有限公司 | New energy automobile driver demand torque filtering method |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113306406A (en) * | 2020-02-26 | 2021-08-27 | 北京新能源汽车股份有限公司 | Motor torque control device and method and automobile |
| CN113370801A (en) * | 2021-06-30 | 2021-09-10 | 三一汽车起重机械有限公司 | Torque control method and device for electric vehicle |
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| CN113829896A (en) * | 2021-11-10 | 2021-12-24 | 浙江奥思伟尔电动科技有限公司 | Tooth leaning method for electric automobile |
| CN114144329A (en) * | 2021-03-30 | 2022-03-04 | 浙江吉利控股集团有限公司 | Motor torque filtering control method and system and hybrid vehicle |
| WO2022143305A1 (en) * | 2020-12-28 | 2022-07-07 | 长城汽车股份有限公司 | Hybrid vehicle torque control method and apparatus, storage medium, and electronic device |
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| CN110356248A (en) * | 2019-07-19 | 2019-10-22 | 潍柴动力股份有限公司 | Control method, device, storage medium and the vehicle of Motor torque |
| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
| CN113306406B (en) * | 2020-02-26 | 2022-10-28 | 北京新能源汽车股份有限公司 | Motor torque control device and method and automobile |
| CN113306406A (en) * | 2020-02-26 | 2021-08-27 | 北京新能源汽车股份有限公司 | Motor torque control device and method and automobile |
| CN113752852A (en) * | 2020-06-01 | 2021-12-07 | 北京罗克维尔斯科技有限公司 | Vehicle torque zero-crossing control method and device |
| CN113752852B (en) * | 2020-06-01 | 2023-08-18 | 北京罗克维尔斯科技有限公司 | Control method and device for vehicle torque zero crossing |
| WO2022143305A1 (en) * | 2020-12-28 | 2022-07-07 | 长城汽车股份有限公司 | Hybrid vehicle torque control method and apparatus, storage medium, and electronic device |
| CN114144329B (en) * | 2021-03-30 | 2024-05-03 | 浙江吉利控股集团有限公司 | Motor torque filtering control method and system and hybrid vehicle |
| CN114144329A (en) * | 2021-03-30 | 2022-03-04 | 浙江吉利控股集团有限公司 | Motor torque filtering control method and system and hybrid vehicle |
| CN113071496A (en) * | 2021-04-13 | 2021-07-06 | 佛山市飞驰汽车科技有限公司 | New energy automobile driver demand torque filtering method |
| CN113276689B (en) * | 2021-05-21 | 2022-05-10 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113276689A (en) * | 2021-05-21 | 2021-08-20 | 江铃汽车股份有限公司 | Torque filtering method of pure electric vehicle |
| CN113370801B (en) * | 2021-06-30 | 2022-05-03 | 三一汽车起重机械有限公司 | Torque control method and device for electric vehicle |
| CN113370801A (en) * | 2021-06-30 | 2021-09-10 | 三一汽车起重机械有限公司 | Torque control method and device for electric vehicle |
| CN113829896A (en) * | 2021-11-10 | 2021-12-24 | 浙江奥思伟尔电动科技有限公司 | Tooth leaning method for electric automobile |
| CN113829896B (en) * | 2021-11-10 | 2024-01-19 | 浙江奥思伟尔电动科技有限公司 | Gear leaning method for electric automobile |
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