CN113071330B - Motor torque control method, system, vehicle and storage medium - Google Patents
Motor torque control method, system, vehicle and storage medium Download PDFInfo
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- CN113071330B CN113071330B CN202110413545.5A CN202110413545A CN113071330B CN 113071330 B CN113071330 B CN 113071330B CN 202110413545 A CN202110413545 A CN 202110413545A CN 113071330 B CN113071330 B CN 113071330B
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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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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
- H02P6/08—Arrangements for controlling the speed or torque of a single motor
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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
- Y02T10/64—Electric machine technologies in electromobility
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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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Abstract
The invention discloses a motor torque control method, a motor torque control system, a vehicle and a storage medium, and relates to the technical field of automobile engineering. The motor torque control method comprises the steps of S1, judging that the motor needs to execute torque zero-crossing control according to the required torque and the actual torque of the motor; s2, controlling the actual torque to reach a zero-crossing first preset torque and keeping the zero-crossing first preset time length, wherein the positive and negative signs of the zero-crossing first preset torque and the required torque are the same; s3, controlling the actual torque to reach a zero-crossing second preset torque and keeping the zero-crossing second preset time length, wherein the signs of the zero-crossing first preset torque and the zero-crossing second preset torque are opposite; and S4, adjusting the actual torque from the zero-crossing second preset torque to the required torque by using a preset curve, and adjusting the actual torque to the required torque when the deviation of the actual torque and the required torque is within a preset range. The invention can inhibit the impact when the motor torque passes through zero and ensure better dynamic response.
Description
Technical Field
The invention relates to the technical field of vehicle engineering, in particular to a motor torque control method, a motor torque control system, a vehicle and a storage medium.
Background
The vehicle directly driven by the motor has no buffer element similar to a shock absorber or a torque converter between the motor and the wheel, and when the torque direction of the motor changes (zero crossing of the torque), the rotor of the motor and the wheel can be jointed and separated to be jointed again due to a tiny gap on a transmission chain. The process has the contradiction of reducing the impact of the whole vehicle and shortening the zero-crossing time of the torque.
For the problem of the zero crossing of the torque, the prior technical schemes are divided into two categories, and one scheme is to reduce the impact of the zero crossing of the torque by reducing the rising slope of the positive torque or the falling slope of the negative torque. Although the control mode of the motor torque zero crossing is a control slope, the aim of reducing the gap and eliminating the instant rotating speed difference is realized by indirectly reducing the motor torque in the motor torque zero crossing process, and the zero crossing time is obviously increased due to the reduction of the torque, so that the contradiction between the impact and the dynamic response time exists. The second scheme is that when the motor torque is in a zero-crossing working condition, the torque zero-crossing is realized by a smaller set torque lasting for a set time, and essentially, the purpose of reducing the clearance and eliminating the instant rotating speed difference is realized by reducing the motor torque in the motor torque zero-crossing process, and the contradiction of the impact and dynamic response time also exists. The two types of methods for realizing the zero crossing of the torque by limiting the torque of the motor and the change rate have the contradiction between impact and dynamic response time, and finally certain impact always exists, and the impact is increased along with the increase of the abrasion gap of the vehicle only in the range acceptable by a driver, which is also a problem commonly existing in large-range automobiles.
Therefore, there is a need for a motor torque control method, system, vehicle, and storage medium that can suppress a shock when the motor torque passes through zero and ensure a good dynamic response.
Disclosure of Invention
The invention aims to provide a motor torque control method, a motor torque control system, a vehicle and a storage medium, which can inhibit impact when motor torque passes through zero and ensure better dynamic response.
In order to realize the technical effects, the technical scheme of the invention is as follows:
a motor torque control method comprising: step S1, judging that the motor needs to execute torque zero-crossing control according to the required torque and the actual torque of the motor; s2, controlling the actual torque to reach a zero-crossing first preset torque and keeping the zero-crossing first preset time length, wherein the positive and negative signs of the zero-crossing first preset torque and the required torque are the same; s3, controlling the actual torque to reach a zero-crossing second preset torque and keeping the zero-crossing second preset time length, wherein the signs of the zero-crossing first preset torque and the zero-crossing second preset torque are opposite; and S4, adjusting the actual torque from the zero-crossing second preset torque to the required torque by using a preset curve, and adjusting the actual torque to the required torque when the deviation of the actual torque and the required torque is within a preset range.
Further, gaps between the motor and the wheels have gap parameters, each gap parameter is provided with a group of torque zero-crossing control characteristic parameters correspondingly, each torque zero-crossing control characteristic parameter comprises a zero-crossing first preset torque, a zero-crossing first preset time length, a zero-crossing second preset torque and a zero-crossing second preset time length, the zero-crossing first preset torque comprises a positive zero-crossing control first preset torque and a negative zero-crossing control first preset torque, and the zero-crossing second preset torque comprises a positive zero-crossing control second preset torque and a negative zero-crossing control second preset torque.
Further, the vehicle is controlled to be in a neutral gear state, the actual torque is controlled to be a first gap self-learning preset torque, a first gap self-learning preset time is kept, then the actual torque is controlled to be switched from the first gap self-learning preset torque to a second gap self-learning preset torque, the signs of the first gap self-learning preset torque and the signs of the second gap self-learning preset torque are opposite, the duration time of the second gap self-learning preset torque before the sudden change of the longitudinal acceleration of the wheel occurs is recorded, the second gap self-learning preset torque is recorded as M, the gap parameter is recorded as X, the rotor inertia of the motor is recorded as J, and then, X = 0.5M T/J, and the zero-crossing torque control characteristic parameter is correspondingly set according to the value of X.
Further, the torque zero-crossing control includes a positive zero-crossing control and a negative zero-crossing control, when the positive zero-crossing control is executed, the zero-crossing first preset torque in the step S2 is a positive zero-crossing control first preset torque, the positive zero-crossing control first preset torque is a positive torque, the zero-crossing second preset torque in the step S3 is a positive zero-crossing control second preset torque, and the positive zero-crossing control second preset torque is a negative torque; when the negative zero-crossing control is executed, the zero-crossing first preset torque in the step S2 is a negative zero-crossing control first preset torque, the negative zero-crossing control first preset torque is a negative torque, the zero-crossing second preset torque in the step S3 is a negative zero-crossing control second preset torque, and the negative zero-crossing control second preset torque is a positive torque.
Further, the step S1 includes: when the actual torque is positive torque and the required torque is smaller than a zero-crossing judgment first preset negative torque, judging that the motor needs to execute negative zero-crossing control; and when the actual torque is a negative torque and the required torque is larger than a zero-crossing judgment first preset positive torque, judging that the motor needs to execute positive zero-crossing control.
Further, the step S1 further includes: and when the torque zero-crossing control is judged not to be executed, and the actual torque is positive torque, and the required torque is larger than zero-crossing judgment second preset positive torque, controlling the actual torque to follow the required torque, and when the required torque is smaller than the zero-crossing judgment second preset positive torque and larger than the zero-crossing judgment first preset negative torque, controlling the actual torque to keep the zero-crossing judgment second preset positive torque, and when the zero-crossing judgment second preset positive torque is smaller than the zero-crossing judgment first preset positive torque.
Further, the step S1 further includes: when the torque zero-crossing control is judged not to be executed, and the actual torque is negative torque, when the required torque is smaller than zero-crossing judgment second preset negative torque, the actual torque is controlled to follow the required torque, when the required torque is larger than the zero-crossing judgment second preset negative torque and smaller than the zero-crossing judgment first preset positive torque, the actual torque is controlled to be kept at the zero-crossing judgment second preset negative torque, and the zero-crossing judgment second preset negative torque is larger than the zero-crossing judgment first preset negative torque.
A motor torque control system comprising: the judging device is used for judging that the motor needs to execute torque zero-crossing control according to the required torque and the actual torque of the motor; a first control device configured to control the actual torque to zero-cross a first preset torque of which sign is the same as that of the required torque and to keep zero-cross for a first preset period; the second control device is used for controlling the actual torque to reach a zero-crossing second preset torque and keeping the zero-crossing second preset time length, and the signs of the zero-crossing first preset torque and the zero-crossing second preset torque are opposite; a third control device configured to adjust the actual torque from the zero-crossing second preset torque to the required torque in a preset curve, the third control device adjusting the actual torque to the required torque when a deviation of the actual torque and the required torque is within a preset range.
A vehicle, comprising: one or more processors; storage means for storing one or more programs; the motor torque control method as hereinbefore described is implemented when one or more of the programs are executed by one or more of the processors such that the one or more processors execute the programs.
A storage medium having stored thereon a computer program which, when executed, implements a motor torque control method as hereinbefore described.
The invention has the beneficial effects that: in step S2, the difference between the rotational speed of the motor rotor and the wheel can be increased, the gap between the motor rotor and the vehicle can be eliminated, in step S3, the difference between the rotational speed of the motor rotor and the vehicle can be reduced, the gap between the motor rotor and the vehicle can be further eliminated, finally, the difference between the rotational speed of the motor rotor and the vehicle is close to 0, most of the zero-crossing process is completed, in step S4, the actual torque of the motor can be adjusted to the required torque of the motor by using a safe and reliable preset curve, and the zero-crossing process of the torque is completed. Therefore, the motor torque control method of the embodiment can complete the torque zero crossing of the motor in a short time, cannot affect the dynamic response of the motor torque, and realizes the zero rotating speed difference between the motor rotor and the vehicle when the clearance between the motor rotor and the vehicle is eliminated, thereby ensuring that the rotating speed is small enough when the motor is attached to a wheel, and obviously reducing the torque zero crossing progress time of the motor.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a schematic flow chart of a method for controlling motor torque according to an embodiment of the present invention;
FIG. 2 is a second schematic flow chart of a motor torque control method according to an embodiment of the present invention;
FIG. 3 is a graphical illustration of actual torque and motor torque demand when the motor torque control method of the present invention is implemented;
FIG. 4 is a second graphical illustration of actual torque and demanded torque of the motor when the method of controlling motor torque according to the embodiment of the present invention is performed;
FIG. 5 is a third graphical illustration of actual torque and requested torque of the motor when the motor torque control method of the present invention is implemented;
FIG. 6 is a fourth graphical illustration of actual torque and torque demanded of the motor when the motor torque control method of the present invention is implemented;
FIG. 7 is a graphical illustration of actual torque and motor torque demand when obtaining clearance parameters according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of a motor torque control system according to an embodiment of the present invention.
Reference numerals
T1, judging a first preset positive torque by zero crossing; t2, judging a second preset positive torque through zero crossing; t3, judging a second preset negative torque through zero crossing; t4, judging a first preset negative torque through zero crossing; t5, controlling a first preset torque by negative zero crossing; t6, controlling a second preset torque by negative zero crossing; t7, controlling a first preset torque by positive zero crossing; t8, controlling a second preset torque by positive zero crossing; t9, required torque; t10, actual torque; t11, self-learning a first preset torque in a clearance mode; t12, self-learning a second preset torque by a clearance; 1. a judging device; 2. a first control device; 21. a first positive zero-crossing control mechanism; 22. a first negative zero-crossing control mechanism; 3. a second control device; 31. a second forward control mechanism; 32. a second negative direction control mechanism; 4. a third control device; 41. a third forward control mechanism; 42. a third negative direction control mechanism; 5. a gap self-learning device; 6. a fourth control device; 7. a control device for preventing frequent zero crossing; 8. and a controller.
Detailed Description
In order to make the technical problems solved, the technical solutions adopted and the technical effects achieved by the present invention clearer, the technical solutions of the present invention are further described below by way of specific embodiments with reference to the accompanying drawings.
In the description of the present invention, unless otherwise explicitly specified or limited, the terms "connected," "connected," and "fixed" are to be construed broadly and may, for example, be fixedly connected, detachably connected, or integral to one another; can be mechanically or electrically connected; they may be directly connected or indirectly connected through intervening media, or may be connected through the use of two elements or the interaction of two elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.
In the present invention, unless otherwise expressly stated or limited, "above" or "below" a first feature means that the first and second features are in direct contact, or that the first and second features are not in direct contact but are in contact with each other via another feature therebetween. Also, the first feature "on," "above" and "over" the second feature may include the first feature being directly above and obliquely above the second feature, or simply indicating that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature includes the first feature being directly under and obliquely below the second feature, or simply meaning that the first feature is at a lesser elevation than the second feature.
It will be understood that the terms "central," "longitudinal," "transverse," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in an orientation or positional relationship indicated in the drawings for convenience and simplicity of description only and do not indicate or imply that the device or element so referred to must have a particular orientation, be constructed and operated in a particular orientation, and thus should not be considered as limiting the invention. In the description of the present invention, "a plurality" means two or more unless otherwise specified. Furthermore, the terms "first" and "second" are used only for descriptive purposes and are not intended to have a special meaning.
A motor torque control method of an embodiment of the present invention is described below with reference to fig. 1 to 8.
As shown in fig. 1 to 8, fig. 1 discloses a motor torque control method, including: step S1, judging that the motor needs to execute torque zero-crossing control according to the required torque T9 and the actual torque T10 of the motor; s2, controlling the actual torque T10 to zero-cross a first preset torque and keeping zero-cross the first preset time, wherein the positive and negative signs of the zero-cross first preset torque are the same as those of the required torque T9; s3, controlling the actual torque T10 to zero-cross a second preset torque and keeping the zero-cross second preset time, wherein the signs of the positive and negative of the zero-cross first preset torque and the zero-cross second preset torque are opposite; and S4, adjusting the actual torque T10 from the zero-crossing second preset torque to the required torque T9 by using a preset curve, and adjusting the actual torque T10 to the required torque T9 when the deviation of the actual torque T10 and the required torque T9 is within a preset range.
It is to be understood that, in step S1, the torque zero-cross control may be executed after the required torque curve of the motor is determined to require the execution of the torque zero-cross control. In step S2, since the sign of the zero-crossing first preset torque is the same as the sign of the required torque T9 of the motor, the torque direction of the motor can be changed toward the required direction, after the first preset duration is maintained, the motor can conveniently execute most of the zero-crossing processes in a short time, the rotational speed difference between the motor rotor and the wheel is rapidly increased, and a part of the gap between the motor rotor and the wheel is eliminated, and at this time, if the actual torque T10 is continuously maintained at the zero-crossing first preset torque, the motor collides with the wheel, which causes the impact problem. After the first preset duration is over, step S3 is performed, the actual torque T10 is controlled to be the zero-crossing second preset torque, and since the direction of the zero-crossing second preset torque is opposite to that of the zero-crossing first preset torque, the speed difference between the motor rotor and the wheel is rapidly reduced, thereby preventing the motor rotor and the vehicle from colliding, and solving the problem of impact between the motor and the wheel under the action of torque. At the end of step S3, the clearance between the motor rotor and the wheel is eliminated and the difference in rotational speed between the motor rotor and the wheel is close to 0. Because the actual torque T10 is still the zero-crossing second preset torque in step S3 and does not reach the required torque T9, in step S4, the actual torque T10 is gradually adjusted to the required torque T9 by using the preset curve, and when the difference between the absolute values of the actual torque T10 and the required torque T9 is smaller than the preset range, it is determined that the zero-crossing control of the torque of the motor is completed, and then the actual torque T10 can be performed along with the required torque T9.
According to the motor torque control method of the embodiment, in step S2, the rotation speed difference between the motor rotor and the wheel can be increased, a part of the gap between the motor rotor and the vehicle can be eliminated, in step S3, the rotation speed difference between the motor rotor and the vehicle can be reduced, the gap between the motor rotor and the vehicle can be further eliminated, and finally, the rotation speed difference between the motor rotor and the vehicle is close to 0, most of the zero-crossing process is completed, in step S4, the actual torque T10 of the motor can be adjusted to the required torque T9 of the motor by a safe and reliable preset curve, and the torque zero-crossing process is completed. Therefore, the motor torque control method of the embodiment can complete the torque zero crossing of the motor in a short time, cannot affect the dynamic response of the motor torque, and realizes the zero rotating speed difference between the motor rotor and the vehicle when the clearance between the motor rotor and the vehicle is eliminated, thereby ensuring that the rotating speed is small enough when the motor is attached to a wheel, and obviously reducing the torque zero crossing progress time of the motor.
Specifically, in this embodiment, the preset curve in step S4 may be an arc or a straight line with a preset slope, and the specific line type of the preset curve may be determined according to actual requirements.
In some embodiments, the clearance between the motor and the wheel has clearance parameters, each clearance parameter is provided with a set of torque zero-crossing control characteristic parameters, the torque zero-crossing control characteristic parameters include a zero-crossing first preset torque, a zero-crossing first preset time length, a zero-crossing second preset torque and a zero-crossing second preset time length, the zero-crossing first preset torque includes a positive zero-crossing control first preset torque T7 and a negative zero-crossing control first preset torque T5, and the zero-crossing second preset torque includes a positive zero-crossing control second preset torque T8 and a negative zero-crossing control second preset torque T6.
It can be understood that the gap between the motor rotor and the wheel may have a wear phenomenon during long-term use, and may also change with other external environmental factors such as temperature, and therefore, for different gaps between the motor rotor and the wheel, the torque zero-crossing characteristic parameter of the motor torque zero-crossing process also needs to be corrected, specifically, when the gap between the motor rotor and the wheel is large, the first preset torque for zero-crossing control, the first preset time duration for zero-crossing control, the second preset torque for zero-crossing control, and the second preset time duration for zero-crossing control may also increase therewith, so as to better implement the motor torque zero-crossing control, and ensure the normal completion of the torque zero-crossing process of the motor. Therefore, after the gap parameters of the embodiment are respectively and correspondingly provided with a group of torque zero-crossing characteristic parameters, the torque zero-crossing control of the motor can be further optimized.
In some embodiments, as shown in fig. 7, the vehicle is controlled to be in a neutral state, the actual torque T10 is controlled to be the gap self-learning first preset torque T11 and is kept for the gap self-learning first preset time period, then the actual torque T10 is controlled to be switched from the gap self-learning first preset torque T11 to the gap self-learning second preset torque T12 and is kept, signs of the gap self-learning first preset torque T11 and the gap self-learning second preset torque T12 are opposite, the duration of the gap self-learning second preset torque T12 before the sudden change of the longitudinal acceleration of the wheel occurs is recorded, the gap self-learning second preset torque T12 is recorded as M, the gap parameter is recorded as X, and the rotor inertia of the motor is recorded as J, and then X = 0.5M T/J, and the torque zero-crossing control characteristic parameter is set according to the value of X.
It can be understood that when the clearance between the motor rotor and the vehicle is larger, the value of the clearance parameter will also become larger, and therefore, the torque zero-crossing characteristic parameter can be set according to the calculation of the clearance constant, so as to optimize the torque zero-crossing control of the motor. It should be noted that, in practical applications, the matching between different motors and different wheels makes the difference among the rotor inertia of the motor, the gap self-learning preset negative torque of the motor, and the gap self-learning preset positive torque of the motor, so that the torque zero-crossing characteristic parameters calculated according to different motors and wheels are different, and can be obtained according to relevant parameters of practical applications, which is not described herein by way of example.
Fig. 7 is a schematic diagram of a variation of the actual torque T10 when the gap self-learning first preset torque T11 is a positive torque, and the schematic diagram of the variation of the actual torque T10 when the gap self-learning first preset torque T11 is a negative torque can be obtained by referring to the diagram, which is not described herein again.
Specifically, in the present embodiment, in order to ensure the accuracy of the clearance parameter and the safety when acquiring the clearance parameter, when the clearance parameter is tested, the vehicle is required to be stopped at a position close to a horizontal position, the vehicle gear is neutral, the accelerator pedal and the brake pedal are both in a released state, and all the parking brakes are in a released state. The acquisition of the clearance parameters may be performed according to the instructions of the driver or may be performed by the driver, and when the clearance parameter test is performed by the driver, prompt information including, but not limited to, text, sound, image, and the like, is required to be given to the driver in order to ensure safety.
In some embodiments, as shown in fig. 3 and 4, the torque zero-cross control includes a positive zero-cross control and a negative zero-cross control, and when the positive zero-cross control is performed, the zero-cross first preset torque in step S2 is a positive zero-cross control first preset torque T7, the positive zero-cross control first preset torque T7 is a positive torque, the zero-cross second preset torque in step S3 is a positive zero-cross control second preset torque T8, and the positive zero-cross control second preset torque T8 is a negative torque; when negative zero-crossing control is executed, the zero-crossing first preset torque in the step S2 is the negative zero-crossing control first preset torque T5, the negative zero-crossing control first preset torque T5 is a negative torque, the zero-crossing second preset torque in the step S3 is the negative zero-crossing control second preset torque T6, and the negative zero-crossing control second preset torque T6 is a positive torque.
It can be understood that the actual torque T10 of the motor has positive and negative states, and therefore the torque zero-crossing control also has positive zero-crossing control and negative zero-crossing control, the zero-crossing first preset torque and the zero-crossing second preset torque which are required to be called by the two are different, and the parameter calling precision can be improved by specifying and distinguishing the zero-crossing first preset torque and the zero-crossing second preset torque, so that the torque zero-crossing control can be executed according to a specific torque zero-crossing control condition, and the control reliability of the torque zero-crossing control can be improved.
Specifically, fig. 3 is a graph showing the change curves of the actual torque T10 and the required torque T9 when the positive zero-cross control is performed, and fig. 4 is a graph showing the change curves of the actual torque T10 and the required torque T9 when the negative zero-cross control is performed.
In some embodiments, as shown in fig. 1 and 2, step S1 comprises: and when the actual torque T10 is a positive torque and the required torque T9 is smaller than the zero-crossing judgment first preset negative torque T4, judging that the motor needs to execute negative zero-crossing control. And when the actual torque T10 is a negative torque and the required torque T9 is greater than the zero-crossing judgment first preset positive torque T1, judging that the motor needs to execute positive zero-crossing control.
In some embodiments, as shown in fig. 2 and 6, step S1 further comprises: and when the torque zero-crossing control is judged not to be executed, and the actual torque T10 is a positive torque, and the required torque T9 is larger than the zero-crossing judgment second preset positive torque T2, controlling the actual torque T10 to follow the required torque T9, controlling the actual torque T10 to keep the zero-crossing judgment second preset positive torque T2 when the required torque T9 is smaller than the zero-crossing judgment second preset positive torque T2 and is larger than the zero-crossing judgment first preset negative torque T4, and controlling the zero-crossing judgment second preset positive torque T2 to be smaller than the zero-crossing judgment first preset positive torque T1.
It is understood that, depending on the actual torque T10 and the required torque T9 of the motor during actual operation, there is a possibility that the required torque T9 fluctuates around 0, and, as the actual torque T10 performs the torque zero-cross control depending on the fluctuation of the required torque T9, this will result in frequent execution of the torque zero-cross control and adversely affect the normal operation of the motor. In the present embodiment, a zero-crossing determination second preset positive torque T2 is additionally provided, so that a fluctuation range of the required torque T9 is defined, so as to additionally define a variation range for a variation of the original required torque T9 of the motor, and even if the original required torque T9 of the motor fluctuates in a small range, it is not determined that the motor needs to perform the torque zero-crossing control in step S1, so that the determination accuracy of the torque zero-crossing control of the motor can be further improved. When the required torque T9 floats between the zero-crossing judgment second preset positive torque T2 and the zero-crossing judgment first preset negative torque T4, the actual torque T10 can be controlled to be kept at the zero-crossing judgment second preset positive torque T2 under the condition, frequent torque zero crossing can be avoided, and negative zero-crossing control can be quickly executed when the required torque T9 is lower than the zero-crossing judgment first preset negative torque T4, so that the execution reliability of the torque zero-crossing control is remarkably improved.
Further, in the present embodiment, it is also possible to determine that the position of the motor with respect to the wheel is positive in accordance with the above-described situation, in order to determine an accurate positional relationship between the motor and the vehicle when the torque zero-cross control is executed next time.
In some embodiments, as shown in fig. 2 and 5, step S1 further comprises: and when the torque zero-crossing control is judged not to be executed, and the actual torque T10 is negative torque, and the required torque T9 is smaller than the zero-crossing judgment second preset negative torque T3, controlling the actual torque T10 to follow the required torque T9, controlling the actual torque T10 to keep the zero-crossing judgment second preset negative torque T3 when the required torque T9 is larger than the zero-crossing judgment second preset negative torque T3 and smaller than the zero-crossing judgment first preset positive torque T1, and judging the second preset negative torque T3 to be larger than the zero-crossing judgment first preset negative torque T4 by the zero-crossing judgment.
It can be understood that, the present embodiment provides the motor torque control step when the actual torque T10 is a negative torque, which can be distinguished from the motor torque control step when the actual torque T10 is a positive torque, so as to conveniently call different parameters for actual conditions, and improve control reliability. When the required torque T9 floats between the zero-crossing judgment second preset positive torque T2 and the zero-crossing judgment first preset negative torque T4, the actual torque T10 can be controlled to be kept at the zero-crossing judgment second preset positive torque T2 under the condition, frequent torque zero crossing can be avoided, and negative zero-crossing control can be quickly executed when the required torque T9 is lower than the zero-crossing judgment first preset negative torque T4, so that the execution reliability of the torque zero-crossing control is remarkably improved.
Further, in the present embodiment, it is also possible to determine that the position of the motor relative to the wheel is negative in accordance with the above-described situation, in order to determine the accurate positional relationship between the motor and the vehicle when the torque zero-cross control is executed next time.
Example 1:
there are two situations in the zero crossing of the torque of the machine, the first is the transition from positive to negative torque as shown in fig. 4, called negative zero crossing of the torque, and the second is the transition from negative to positive torque as shown in fig. 3, called positive zero crossing of the torque. The torque zero-crossing control method of the motor in this embodiment is described below by taking a specific positive torque zero-crossing as an example, and negative torque zero-crossing control can be obtained according to specific steps of the positive torque zero-crossing control, which is not described herein again.
As shown in fig. 1 to 3, the motor torque control method of the present embodiment includes:
step S1.1, judging whether the required torque T9 is larger than a zero-crossing judgment first preset positive torque T1, if so, executing step S2, and if not, executing step S1.2;
step S1.2, judging whether the required torque T9 is smaller than a zero-crossing judgment second preset negative torque T3, if so, executing the step S1.3, and if not, executing the step S1.4;
s1.3, controlling the actual torque T10 to follow the required torque T9;
s1.4, controlling the actual torque T10 to be kept at zero crossing to judge a second preset positive torque T2;
s2, controlling the actual torque T10 to a positive zero-crossing control first preset torque T7 and keeping zero-crossing control for a first preset time period;
and S3, controlling the actual torque T10 from the positive zero-crossing control first preset torque T7 to the positive zero-crossing control second preset torque T8 and keeping the zero-crossing control for a second preset time period.
And S4, adjusting the actual torque T10 to the required torque T9 from the second preset torque zero-crossed in the positive direction by using a preset curve, and controlling the actual torque T10 to be adjusted to the required torque T9 when the absolute value of the difference value between the actual torque T10 and the required torque T9 of the motor is in a preset range.
The motor torque control method of the embodiment includes at least the following advantages:
the method can judge whether the motor needs to execute the zero-crossing torque control according to the required torque and the actual torque of the motor, and can judge whether to execute the zero-crossing positive torque or the zero-crossing negative torque according to the actual torque direction. When the torque zero-crossing control is executed, the first preset torque of zero crossing has the same sign as the positive sign and the negative sign of the required torque T9 of the motor, so that the torque direction of the motor can change towards the required direction of the motor, after the first preset time is kept, the motor can conveniently execute most zero-crossing processes in a short time, the rotating speed difference between the motor rotor and the wheels is rapidly increased, and a part of gap between the motor rotor and the wheels is eliminated. After the first preset duration is over, the actual torque T10 is controlled to be the zero-crossing second preset torque, the direction of the zero-crossing second preset torque is opposite to that of the zero-crossing first preset torque, so that the rotating speed difference between the motor rotor and the wheel is rapidly reduced, the collision problem between the motor rotor and the vehicle is prevented, the problem that the motor impacts the wheel under the action of the torque is solved, the moving direction of the motor is still consistent with the moving direction in the step S2, and the residual gap between the motor rotor and the wheel can be further eliminated. After the torque control is completed, the clearance between the motor rotor and the wheel is eliminated, and the difference in the rotational speed between the motor rotor and the wheel is close to 0. Because the actual torque T10 is still the zero-crossing second preset torque in step S3 and does not reach the required torque T9, in step S4, the actual torque T10 is gradually adjusted to the required torque T9 by using the preset curve, and when the difference between the absolute values of the actual torque T10 and the required torque T9 is smaller than the preset range, it is determined that the zero-crossing control of the torque of the motor is completed, and then the actual torque T10 can be performed along with the required torque T9.
If the motor is judged not to execute the torque zero-crossing control, the actual torque of the motor can be further controlled according to the required torque and the actual torque, so that different parameters can be conveniently taken according to actual conditions, and the control reliability is improved. When the required torque T9 floats between the zero-crossing judgment second preset positive torque T2 and the zero-crossing judgment first preset negative torque T4, the actual torque T10 can be controlled to be kept at the zero-crossing judgment second preset positive torque T2 under the condition, frequent torque zero crossing can be avoided, and negative zero-crossing control can be quickly executed when the required torque T9 is lower than the zero-crossing judgment first preset negative torque T4, so that the execution reliability of the torque zero-crossing control is remarkably improved. It is also possible to determine that the position of the motor relative to the wheel is negative in accordance with the above situation in order to determine the accurate positional relationship between the motor and the vehicle when the torque zero-cross control is executed next time.
Example 2:
the invention also provides a motor torque control system which comprises a judgment device 1, a first control device 2, a second control device 3 and a third control device 4 based on the motor torque control method. The determining means 1 is for determining that the motor needs to execute the torque zero-cross control based on the required torque T9 and the actual torque T10 of the motor. The first control device 2 is configured to control the actual torque T10 to zero-cross the first preset torque, which is the same in sign as the required torque T9, for the first preset time period. The second control device 3 is configured to control the actual torque T10 to zero-cross the second preset torque for a second preset time period, the signs of the zero-cross first preset torque and the zero-cross second preset torque being opposite. The third control means 4 is configured to adjust the actual torque T10 from the zero-crossing second preset torque to the required torque T9 in a preset curve, and when the deviation of the actual torque T10 from the required torque T9 is within a preset range, the third control means 4 adjusts the actual torque T10 to the required torque T9.
It can be understood that, according to the motor torque zero-crossing control system, the motor torque control method can be better realized, so that the torque zero-crossing of the motor can be completed in a short time, meanwhile, the dynamic response of the motor torque is not influenced, and the zero rotating speed difference between the motor rotor and the vehicle is realized when the gap between the motor rotor and the vehicle is eliminated, thereby ensuring that the rotating speed is small enough when the motor is attached to the wheel, and simultaneously, the torque zero-crossing progress time of the motor is obviously reduced.
In some specific embodiments, the first control device 2 includes a first positive zero-crossing control mechanism 21 and a first negative zero-crossing control mechanism 22, the zero-crossing control first preset torque includes a positive zero-crossing first preset torque and a negative zero-crossing control first preset torque T5, the first positive zero-crossing control mechanism 21 is configured to adjust the positive zero-crossing control first preset torque T7 when the motor is in a positive torque zero-crossing process, and the first negative zero-crossing control mechanism 22 is configured to adjust the negative zero-crossing control first preset torque T5 when the motor is in a negative torque zero-crossing process.
The second control device 3 comprises a second positive control mechanism 31 and a second negative control mechanism 32, the second preset torque comprises a positive zero-crossing control second preset torque T8 and a negative zero-crossing control second preset torque T6, the second positive control mechanism 31 is used for adjusting the positive zero-crossing control second preset torque T8 when the motor is in a positive torque zero-crossing process, and the second negative control mechanism 32 is used for adjusting the negative zero-crossing control second preset torque T6 when the motor is in a negative zero-crossing process.
The third control device 4 comprises a third positive control mechanism 41 and a third negative control mechanism 42, the preset curves comprise a positive preset curve and a negative preset curve, the third positive control mechanism 41 is used for adjusting the positive preset curve when the motor is in a positive torque zero-crossing process, and the third negative control mechanism 42 is used for adjusting the negative preset curve when the motor is in a negative torque zero-crossing process.
By detailing the first control device 2, the second control device 3 and the third control device 4, the reliability and accuracy of the torque zero-crossing control of the motor can be further improved.
In some embodiments, the motor torque zero-crossing control system further includes a gap self-learning device 5, the gap self-learning device 5 is capable of controlling the actual torque T10 of the motor to be a first gap self-learning preset torque T11 and maintaining the gap self-learning for a first preset time when the vehicle is in a neutral state, then adjusting and maintaining the actual torque T10 of the motor to be a second gap self-learning preset torque T12, recording the duration T of the second gap self-learning preset torque T12 before the longitudinal acceleration of the vehicle generates a sudden change, recording the second gap self-learning preset torque T12 as M, recording a gap parameter as X, recording the rotor inertia of the motor as J, and further calculating the gap parameter X = 0.5M T/J.
It can be understood that the gap self-learning device 5 can calculate the gap between the motor rotor and the wheel when the vehicle is in different service lives and use environments, and the gap self-learning device 5 also stores torque zero-crossing characteristic parameters corresponding to each gap parameter, wherein the torque zero-crossing characteristic parameters include a positive zero-crossing control first preset torque T7, a positive zero-crossing control first preset time, a positive zero-crossing control second preset torque T8 and a positive zero-crossing control second preset time, and the negative zero-crossing control first preset torque T5, the negative zero-crossing control first preset time, the negative zero-crossing control second preset torque T6 and the negative zero-crossing control second preset time, so that different torque zero-crossing characteristic parameters can be adjusted according to actual gap parameters to ensure that the first zero-crossing control device 2, the second zero-crossing control device 3 and the third zero-crossing control device 4 accurately realize the torque zero-crossing control of the motor.
In some embodiments, the motor torque zero-crossing control system further includes a fourth control device 6, and the fourth control device 6 is capable of controlling the actual torque T10 of the motor to follow the required torque T9 of the motor when the motor does not need to perform the torque zero-crossing control and the absolute value of the required torque T9 is large.
In some embodiments, the motor torque zero-crossing prevention control system further includes a frequent zero-crossing prevention control device 7, the frequent zero-crossing prevention control device 7 is capable of acquiring a motor required torque T9, and the motor further has a zero-crossing judgment second preset positive torque T2, a zero-crossing judgment first preset positive torque T1, a zero-crossing judgment second preset negative torque T3, a zero-crossing judgment first preset negative torque T4, the zero-crossing judgment second preset positive torque T2 is smaller than the zero-crossing judgment first preset positive torque T1, the zero-crossing judgment second preset negative torque T3 is larger than the zero-crossing judgment first preset negative torque T4, the frequent zero-crossing prevention control device 7 is capable of cooperating with the judgment device 1, and the judgment device 1 judges that the motor does not need to perform torque zero-crossing control when the motor required torque T9 is located between the zero-crossing judgment second preset positive torque T2 and the zero-crossing judgment first preset positive torque T1.
It can be understood that the frequent zero-crossing prevention control device 7 can control the final required torque T9 of the motor to be kept in a safety range when the original required torque T9 of the motor fluctuates nearby repeatedly, so that the motor is prevented from accidentally and frequently executing the damage caused by the torque zero-crossing process, and the motor rotor and the vehicle are attached to each other from attachment to separation and then from attachment each other when the torque zero-crossing process is executed every time, and the current attachment position of the motor can be accurately identified.
In some specific embodiments, the motor torque zero-crossing control system further comprises a controller 8, and the controller 8 is used for retrieving parameters and controlling the judging device 1, the first control device 2, the second control device 3, the third control device 4, the fourth control device 6, the gap self-learning device 5 and the frequent zero-crossing prevention control device 7.
Example 3:
the invention also discloses a vehicle comprising one or more processors and a storage device for storing one or more programs. The foregoing motor torque control method is implemented when the one or more programs are executed by the one or more processors such that the one or more processors execute the programs.
It can be understood that, according to the vehicle of this embodiment, when the user drives or takes the vehicle, the vehicle can execute the motor torque zero-crossing control by oneself, thereby reducing the torque zero-crossing time, reducing the impact between the motor rotor and the wheel when the motor torque passes through the zero, and improving the experience and comfort of the user.
The memory, which is a computer-readable storage medium, may be used to store software programs, computer-executable programs, and modules. The memory can mainly comprise a program storage area and a data storage area, wherein the program storage area can store an operating system and an application program required by at least one function; the storage data area may store data created according to the use of the terminal, and the like. Further, the memory may include high speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other non-volatile solid state storage device. In some examples, the memory may further include memory located remotely from the processor, which may be connected to the device/terminal/server via a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.
Example 4:
the invention also discloses a storage medium having stored thereon a computer program which, when executed, implements the foregoing motor torque control method. Of course, embodiments of the present invention provide a computer-readable storage medium that can perform operations associated with a method for controlling torque of a motor according to any of the embodiments of the present invention. That is, the program when executed by the processor may implement at least:
step S1.1, judging whether the required torque T9 is larger than a zero-crossing judgment first preset positive torque T1, if so, executing step S2, and if not, executing step S1.2;
step S1.2, judging whether the required torque T9 is smaller than a zero-crossing judgment second preset negative torque T3, if so, executing the step S1.3, and if not, executing the step S1.4;
step S1.3, controlling the actual torque T10 to follow the required torque T9;
s1.4, controlling the actual torque T10 to be kept at a zero-crossing judgment second preset positive torque T2;
s2, controlling the actual torque T10 to a positive zero-crossing control first preset torque T7 and keeping zero-crossing control for a first preset time period;
and S3, controlling the actual torque T10 from the positive zero-crossing control first preset torque T7 to the positive zero-crossing control second preset torque T8 and keeping the zero-crossing control for a second preset time.
And S4, adjusting the actual torque T10 from positive zero crossing to the required torque T9 through a second preset torque by using a preset curve, and controlling the actual torque T10 to be adjusted to the required torque T9 when the absolute value of the difference value between the actual torque T10 and the required torque T9 of the motor is in a preset range.
Reference throughout this specification to "some embodiments," "other embodiments," or the like, means that a particular feature, structure, material, or characteristic described in connection with the embodiments or examples is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
The above description is only a preferred embodiment of the present invention, and for those skilled in the art, the present invention should not be limited by the description of the present invention, which should be interpreted as a limitation.
Claims (7)
1. A motor torque control method, comprising:
the method comprises the following steps that S1, the motor is judged to need to execute torque zero-crossing control according to the required torque (T9) and the actual torque (T10) of the motor;
s2, controlling the actual torque (T10) to reach a zero-crossing first preset torque and keeping the zero-crossing first preset time length, wherein the positive and negative signs of the zero-crossing first preset torque and the required torque (T9) are the same;
s3, controlling the actual torque (T10) to reach a zero-crossing second preset torque and keeping the zero-crossing second preset time length, wherein the signs of the zero-crossing first preset torque and the zero-crossing second preset torque are opposite;
s4, adjusting the actual torque (T10) from the zero-crossing second preset torque to the required torque (T9) by a preset curve, and adjusting the actual torque (T10) to the required torque (T9) when the deviation of the actual torque (T10) and the required torque (T9) is within a preset range;
the torque zero-crossing control comprises positive zero-crossing control and negative zero-crossing control, when the positive zero-crossing control is executed, the zero-crossing first preset torque in the step S2 is positive zero-crossing control first preset torque (T7), the positive zero-crossing first preset torque (T7) is positive torque, the zero-crossing second preset torque in the step S3 is positive zero-crossing control second preset torque (T8), and the positive zero-crossing second preset torque (T8) is negative torque; when the negative zero-crossing control is executed, the zero-crossing first preset torque in the step S2 is a negative zero-crossing control first preset torque (T5), the negative zero-crossing control first preset torque (T5) is a negative torque, the zero-crossing second preset torque in the step S3 is a negative zero-crossing control second preset torque (T6), and the negative zero-crossing control second preset torque (T6) is a positive torque;
the step S1 includes:
when the actual torque (T10) is positive torque and the required torque (T9) is smaller than a zero-crossing judgment first preset negative torque (T4), judging that the motor needs to execute the negative zero-crossing control;
when the actual torque (T10) is a negative torque and the required torque (T9) is greater than a zero-crossing judgment first preset positive torque (T1), judging that the motor needs to execute the positive zero-crossing control;
when it is determined that the zero-crossing torque control is not executed and the actual torque (T10) is a positive torque,
and when the required torque (T9) is greater than a zero-crossing judgment second preset positive torque (T2), controlling the actual torque (T10) to follow the required torque (T9), and when the required torque (T9) is smaller than the zero-crossing judgment second preset positive torque (T2) and greater than the zero-crossing judgment first preset negative torque (T4), controlling the actual torque (T10) to keep the zero-crossing judgment second preset positive torque (T2), and the zero-crossing judgment second preset positive torque (T2) is smaller than the zero-crossing judgment first preset positive torque (T1).
2. The motor torque control method according to claim 1, wherein the gap between the motor and the wheel has gap parameters, each of the gap parameters sets a set of zero-crossing torque control characteristic parameters corresponding thereto, the zero-crossing torque control characteristic parameters include a zero-crossing first preset torque including a positive zero-crossing control first preset torque (T7) and a negative zero-crossing control first preset torque (T5), a zero-crossing first preset duration, a zero-crossing second preset torque including a positive zero-crossing control second preset torque (T8) and a negative zero-crossing control second preset torque (T6), and a zero-crossing torque zero-crossing control second preset duration.
3. The motor torque control method according to claim 2, characterized in that the vehicle is controlled to be in a neutral state, the actual torque (T10) is controlled to be a gap self-learning first preset torque (T11) and maintained for a gap self-learning first preset time period, then the actual torque (T10) is controlled to be switched from the gap self-learning first preset torque (T11) to a gap self-learning second preset torque (T12) and maintained, signs of the gap self-learning first preset torque (T11) and the gap self-learning second preset torque (T12) are opposite, the duration of the gap self-learning second preset torque (T12) before the longitudinal acceleration of the wheel is abruptly changed is recorded as T, the gap self-learning second preset torque (T12) is recorded as M, the gap parameter is recorded as X, the rotor inertia of the motor is recorded as J, and X = 0.5M T/J, and the torque zero-crossing control characteristic parameter is set according to a value of X.
4. The motor torque control method according to claim 1, wherein the step S1 further includes:
when it is determined that the torque zero-cross control is not executed and the actual torque (T10) is a negative torque,
and when the required torque (T9) is smaller than the zero-crossing judgment second preset negative torque (T3), controlling the actual torque (T10) to follow the required torque (T9), and when the required torque (T9) is larger than the zero-crossing judgment second preset negative torque (T3) and smaller than the zero-crossing judgment first preset positive torque (T1), controlling the actual torque (T10) to keep the zero-crossing judgment second preset negative torque (T3), and the zero-crossing judgment second preset negative torque (T3) is larger than the zero-crossing judgment first preset negative torque (T4).
5. A motor torque control system employing the motor torque control method according to any one of claims 1 to 4, comprising:
judging means for judging that the motor needs to execute torque zero-crossing control according to a required torque (T9) and an actual torque (T10) of the motor;
a first control device configured to control the actual torque (T10) to a zero-crossing first preset torque of the same sign as the required torque (T9) and to maintain the zero-crossing first preset duration;
a second control device configured to control the actual torque (T10) to a zero-crossing second preset torque and to maintain the zero-crossing second preset duration, the zero-crossing first preset torque and the zero-crossing second preset torque being opposite in sign;
third control means configured to adjust the actual torque (T10) from the zero-crossing second preset torque to the required torque (T9) in a preset curve, the third control means adjusting the actual torque (T10) to the required torque (T9) when a deviation of the actual torque (T10) and the required torque (T9) is within a preset range.
6. A vehicle, characterized by comprising:
one or more processors;
storage means for storing one or more programs;
the motor torque control method of any of claims 1-4 when executed by one or more of the processors such that the one or more processors implement the program when executed.
7. A storage medium having stored thereon a computer program, characterized in that the computer program, when executed, implements the motor torque control method according to any of claims 1-4.
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| PCT/CN2022/086044 WO2022218242A1 (en) | 2021-04-16 | 2022-04-11 | Electric motor torque control method and system, vehicle, and storage medium |
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