CN114211969A - Motor control method and control unit for electric vehicle and vehicle - Google Patents
Motor control method and control unit for electric vehicle and vehicle Download PDFInfo
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- CN114211969A CN114211969A CN202111536576.6A CN202111536576A CN114211969A CN 114211969 A CN114211969 A CN 114211969A CN 202111536576 A CN202111536576 A CN 202111536576A CN 114211969 A CN114211969 A CN 114211969A
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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
- B60L2240/421—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
- 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 provides a motor control method and unit for an electric vehicle and the vehicle, and belongs to the technical field of motor control. The method comprises the following steps: establishing a corresponding relation table among the rotating speed, the required torque and an adjusting code of a motor of each vehicle type, wherein the adjusting code is three-digit data, the highest digit of the adjusting code represents a torque limiting mode, the middle digit of the adjusting code represents a driving torque adjusting coefficient, and the lowest digit of the adjusting code represents a feedback torque adjusting coefficient; obtaining the vehicle type information of a target vehicle, the current required torque, the current available torque and the current rotating speed of a motor; acquiring corresponding adjusting codes in a corresponding relation table according to the vehicle type information, the current required torque and the current rotating speed; calculating the output torque limit value of the motor according to the numerical value of the adjusting code, the middle digit and the lowest digit of the adjusting code and the current available torque; and controlling the motor to work according to the output torque limit value. The control method can reduce the risk of over-discharge of the battery.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a motor control method and a control unit for an electric vehicle and the vehicle.
Background
When a main energy source Of the new energy automobile is a battery, the battery has a working condition that the discharging power Of the battery needs to be limited due to the temperature, the SOC (State Of Charge) and the SOH (State Of Health) change after the battery is used for a long time. Generally, the configuration management of the whole vehicle is that a battery gives current available power, and a vehicle control module distributes high-voltage energy based on the available power of the battery, so as to cover the energy to all high-voltage electric loads of the whole electric vehicle or hybrid vehicle, such as: DCDC converters, high voltage air conditioners, drive motors, and losses in batteries and high voltage load distribution circuits. When the speed is increased, the actual power output is larger than the given control power after the torque is responded based on the previous state, and therefore the power limitation is needed.
In energy management of the battery, especially, driving running loss is battery discharge power as main loss power, and if the driving part is not managed properly, the battery discharge characteristic is affected, and the battery life is affected, even the end of the battery life is caused by over-discharge. And from the high-voltage load proportion, the loss of the driving part is small, and the full power output of other loads can be met by reserving the loss of the driving, so that the loss and the management of the high-voltage driving part can be effectively performed under the condition of reasonable matching management of the electric driving, and the matching management is particularly important, so how to perform the matching management is the problem to be solved urgently to prevent the over-discharge of the battery.
Disclosure of Invention
It is an object of a first aspect of the present invention to provide a motor control method for an electric vehicle that can reduce the risk of overdischarging a battery.
It is a further object of the invention to simplify match debugging with a system.
An object of the second aspect of the invention is to provide a control unit corresponding to the motor control method.
It is an object of a third aspect of the invention to provide a vehicle including the control unit described above.
In particular, the present invention provides a motor control method for an electric vehicle, comprising:
establishing a corresponding relation table among the rotating speed, the required torque and an adjusting code of a motor of each vehicle type, wherein the adjusting code is three-digit data, the highest digit of the adjusting code represents a torque limiting mode, the middle digit of the adjusting code represents a driving torque adjusting coefficient, and the lowest digit of the adjusting code represents a feedback torque adjusting coefficient;
obtaining the model information of a target vehicle, the current required torque, the current available torque of a motor and the current rotating speed;
acquiring the corresponding adjusting code in the corresponding relation table according to the vehicle type information, the current required torque and the current rotating speed;
calculating the output torque limit value of the motor according to the numerical value of the adjusting code, the middle digit and the lowest digit of the adjusting code and the current available torque;
and controlling the motor to work according to the output torque limit value.
Optionally, the step of calculating the output torque limit value of the motor according to the numerical value of the adjustment code, the middle digit and the lowest digit of the adjustment code, and the current available torque is further followed by:
and correcting the output torque limit value according to the health degree of the battery so as to control the motor to work according to the corrected output torque limit value.
Optionally, the step of establishing a correspondence table between the rotation speed of the motor, the required torque, and the adjustment code of the vehicle of each vehicle type includes:
carrying out an output torque calibration experiment on vehicles of various vehicle types under the limiting condition that the discharge power of a battery does not exceed a preset battery discharge power limit value, wherein the output torque of a motor is limited by changing a driving torque adjustment coefficient and a feedback torque adjustment coefficient in the calibration experiment;
recording the driving torque adjustment coefficient and the feedback torque adjustment coefficient corresponding to each rotating speed, each required torque and each torque limiting mode of the motor;
compiling the torque limit mode, the driving torque adjustment coefficient and the feedback torque adjustment coefficient corresponding to each rotating speed and each required torque into the adjustment code;
and arranging the rotating speed, the required torque and the adjusting code into the corresponding relation table.
Optionally, the torque limiting modes include a first mode in which torque limiting is not performed, a second mode in which only driving torque is limited, a third mode in which only feedback torque is limited, and a fourth mode in which both driving torque and feedback torque are limited, and the output torque limits include a driving torque limit and a feedback torque limit.
Optionally, the first mode corresponds to a number 0, the second mode corresponds to a number 1, the third mode corresponds to a number 2, and the fourth mode corresponds to a number 3.
Optionally, the step of calculating the output torque limit of the motor according to the numerical value of the adjustment code, the middle digit and the lowest digit of the adjustment code, and the current available torque comprises:
when the value of the adjusting code is smaller than 100, the driving torque limit value and the feedback torque limit value are both equal to the current available torque;
when the value of the adjustment code is [100, 200), the driving torque limit is equal to the product of the current available torque and the driving torque adjustment coefficient, and the feedback torque limit is equal to the current available torque;
when the value of the adjustment code is [200, 300), the driving torque limit is equal to the current available torque, and the feedback torque limit is equal to the product of the current available torque and the feedback torque adjustment coefficient;
when the value of the adjustment code is greater than or equal to 300, the driving torque limit is equal to the product of the current available torque and the driving torque adjustment coefficient, and the feedback torque limit is equal to the product of the current available torque and the feedback torque adjustment coefficient.
Optionally, the drive torque adjustment factor and the feedback torque adjustment factor are both values between [0.9, 0.99 ].
Optionally, when km or kl is 0, both the driving torque adjustment coefficient and the feedback torque adjustment coefficient are 1;
when km or kl is 1, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.9;
when km or kl is 2, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.95;
when km or kl is 3, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.99;
wherein km is a numerical number of the adjustment code corresponding to the driving torque adjustment coefficient, and kl is a numerical number of the adjustment code corresponding to the feedback torque adjustment coefficient.
In particular, the present invention also provides a control unit comprising a memory and a processor, wherein the memory stores a control program, and the control program is used for realizing the motor control method of any one of the above items when being executed by the processor.
In particular, the invention also provides a vehicle comprising the control unit.
Particularly, the invention further provides a system for predicting the transient air quantity in the cylinder of the engine, which comprises a control device and a processor, wherein the control device comprises a memory and the processor, the memory stores a control program, and the control program is used for realizing the method for predicting the transient air quantity in the cylinder of the engine when being executed by the processor.
According to an embodiment of the invention, the torque limit information of the motor under each rotating speed and required torque of the motor is written into the adjusting code in a mode of calibrating the adjusting code, so that a driving torque adjusting coefficient and a feedback torque adjusting coefficient can be quickly obtained by identifying the size, the middle digit and the lowest digit of the adjusting code in the following process, and the output torque limit value of the motor is calculated by combining the current available torque of the motor. The output torque of the motor can be guaranteed not to exceed the output torque limit value through the setting of the driving torque adjustment coefficient and the feedback torque adjustment coefficient, the output characteristic can be judged in advance when the input power is limited conveniently, the risk of over-discharging the battery is reduced, and therefore the driving requirement is met to the maximum.
Furthermore, the corresponding relation table is a table of three kinds of data, namely a two-dimensional table, and the table does not need to be processed by using a separate formula, so that configuration management of output torque limits corresponding to different rotating speeds and required torques is facilitated, and matching debugging with a system can be simplified. The table can be imported into a system program as a calibrated configuration parameter, and software integration is facilitated.
Furthermore, the corresponding relation table can facilitate data complaint and data feedback and playback of different characteristic point positions, energy images can be conducted on the characteristics of the high-voltage system according to the table, and images can be conducted on the electric quantity capacity of the whole vehicle.
According to one embodiment of the present invention, battery overcharge is better prevented by taking into account battery health, and further modifying the output torque limit.
According to one embodiment of the invention, the torque limiting mode is expressed by the number of the highest digit of the adjusting code, the adjusting code can be regarded as a number at the moment, and the torque limiting mode can be discriminated by directly comparing the number.
The above and other objects, advantages and features of the present invention will become more apparent to those skilled in the art from the following detailed description of specific embodiments thereof, taken in conjunction with the accompanying drawings.
Drawings
Some specific embodiments of the invention will be described in detail hereinafter, by way of illustration and not limitation, with reference to the accompanying drawings. The same reference numbers in the drawings identify the same or similar elements or components. Those skilled in the art will appreciate that the drawings are not necessarily drawn to scale. In the drawings:
fig. 1 is a flowchart of a motor control method for an electric vehicle according to one embodiment of the invention;
fig. 2 is a flowchart of a motor control method for an electric vehicle according to another embodiment of the present invention.
Detailed Description
Fig. 1 is a flowchart of a motor control method for an electric vehicle according to one embodiment of the present invention.
As shown in fig. 1, in one embodiment, the motor control method includes:
and S100, establishing a corresponding relation table among the rotating speed, the required torque and the adjusting code of the motor of the vehicle of each vehicle type. The adjusting code is three-digit data, the highest digit of the adjusting code represents the torque limiting mode, the middle digit of the adjusting code represents the driving torque adjusting coefficient, and the lowest digit of the adjusting code represents the feedback torque adjusting coefficient. For example, it is assumed that there are 4 torque limiting modes, which are respectively represented by the highest digit 0, 1, 2, and 3, the drive torque adjustment coefficient is n numbers selected from [0.9 and 0.99], which are respectively represented by the middle digit 0, 1, … … n-1 of the adjustment code, n is a positive integer, n is generally not more than 8, and may be 4 or 5. The feedback torque adjustment coefficient can be represented by the lowest digit number of the adjustment code, and the value method thereof is similar to the driving torque adjustment coefficient, and is not repeated herein. The driving torque adjustment coefficient and the feedback torque adjustment coefficient may be configured by a single ECU according to several search coefficient tables corresponding to different vehicle models or different production stages for uniform configuration.
The corresponding relation table can be obtained by arranging data of a calibration experiment of the vehicle. For example, a calibration experiment of output torque is performed on vehicles of various vehicle types under the limiting condition that the discharge power of the battery does not exceed a preset battery discharge power limit value, wherein the calibration experiment limits the output torque of the motor by changing a driving torque adjustment coefficient and a feedback torque adjustment coefficient. The battery discharge power limit may be determined by multiplying the maximum available discharge power of the battery by a predetermined factor, which may be a value between 0.65 and 0.9. In calibration, assuming that the motor output torque a1 is required for the required torque a, but the discharge power of the battery exceeds the above battery discharge power limit value due to the output power calculated by the motor speed and the output torque, and the output torque of the motor needs to be reduced, in this embodiment, the output torque of the motor is limited by multiplying the available torque of the motor by an adjustment coefficient (a variable driving torque adjustment coefficient and a feedback torque adjustment coefficient) between 0 and 1, so that the discharge power of the battery does not exceed the battery discharge power limit value. Certainly, for some working conditions, the output torque of the motor corresponding to the required torque does not make the discharge power of the battery exceed the battery discharge power limit value, and at this time, the output torque of the battery does not need to be limited, and at this time, it can be considered that no adjustment is performed, that is, the adjustment coefficient is 1. In the experimental process, the driving torque adjustment coefficient and the feedback torque adjustment coefficient corresponding to each rotating speed, each required torque and each torque limiting mode of the motor are recorded. And compiling the torque limiting mode, the driving torque adjusting coefficient and the feedback torque adjusting coefficient corresponding to each rotating speed and each required torque into adjusting codes. And finally, the rotating speed, the required torque and the adjusting code are arranged into a corresponding relation table. For example, the vehicle types include B1, B2, … …, Bn vehicle types, which correspond to the correspondence tables B1, B2, … … Bn, respectively.
And step S200, obtaining the model information of the target vehicle, the current required torque, the current available torque of the motor and the current rotating speed. These data are typically obtained by directly reading the relevant information from the vehicle's controller or bus. The vehicle type information can comprise fixed parameters of the length, the width, the wheel base and the like of the vehicle, series parameters of different configurations, power type parameters of four-wheel drive, two-wheel drive, different power sizes and the like.
And step S300, acquiring a corresponding adjusting code in a corresponding relation table according to the vehicle type information, the current required torque and the current rotating speed. Specifically, for the B1 vehicle model, the corresponding relation table B1 of the B1 vehicle model is found first, and then the corresponding adjustment code is found in the corresponding relation table B1 according to the current required torque and rotation speed.
And step S400, calculating the output torque limit value of the motor according to the numerical value of the adjusting code, the middle digit and the lowest digit of the adjusting code and the current available torque. Because the most significant digit of the adjusting code represents the torque limiting mode, the torque limiting mode can be determined by judging the size of the adjusting code, then the driving torque adjusting coefficient and the feedback torque adjusting coefficient can be determined according to the middle digit and the lowest digit of the adjusting code, and then the output torque limiting value of the motor can be calculated by multiplying the current available torque.
And step S500, controlling the motor to work according to the output torque limit value. I.e., control the motor to output at the output torque limit.
In the embodiment, the torque limit information of the motor under each rotating speed and required torque of the motor is written into the adjusting code in a mode of calibrating the adjusting code, so that the driving torque adjusting coefficient and the feedback torque adjusting coefficient can be quickly obtained by identifying the size, the middle digit and the lowest digit of the adjusting code in the following process, and the output torque limit value of the motor is calculated by combining the current available torque of the motor. The output torque of the motor can be guaranteed not to exceed the output torque limit value through the setting of the driving torque adjustment coefficient and the feedback torque adjustment coefficient, the output characteristic can be judged in advance when the input power is limited conveniently, the risk of over-discharging the battery is reduced, and therefore the driving requirement is met to the maximum.
Furthermore, the corresponding relation table is a table of three kinds of data, namely a two-dimensional table, and the table does not need to be processed by using a separate formula, so that configuration management of output torque limits corresponding to different rotating speeds and required torques is facilitated, and matching debugging with a system can be simplified. The table can be imported into a system program as a calibrated configuration parameter, and software integration is facilitated.
Furthermore, the corresponding relation table can facilitate data complaint and data feedback and playback of different characteristic point positions, energy images can be conducted on the characteristics of the high-voltage system according to the table, and images can be conducted on the electric quantity capacity of the whole vehicle.
Fig. 2 is a flowchart of a motor control method for an electric vehicle according to another embodiment of the present invention. In another embodiment, as shown in fig. 2, after step S300, the method further includes:
and step S350, correcting the output torque limit value according to the battery state of health (SOH) so as to control the motor to work according to the corrected output torque limit value. For example, the output torque limit is corrected by multiplying the output torque limit by a health correction factor, which is a number between 0 and 1.
Since the battery health is reduced with the reduction of the battery life, and the charging/discharging capability of the battery is also reduced, the battery overcharge can be better prevented by further correcting the output torque limit value when taking this factor into account. The adjustment factor and the SOH characteristic of the battery are used to assist in the correction as configuration parameters of the battery weight life cycle.
In one embodiment, the torque limiting modes include a first mode in which torque limiting is not performed, a second mode in which only driving torque is limited, a third mode in which only feedback torque is limited, and a fourth mode in which both driving torque and feedback torque are limited, and the output torque limits include a driving torque limit and a feedback torque limit. Optionally, the first mode corresponds to the number 0, the second mode corresponds to the number 1, the third mode corresponds to the number 2, and the fourth mode corresponds to the number 3.
In one embodiment, the highest digit number kh of the adjustment code represents the torque limiting mode, the middle digit number km represents the drive torque adjustment coefficient, the lowest digit number kl represents the feedback torque adjustment coefficient, each digit number is represented by 0, 1, 2, 3, and 4, and the meaning of each digit number is as shown in table 1 below: when km or kl is 0, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 1; when km or kl is 1, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.9; when km or kl is 2, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.95; when km or kl is 3, the drive torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.99. Of course, in other embodiments, the feedback torque adjustment coefficient may be represented by a middle digit of the adjustment code, the driving torque adjustment coefficient may be represented by a lowest digit of the adjustment code, and the selected number is not limited to 0 to 3. In one embodiment, the calibration code for a particular vehicle model is shown in Table 2 below.
TABLE 1
TABLE 2
As shown in fig. 2, in one embodiment, step S400 includes:
in step S402, it is determined whether the value ka of the adjustment code is smaller than 100, if yes, the process proceeds to step S404, otherwise, the process proceeds to step S406.
In step S404, the drive torque limit Kno + and the feedback torque limit Kno-are both equal to the current available torque Kn.
Step S406, judging whether the value ka of the adjusting code is less than 200, if so, entering step S408, otherwise, entering step S410.
In step S408, the driving torque limit Kno + is equal to the product of the current available torque Kn and the driving torque adjustment coefficient km, and the feedback torque limit Kno-is equal to the current available torque Kn.
In step S410, it is determined whether the value ka of the adjustment code is smaller than 300, if yes, step S412 is performed, otherwise step S414 is performed.
In step S412, the driving torque limit Kno + is equal to the current available torque Kn, and the feedback torque limit Kno-is equal to the product of the current available torque Kn and the feedback torque adjustment factor kl.
In step S414, the driving torque limit Kno + is equal to the product of the current available torque Kn and the driving torque adjustment coefficient km, and the feedback torque limit Kno-is equal to the product of the current available torque Kn and the feedback torque adjustment coefficient kl.
In the embodiment, the torque limiting mode is expressed by the number of the highest digit of the adjusting code, the adjusting code can be regarded as a number at the moment, the torque limiting mode can be discriminated by directly comparing the number, the identification mode is simple for a computer, the calculation amount is small, and the calculation cost is saved.
The invention also provides a control unit, which comprises a memory and a processor, wherein the memory stores a control program, and the control program is used for realizing the motor control method in any embodiment and any combination of embodiments when being executed by the processor. The processor may be a Central Processing Unit (CPU), a digital processing unit, or the like. The processor receives and transmits data through the communication interface. The memory is used for storing programs executed by the processor. The memory is any medium that can be used to carry or store desired program code in the form of instructions or data structures and that can be accessed by the computer, or a combination of memories. The above-described computing program may be downloaded from a computer-readable storage medium to a corresponding computing/processing device or to a computer or external storage device via a network (e.g., the internet, a local area network, a wide area network, and/or a wireless network).
The invention also provides a vehicle comprising the control unit.
The control unit and the vehicle write the torque limit information of the motor under each rotating speed and required torque of the motor into the adjusting code in a mode of calibrating the adjusting code, so that a driving torque adjusting coefficient and a feedback torque adjusting coefficient can be quickly obtained by identifying the size, the middle digit and the lowest digit of the adjusting code in the following process, and the output torque limit value of the motor is calculated by combining the current available torque of the motor. The output torque of the motor can be guaranteed not to exceed the output torque limit value through the setting of the driving torque adjustment coefficient and the feedback torque adjustment coefficient, the output characteristic can be judged in advance when the input power is limited conveniently, the risk of over-discharging the battery is reduced, and therefore the driving requirement is met to the maximum.
Thus, it should be appreciated by those skilled in the art that while a number of exemplary embodiments of the invention have been illustrated and described in detail herein, many other variations or modifications consistent with the principles of the invention may be directly determined or derived from the disclosure of the present invention without departing from the spirit and scope of the invention. Accordingly, the scope of the invention should be understood and interpreted to cover all such other variations or modifications.
Claims (10)
1. A motor control method for an electric vehicle, characterized by comprising:
establishing a corresponding relation table among the rotating speed, the required torque and an adjusting code of a motor of each vehicle type, wherein the adjusting code is three-digit data, the highest digit of the adjusting code represents a torque limiting mode, the middle digit of the adjusting code represents a driving torque adjusting coefficient, and the lowest digit of the adjusting code represents a feedback torque adjusting coefficient;
obtaining the model information of a target vehicle, the current required torque, the current available torque of a motor and the current rotating speed;
acquiring the corresponding adjusting code in the corresponding relation table according to the vehicle type information, the current required torque and the current rotating speed;
calculating the output torque limit value of the motor according to the numerical value of the adjusting code, the middle digit and the lowest digit of the adjusting code and the current available torque;
and controlling the motor to work according to the output torque limit value.
2. The method of claim 1, wherein the step of calculating an output torque limit for the motor based on the magnitude of the adjustment code, the median and lowest digit of the adjustment code, and the current available torque is further followed by:
and correcting the output torque limit value according to the health degree of the battery so as to control the motor to work according to the corrected output torque limit value.
3. The motor control method according to claim 1 or 2, wherein the step of establishing a correspondence table between the rotation speed, the required torque, and the adjustment code of the motor of the vehicle of each vehicle type includes:
carrying out an output torque calibration experiment on vehicles of various vehicle types under the limiting condition that the discharge power of a battery does not exceed a preset battery discharge power limit value, wherein the output torque of a motor is limited by changing a driving torque adjustment coefficient and a feedback torque adjustment coefficient in the calibration experiment;
recording the driving torque adjustment coefficient and the feedback torque adjustment coefficient corresponding to each rotating speed, each required torque and each torque limiting mode of the motor;
compiling the torque limit mode, the driving torque adjustment coefficient and the feedback torque adjustment coefficient corresponding to each rotating speed and each required torque into the adjustment code;
and arranging the rotating speed, the required torque and the adjusting code into the corresponding relation table.
4. The motor control method according to claim 1,
the torque limiting modes include a first mode in which torque limiting is not performed, a second mode in which only driving torque is limited, a third mode in which only feedback torque is limited, and a fourth mode in which both driving torque and feedback torque are limited, and the output torque limits include a driving torque limit and a feedback torque limit.
5. The motor control method according to claim 4,
the first mode corresponds to the number 0, the second mode corresponds to the number 1, the third mode corresponds to the number 2, and the fourth mode corresponds to the number 3.
6. The method of claim 5, wherein the step of calculating an output torque limit for the motor based on the magnitude of the adjustment code, the median and lowest digit of the adjustment code, and the current available torque comprises:
when the value of the adjusting code is smaller than 100, the driving torque limit value and the feedback torque limit value are both equal to the current available torque;
when the value of the adjustment code is [100, 200), the driving torque limit is equal to the product of the current available torque and the driving torque adjustment coefficient, and the feedback torque limit is equal to the current available torque;
when the value of the adjustment code is [200, 300), the driving torque limit is equal to the current available torque, and the feedback torque limit is equal to the product of the current available torque and the feedback torque adjustment coefficient;
when the value of the adjustment code is greater than or equal to 300, the driving torque limit is equal to the product of the current available torque and the driving torque adjustment coefficient, and the feedback torque limit is equal to the product of the current available torque and the feedback torque adjustment coefficient.
7. The motor control method according to claim 1,
the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both values between [0.9 and 0.99 ].
8. The motor control method according to claim 7,
when km or kl is 0, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 1;
when km or kl is 1, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.9;
when km or kl is 2, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.95;
when km or kl is 3, the driving torque adjustment coefficient and the feedback torque adjustment coefficient are both 0.99;
wherein km is a numerical number of the adjustment code corresponding to the driving torque adjustment coefficient, and kl is a numerical number of the adjustment code corresponding to the feedback torque adjustment coefficient.
9. A control unit comprising a memory and a processor, the memory having stored therein a control program, the control program when executed by the processor being for implementing a motor control method according to any one of claims 1-8.
10. A vehicle characterized by comprising the control unit of claim 9.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202111536576.6A CN114211969B (en) | 2021-12-15 | 2021-12-15 | Motor control method for electric vehicle, control unit and vehicle |
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