CN111319475B - Motor torque control method and device, vehicle and readable storage medium - Google Patents
Motor torque control method and device, vehicle and readable storage medium Download PDFInfo
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- CN111319475B CN111319475B CN202010095109.3A CN202010095109A CN111319475B CN 111319475 B CN111319475 B CN 111319475B CN 202010095109 A CN202010095109 A CN 202010095109A CN 111319475 B CN111319475 B CN 111319475B
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—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
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- Y02T10/72—Electric energy management in electromobility
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Abstract
The application provides a motor torque control method and device, a vehicle and a readable storage medium. The control method of the motor torque comprises the following steps: acquiring current torque information of a motor; the current torque information includes a current torque value and a duration of the current torque value; adjusting an enabled state of the motor according to the current torque value and a duration of the current torque value. The method fully plays a role in protecting the motor, reduces the damage risk of the motor and prolongs the service life of the motor.
Description
Technical Field
The application relates to the technical field of motor control, in particular to a motor torque control method and device, a vehicle and a readable storage medium.
Background
The motor is required to drive when the vehicle runs, the service life of the motor can be shortened if the motor runs for a long time under the condition of high torque, and the damage risk of the motor is increased.
In the prior art, a control method is generally adopted, in which torque of a motor is monitored in real time, and then an output control signal is changed based on a limited value of the torque, so that real-time control of the torque is realized. Although the method can accurately realize the control of the torque, the output control signal needs to be changed according to the limit value, the time needed in the middle is long, and the motor can be operated under the condition of high torque for a long time, so that the protection of the motor is not facilitated.
Disclosure of Invention
An object of the embodiments of the present application is to provide a method and an apparatus for controlling a motor torque, a vehicle, and a readable storage medium, so as to reduce a risk of damage to a motor and prolong a life of the motor.
In a first aspect, an embodiment of the present application provides a method for controlling a torque of a motor, including: acquiring current torque information of a motor; the current torque information includes a current torque value and a duration of the current torque value; adjusting an enabled state of the motor according to the current torque value and a duration of the current torque value.
In the embodiment of the application, compared with the prior art, when the current torque information of the motor is acquired, the enabling state of the motor is adjusted according to the current torque value in the current torque information and the duration of the current torque value, the maximum torque of the motor can be influenced by the change of the enabling state of the motor, and when the maximum torque of the motor is changed, the real-time torque of the motor can be correspondingly changed, so that the effect of quickly changing the torque of the motor is achieved, and the motor is prevented from being operated under the condition of high torque for a long time; in addition, besides considering the influence of the current torque value, the duration of the current torque value can be also considered, so that the control of the enabling state of the motor is more accurate and beneficial to the operation of the motor. Therefore, the method fully plays a role in protecting the motor, reduces the damage risk of the motor and prolongs the service life of the motor.
As a possible implementation, adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value includes: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of the torque values; acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value; and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
In the embodiment of the application, when the enabling state of the motor is adjusted, if the current torque value and the corresponding duration time meet a first preset condition, the enabling of the motor corresponding to the first preset condition is closed; and after closing, new torque information is acquired again, and further enabling state adjustment is carried out according to the new torque information. Through the mode, when in actual control, the first preset condition can be set according to the specification of the motor, so that the torque control of the motor is convenient and simple, and the damage risk of the motor is reduced.
As a possible implementation, readjusting the enabled state of the motor corresponding to the first preset condition according to the new torque value and the duration of the new torque value includes: if the new torque value and the duration time of the new torque value meet a second preset condition, activating the enabling of the motor corresponding to the first preset condition; the second preset condition comprises a second preset range of the torque value and a second preset value of the duration of the torque value, and the maximum value of the second preset range is smaller than or equal to the minimum value of the first preset range; the second preset value is greater than the first preset value.
In the embodiment of the application, when the enable state of the motor is further adjusted according to the new torque information, if the torque value and the duration time of the motor meet the second preset condition, it indicates that the motor is no longer in high-torque operation for a period of time, which is equivalent to giving the motor a certain buffer time, and at this time, the corresponding enable may be activated again, so that the torque of the motor can be in high-torque operation again.
As a possible implementation, adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value further includes: if the current torque value and the duration time of the current torque value meet a third preset condition, closing the enabling of the motor corresponding to the third preset condition; the third preset condition comprises a third preset range of torque values and a third preset value of duration of torque values; the minimum value of the third preset range is smaller than the minimum value of the first preset range; the third preset value is greater than the first preset value.
In this application embodiment, except first preset condition, can also set up third preset condition, third preset condition also corresponds the enabling of an adjustable motor, and then can carry out different regulation of enabling according to the different situations of torque value and duration, plays the effect of fully protecting the motor.
As a possible implementation, adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value further includes: if the current torque value and the duration time of the current torque value meet a fourth preset condition, closing the enabling of the motor corresponding to the fourth preset condition; the fourth preset condition comprises a fourth preset range of torque values and a fourth preset value of duration of torque values; the minimum value of the fourth preset range is smaller than the minimum value of the third preset range; the fourth preset value is greater than the first preset value and the third preset value.
In this application embodiment, can also set up the fourth preset condition, the fourth preset condition also corresponds the enabling of an adjustable motor, and then can carry out different regulation of enabling according to the different situations of torque value and duration, plays the effect of fully protecting the motor.
As a possible implementation manner, the first preset value is 1min, the third preset value is 2min, and the fourth preset value is 3 min; the minimum value of the first preset range is 200N × m, the minimum value of the third preset range is 160N × m, and the minimum value of the fourth preset range is 120N × m.
In the embodiment of the application, the first preset range, the third preset range and the fourth preset range which are set in the implementation mode are suitable for torque control of the motor of the four-wheel distributed independent drive electric vehicle, the torque of the motor in long-term working time can be controlled to be less than 120N m, the loss of the service life of the motor is reduced, and the maintenance cost is reduced.
In a second aspect, the present embodiments also provide a device for controlling motor torque, where the device includes functional modules for implementing the method described in the first aspect and any one of the possible implementations of the first aspect.
In a third aspect, an embodiment of the present application further provides a vehicle, including: the system comprises a motor, a motor controller and a vehicle control unit; the motor controller is used for acquiring current torque information of the motor; the current torque information includes a current torque value and a duration of the current torque value; the vehicle control unit is used for adjusting the enabling state of the motor according to the current torque value and the duration of the current torque value.
In a fourth aspect, an embodiment of the present application provides a readable storage medium, where a computer program is stored on the readable storage medium, and the computer program is executed by a computer to perform the method according to the first aspect and any one of the possible implementation manners of the first aspect.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required to be used in the embodiments of the present application will be briefly described below, it should be understood that the following drawings only illustrate some embodiments of the present application and therefore should not be considered as limiting the scope, and that those skilled in the art can also obtain other related drawings based on the drawings without inventive efforts.
Fig. 1 is a flowchart of a method for controlling a torque of a motor according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram illustrating a relationship between an enabled state and a maximum torque of a motor according to an embodiment of the present disclosure;
fig. 3 is an example of a flow of a method for controlling a torque of a motor according to an embodiment of the present disclosure;
fig. 4 is a functional block diagram of a device for controlling motor torque according to an embodiment of the present disclosure.
Icon: 200-control device of motor torque; 201-an acquisition module; 202-processing module.
Detailed Description
The technical solutions in the embodiments of the present application will be described below with reference to the drawings in the embodiments of the present application.
The technical scheme provided by the embodiment of the application can be applied to various application scenes needing to carry out motor torque control, such as torque control of motors of various vehicles, torque control of motors of robots or torque control of motors of other devices driven by the motors.
Further, the technical solution provided by the embodiment of the present application may be applied to motor controllers of various devices, or core controllers of devices, and the like. Taking a vehicle as an example, the technical scheme can be applied to a vehicle control unit of the vehicle, wherein the vehicle control unit is a core control component of the whole vehicle and is equivalent to a brain of the vehicle. The automobile brake system collects signals of an accelerator pedal, signals of a brake pedal and other parts, and controls the action of each part controller on the lower layer after corresponding judgment is made, so as to drive the automobile to normally run. As a command management center of an automobile, the main functions of the whole automobile controller comprise: the system comprises a driving torque control unit, a brake energy optimization control unit, a vehicle energy management unit, a Controller Area Network (CAN) Network maintenance and management unit, a fault diagnosis and treatment unit, a vehicle state monitoring unit and the like, and plays a role in controlling vehicle operation.
Referring next to fig. 1, a flowchart of a method for controlling a torque of a motor according to an embodiment of the present application is shown, where the method includes:
step 101: and acquiring current torque information of the motor. The current torque information includes a current torque value and a duration of the current torque value.
Step 102: and adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value.
In the embodiment of the application, compared with the prior art, when the current torque information of the motor is acquired, the enabling state of the motor is adjusted according to the current torque value in the current torque information and the duration of the current torque value, the maximum torque of the motor can be influenced by the change of the enabling state of the motor, and when the maximum torque of the motor is changed, the real-time torque of the motor can be correspondingly changed, so that the effect of quickly changing the torque of the motor is achieved, and the motor is prevented from being operated under the condition of high torque for a long time; in addition, besides considering the influence of the current torque value, the duration of the current torque value can be also considered, so that the control of the enabling state of the motor is more accurate and beneficial to the operation of the motor. Therefore, the method fully plays a role in protecting the motor, reduces the damage risk of the motor and prolongs the service life of the motor.
A detailed implementation of steps 101-102 is described next.
In step 101, the current torque information for the motor may be directly obtained from a controller connected to the motor. Taking a vehicle as an example, the motor controller may obtain the motor torque information, and then the motor controller transmits the motor torque information to the CAN bus, and the vehicle controller may obtain the motor torque information from the CAN bus.
The current torque information includes a current torque value and a duration of the current torque value, and it can be understood that, for the duration, if the torque value at the previous time and the torque value at the current time are not changed, the duration is represented as one time. The duration may have different units of measure, such as seconds and minutes.
Further, in step 102, the enabled state of the motor is adjusted according to the current torque value and the duration of the current torque value. For the enabling of the motor, the enabling can be understood as a switching value, the enabling can have two states, namely an activated state and a closed state, and the switching value can be defaulted to be 1 in the activated state; in the off state, the switching value may default to 0. For the relation between the enable and the torque of the motor, please refer to fig. 2, which is a schematic diagram of the relation between the enable state and the maximum torque of the motor, assuming that the motor has three enables: enabling one, enabling two and enabling three, wherein when the three enabling are in an off state, the maximum torque of the motor is 120N m; when the first enable is activated, the second enable is deactivated and the third enable is deactivated, the maximum torque of the motor is 140N m; when the first enable and the second enable are both activated and the third enable is closed, the maximum torque of the motor is 180N m; when enable one, enable two, enable three are all active, the maximum torque of the motor is 240N m. It can be seen that the number of activations enabled affects the maximum torque value of the motor, which decreases when it changes. Of course, fig. 2 is only used as an illustration, and in practical cases, different enabling states can be set according to different motor specifications, and the influence of different enabling state changes on the maximum torque value of the motor can be set.
For the device, a plurality of motors may be required to drive simultaneously, each motor has its own corresponding enable, and the torque control manner of steps 101 to 102 is adopted for each motor. In addition, different enabling numbers can be set for different motor specifications, for example, the motor 1 needs three enabling to control; the motor 2 only needs two enabling devices for control; only one enable is required for the motor 3 to control.
Further, since the number of enables set for different motors is different, different embodiments are possible when adjusting the enabled state according to the current torque value and the duration of the current torque value.
As an alternative embodiment, step 102 includes: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of the torque values; acquiring new enabled torque information of a motor corresponding to a first preset condition; the new torque information includes a new torque value and a duration of the new torque value; and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
In this embodiment, the first preset condition may be understood as a judgment condition for the current torque value and the duration of the current torque value, and if the current torque value and the duration of the current torque value satisfy the judgment condition, the enabling of the motor corresponding to the first preset condition may be turned off. For the enabling of the corresponding motor of the first preset condition, it is understood that the first preset condition is related to the enabling of the corresponding motor, for example: an enable of the electric machine, when activated, causes the torque limit of the electric machine to be 240N m, the range of torque values for the first predetermined condition has a relationship with 240N m, for example, the minimum value of the first predetermined condition is a value slightly smaller than the torque limit.
Further, the first preset condition includes a first preset range of the torque value and a first preset value of the duration of the torque value, for example, the first preset condition may be: the torque T is more than 200N m; the duration t is 1 min. And (3) closing the corresponding enable to reduce the maximum torque of the motor if the real-time torque is in the condition of more than 200N m for 1 minute.
It is understood that when the first preset condition is satisfied, it indicates that the current torque value may be high, and thus may play a role in reducing the real-time torque of the motor by turning off the corresponding enable.
After the enabling corresponding to the first preset condition is turned off, the real-time torque value of the motor may decrease, at this time, new torque information after the enabling corresponding to the turning off may be detected again, and then further enabling state adjustment may be performed according to the new torque information. Through the mode, when in actual control, the first preset condition can be set according to the specification of the motor, so that the torque control of the motor is convenient and simple, and the damage risk of the motor is reduced.
As an alternative implementation, readjusting the enabled state of the motor corresponding to the first preset condition according to the new torque value and the duration of the new torque value includes: if the new torque value and the duration time of the new torque value meet a second preset condition, activating the enabling of the motor corresponding to the first preset condition; the second preset condition comprises a second preset range of the torque value and a second preset value of the duration of the torque value, and the maximum value of the second preset range is smaller than or equal to the minimum value of the first preset range; the second preset value is greater than the first preset value.
In this embodiment, for example, assuming that the first predetermined range is greater than 200N × m and the first predetermined value is 1min, the second predetermined range may be less than or equal to 200N × m and the second predetermined value is 3 min. Corresponding to the fact that after the enabling corresponding to the first preset condition is closed, if the real-time torque is in the working condition of less than or equal to 200N m for 3 minutes, the corresponding enabling is reactivated again.
It should be noted that, after the corresponding enable is reactivated, step 101 may be executed again, which is equivalent to that the above process is cyclic, and after each state change, a real-time torque value needs to be detected, and then readjustment is performed according to the conditions satisfied by the torque value, so as to ensure that the motor does not operate at high torque for a long time, and also can operate stably.
Further, in addition to the first preset condition, assuming that the motor has a plurality of enables, other preset conditions may be set to control other enables of the motor, and therefore, step 102 may further include: if the current torque value and the duration time of the current torque value meet a third preset condition, closing the enabling of the motor corresponding to the third preset condition; the third preset condition comprises a third preset range of torque values and a third preset value of duration of torque values; the minimum value of the third preset range is smaller than the minimum value of the first preset range; the third preset value is greater than the first preset value.
In this embodiment, it is understood that, in addition to the first preset condition, a third preset condition is provided, the third preset range of the torque value of the third preset condition being different from the first preset range of the torque value, and the third preset value of the duration being different from the first preset value of the duration. For example, it is assumed that the first predetermined range is greater than 200N × m, the third predetermined range may be greater than 160N × m and less than 200N × m, the first predetermined value is 1min, and the third predetermined value is 2 min.
Further, as can be understood in conjunction with the first preset condition, if the current torque value and the duration of the current torque value satisfy the first preset condition, the enabling of the motor corresponding to the first preset condition is turned off (assume to be enabled three); and if the current torque value and the duration time of the current torque value meet the third preset condition, the enabling of the motor corresponding to the third preset condition is closed (the enabling is assumed to be two).
In addition, if the current torque value and the duration time of the current torque value meet a third preset condition, and after the enabling of the motor corresponding to the third preset condition is closed, a judgment condition similar to the second preset condition can be set, the real-time torque of the motor after the enabling of the motor corresponding to the third preset condition is closed is detected, and processing similar to the second preset condition is performed. For example, assume that the first preset condition is a determination condition 1 and the second preset condition is a determination condition 2; the third preset condition is a judgment condition 3, and a judgment condition 4 is also set under the third preset condition; when the determination condition 1 is satisfied, after the corresponding enable is turned off, it is necessary to further determine the determination condition 2 and determine whether or not to perform the process of activating the enable corresponding to the determination condition 1. Similarly, when the determination condition 3 is satisfied, after the corresponding enable is turned off, it is necessary to further determine the determination condition 4 and determine whether to activate the process of enabling corresponding to the determination condition 3. In addition, it is understood that the judgment condition 1 and the judgment condition 2 correspond to the same enable; the determination condition 3 and the determination condition 4 correspond to the same enable.
In this application embodiment, except first preset condition, can also set up third preset condition, third preset condition also corresponds the enabling of an adjustable motor, and then can carry out different regulation of enabling according to the different situations of torque value and duration, plays the effect of fully protecting the motor.
Further, in addition to the third preset condition, a fourth preset condition may be set, and in this case, step 102 may further include: if the current torque value and the duration time of the current torque value meet a fourth preset condition, closing the enabling of the motor corresponding to the fourth preset condition; the fourth preset condition comprises a fourth preset range of torque values and a fourth preset value of duration of torque values; the minimum value of the fourth preset range is smaller than the minimum value of the third preset range; the fourth preset value is greater than the first preset value and the third preset value.
In this embodiment, it is understood that, in addition to the first preset condition and the third preset condition, a fourth preset condition is provided in parallel to the two preset conditions, a fourth preset range of the torque value of the fourth preset condition is different from both the first preset range and the third preset range of the torque value, and a fourth preset value of the duration is different from both the first preset value and the third preset value of the duration. For example, assume that the first predetermined range is greater than 200N × m, the third predetermined range is greater than 160N × m and less than 200N × m, the first predetermined value is 1min, and the third predetermined value is 2 min; the fourth preset range may be greater than 120N × m and less than 160N × m, and the fourth preset range may be 3 min.
Further, as can be understood by combining the first preset condition and the third preset condition, if the current torque value and the duration of the current torque value satisfy the first preset condition, the enabling of the motor corresponding to the first preset condition is turned off (assume to be enabled three); if the current torque value and the duration time of the current torque value meet a third preset condition, the enabling of the motor corresponding to the third preset condition is closed (the enabling is assumed to be two); and if the current torque value and the duration time of the current torque value meet the fourth preset condition, turning off the enabling (assuming to be one) of the motor corresponding to the fourth preset condition.
In addition, if the current torque value and the duration time of the current torque value meet a fourth preset condition, and after the enabling of the motor corresponding to the fourth preset condition is closed, a judgment condition similar to the second preset condition can be set, the real-time torque of the motor after the enabling of the motor corresponding to the fourth preset condition is closed is detected, and processing similar to the second preset condition is performed. For example, assume that the first preset condition is a determination condition 1 and the second preset condition is a determination condition 2; the third preset condition is a judgment condition 3, and a judgment condition 4 is also set under the third preset condition; the fourth preset condition is a judgment condition 5, and a judgment condition 6 is further set under the fourth preset condition. When the determination condition 1 is satisfied, after the corresponding enable is turned off, it is necessary to further determine the determination condition 2 and determine whether or not to perform the process of activating the enable corresponding to the determination condition 1. Similarly, when the determination condition 3 is satisfied, after the corresponding enable is turned off, it is necessary to further determine the determination condition 4 and determine whether to activate the process of enabling corresponding to the determination condition 3. Similarly, when the determination condition 5 is satisfied, after the corresponding enable is turned off, it is necessary to further determine the determination condition 6 and determine whether to activate the process of enabling corresponding to the determination condition 5. In addition, it is understood that the judgment condition 1 and the judgment condition 2 correspond to the same enable; the judgment condition 3 and the judgment condition 4 correspond to the same enable; the determination condition 5 and the determination condition 6 correspond to the same enable.
In this application embodiment, can also set up the fourth preset condition, the fourth preset condition also corresponds the enabling of an adjustable motor, and then can carry out different regulation of enabling according to the different situations of torque value and duration, plays the effect of fully protecting the motor.
Referring to fig. 3, an optional implementation flow of the method for controlling a motor torque according to the embodiment of the present application is shown, in which a first preset condition is a determination condition 1, and a second preset condition is a determination condition 2; the third preset condition is a judgment condition 3, and a judgment condition 4 is set under the third preset condition; the fourth preset condition is a judgment condition 5, and a judgment condition 6 is set under the fourth preset condition. The judgment conditions 1, 3, 5 can be understood as first-level judgment conditions; the judgment conditions 2, 4, 6 can be understood as judgment conditions of the second stage. Judging that the conditions 1 and 2 correspond to enable three; judging that the conditions 3 and 4 correspond to an enable II; decision conditions 5 and 6 correspond to enable one. The judgment condition 1 is: torque value range: t is more than 200N m, and the duration T is 1 min. The judgment condition 2 is: torque value range: t is less than or equal to 200N m, and the duration T is 3 min. The judgment condition 3 is: torque value range: 200N × m > T > 160N × m, and a duration T of 2 min. The judgment condition 4 is: torque value range: t is less than or equal to 160N m, and the duration T is 3 min. The judgment condition 5 is: torque value range: 160N × m > T > 120N × m, and a duration T of 3 min. The judgment condition 6 is: torque value range: t is less than or equal to 120N m, and the duration T is 3 min.
After the current torque value and the duration time of the current torque value are obtained, firstly, judging among three primary conditions; after the primary condition is judged, if the corresponding enable is closed, further judgment of the secondary condition corresponding to the primary condition is carried out to determine whether the corresponding enable is activated.
For the convenience of understanding, the embodiments of the present application present several specific embodiments.
Case one: at the moment, the motor torque T is 220N m, the duration is 1min, the enable III is closed at the moment due to the fact that the judgment condition 1 is met, and the maximum motor torque Tmax is 180N m. And after the enable three is turned off, judging a judgment condition 2, if T is in a working condition of less than or equal to 200N m for 3 minutes, meeting the judgment condition 2, enabling the enable three to be activated, restoring the maximum torque limit of the motor Tm to 240N m, and then continuously and circularly judging the torque value and the duration.
Case two: at the moment, the motor torque T is 180N m, the duration is 2min, the second enable is turned off at the moment because the judgment condition 3 is met, and the maximum motor torque Tmax is 140N m. And after the second enable is turned off, judging a judgment condition 4, if the T is less than or equal to 160N m for 3 minutes, meeting the judgment condition 4, enabling the second enable, restoring the maximum torque limit of the motor Tm which is 240N m, and then continuously and circularly judging the torque value and the duration.
Case three: at this time, the motor torque T is 140N × m, and the duration is 3min, and since the determination condition 5 is satisfied, the enable one is turned off at this time, and the motor maximum torque Tmax is 120N × m. After the enabling is turned off, the judgment of the judgment condition 6 is carried out, the judgment condition 6 is met assuming that T is less than or equal to 120N m for 3 minutes, the activation is enabled, the maximum torque limit of the motor Tm which is 240N m is restored, and then the judgment of the torque value and the duration can be continuously carried out in a circulating mode.
It can be seen from the above cases that when the torque of the motor is too high, the real-time torque of the motor cannot be too high by the method provided by the embodiment of the application, and the torque of the motor can be stably maintained below 200N × m as in the above cases, so that the motor is prevented from being damaged when the motor runs under the condition of high torque for a long time, the motor is protected, and the service life of the motor is prolonged.
Based on the same inventive concept, referring to fig. 4, an embodiment of the present application further provides a control device 200 for motor torque, including: an acquisition module 201 and a processing module 202.
An obtaining module 201, configured to obtain current torque information of a motor; the current torque information includes a current torque value and a duration of the current torque value. A processing module 202, configured to adjust an enabled state of the motor according to the current torque value and a duration of the current torque value.
Optionally, the processing module 202 is specifically configured to: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of torque values. The obtaining module 201 is further configured to: acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value. The processing module 202 is further configured to: and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
Optionally, the processing module 202 is specifically configured to: if the new torque value and the duration time of the new torque value meet a second preset condition, activating the enabling of the motor corresponding to the first preset condition; the second preset condition comprises a second preset range of the torque value and a second preset value of the duration of the torque value, and the maximum value of the second preset range is smaller than the minimum value of the first preset range; the second preset value is greater than the first preset value.
Optionally, the processing module 202 is further specifically configured to: if the current torque value and the duration time of the current torque value meet a third preset condition, closing the enabling of the motor corresponding to the third preset condition; the third preset condition comprises a third preset range of torque values and a third preset value of duration of torque values; the minimum value of the third preset range is smaller than the minimum value of the first preset range; the third preset value is greater than the first preset value.
Optionally, the processing module 202 is further specifically configured to: if the current torque value and the duration time of the current torque value meet a fourth preset condition, closing the enabling of the motor corresponding to the fourth preset condition; the fourth preset condition comprises a fourth preset range of torque values and a fourth preset value of duration of torque values; the minimum value of the fourth preset range is smaller than the minimum value of the third preset range; the fourth preset value is greater than the first preset value and the third preset value.
The embodiments and specific examples of the control method of the motor torque in the foregoing embodiments are also applicable to the control device 200 of the motor torque, and the detailed description of the control method of the motor torque, which is given above, can clearly understand the embodiments of the modules of the control device 200 of the motor torque, so the detailed description is omitted here for the brevity of the description.
Based on the same inventive concept, the embodiment of the present application further provides a vehicle, including: the system comprises a motor, a motor controller and a vehicle control unit; the motor controller is used for acquiring current torque information of the motor; the current torque information includes a current torque value and a duration of the current torque value; the vehicle control unit is used for adjusting the enabling state of the motor according to the current torque value and the duration of the current torque value.
Optionally, the vehicle controller is specifically configured to: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of torque values. The motor controller is further configured to: acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value. The vehicle control unit is also used for: and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
Optionally, the vehicle controller is specifically configured to: if the new torque value and the duration time of the new torque value meet a second preset condition, activating the enabling of the motor corresponding to the first preset condition; the second preset condition comprises a second preset range of the torque value and a second preset value of the duration of the torque value, and the maximum value of the second preset range is smaller than the minimum value of the first preset range; the second preset value is greater than the first preset value.
Optionally, the vehicle controller is further specifically configured to: if the current torque value and the duration time of the current torque value meet a third preset condition, closing the enabling of the motor corresponding to the third preset condition; the third preset condition comprises a third preset range of torque values and a third preset value of duration of torque values; the minimum value of the third preset range is smaller than the minimum value of the first preset range; the third preset value is greater than the first preset value.
Optionally, the vehicle controller is further specifically configured to: if the current torque value and the duration time of the current torque value meet a fourth preset condition, closing the enabling of the motor corresponding to the fourth preset condition; the fourth preset condition comprises a fourth preset range of torque values and a fourth preset value of duration of torque values; the minimum value of the fourth preset range is smaller than the minimum value of the third preset range; the fourth preset value is greater than the first preset value and the third preset value.
The embodiments and specific examples of the control method of the motor torque in the foregoing embodiments are also applicable to various modules in a vehicle, and the detailed description of the control method of the motor torque in the foregoing embodiments is clear to those skilled in the art, so that the detailed description is omitted here for the brevity of the description.
Based on the same inventive concept, the present application also provides a readable storage medium, on which a computer program is stored, and the computer program is executed by a computer to execute the control method of the motor torque in any of the above embodiments.
In the embodiments provided in the present application, it should be understood that the disclosed apparatus and method may be implemented in other ways. The above-described embodiments of the apparatus are merely illustrative, and for example, the division of the units is only one logical division, and there may be other divisions when actually implemented, and for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection of devices or units through some communication interfaces, and may be in an electrical, mechanical or other form.
In addition, units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
Furthermore, the functional modules in the embodiments of the present application may be integrated together to form an independent part, or each module may exist separately, or two or more modules may be integrated to form an independent part.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The above description is only an example of the present application and is not intended to limit the scope of the present application, and various modifications and changes may be made by those skilled in the art. Any modification, equivalent replacement, improvement and the like made within the spirit and principle of the present application shall be included in the protection scope of the present application.
Claims (8)
1. A method of controlling torque of an electric motor, comprising:
acquiring current torque information of a motor; the current torque information includes a current torque value and a duration of the current torque value;
adjusting an enabled state of the motor as a function of the current torque value and a duration of the current torque value, including:
if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of the torque values;
acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value;
and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
2. The control method according to claim 1, characterized in that readjusting the enabled state of the electric machine corresponding to the first preset condition according to the new torque value and the duration of the new torque value comprises:
if the new torque value and the duration time of the new torque value meet a second preset condition, activating the enabling of the motor corresponding to the first preset condition;
the second preset condition comprises a second preset range of the torque value and a second preset value of the duration of the torque value, and the maximum value of the second preset range is smaller than the minimum value of the first preset range; the second preset value is greater than the first preset value.
3. The control method according to claim 1, wherein adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value further comprises:
if the current torque value and the duration time of the current torque value meet a third preset condition, closing the enabling of the motor corresponding to the third preset condition;
the third preset condition comprises a third preset range of torque values and a third preset value of duration of torque values; the minimum value of the third preset range is smaller than the minimum value of the first preset range; the third preset value is greater than the first preset value.
4. The control method according to claim 3, wherein adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value further comprises:
if the current torque value and the duration time of the current torque value meet a fourth preset condition, closing the enabling of the motor corresponding to the fourth preset condition;
the fourth preset condition comprises a fourth preset range of torque values and a fourth preset value of duration of torque values; the minimum value of the fourth preset range is smaller than the minimum value of the third preset range; the fourth preset value is greater than the first preset value and the third preset value.
5. The control method according to claim 4, wherein the first preset value is 1min, the third preset value is 2min, and the fourth preset value is 3 min; the minimum value of the first preset range is 200N × m, the minimum value of the third preset range is 160N × m, and the minimum value of the fourth preset range is 120N × m.
6. A control device of motor torque, characterized by comprising:
the acquisition module is used for acquiring the current torque information of the motor; the current torque information includes a current torque value and a duration of the current torque value;
the processing module is used for adjusting the enabled state of the motor according to the current torque value and the duration of the current torque value;
the processing module is specifically configured to: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of the torque values;
the acquisition module is further configured to: acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value;
the processing module is further configured to: and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
7. A vehicle, characterized by comprising:
the system comprises a motor, a motor controller and a vehicle control unit;
the motor controller is used for acquiring current torque information of the motor; the current torque information includes a current torque value and a duration of the current torque value;
the vehicle control unit is used for adjusting the enabling state of the motor according to the current torque value and the duration of the current torque value;
the whole vehicle controller is specifically used for: if the current torque value and the duration time of the current torque value meet a first preset condition, closing the enabling of the motor corresponding to the first preset condition; the first preset condition comprises a first preset range of torque values and a first preset value of duration of the torque values;
the motor controller is further configured to: acquiring new enabled torque information of the motor corresponding to the first preset condition; the new torque information includes a new torque value and a duration of the new torque value;
the vehicle control unit is further configured to: and adjusting the enabled state of the motor corresponding to the first preset condition again according to the new torque value and the duration of the new torque value.
8. A readable storage medium, having stored thereon a computer program which, when executed by a computer, performs the method of any one of claims 1-5.
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| CN202010095109.3A CN111319475B (en) | 2020-02-14 | 2020-02-14 | Motor torque control method and device, vehicle and readable storage medium |
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| CN202010095109.3A CN111319475B (en) | 2020-02-14 | 2020-02-14 | Motor torque control method and device, vehicle and readable storage medium |
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| JP6458794B2 (en) * | 2016-11-29 | 2019-01-30 | トヨタ自動車株式会社 | Hybrid vehicle and control method thereof |
| CN107599889B (en) * | 2017-08-30 | 2020-01-10 | 北京新能源汽车股份有限公司 | Reversing control method and device and electric automobile |
| CN107650716B (en) * | 2017-09-28 | 2019-10-25 | 北京新能源汽车股份有限公司 | Electric automobile and torque monitoring method and system thereof |
| CN110356248B (en) * | 2019-07-19 | 2021-10-08 | 潍柴动力股份有限公司 | Motor torque control method and device, storage medium and vehicle |
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