CN116394773A - Vehicle control method, device, vehicle and computer readable storage medium - Google Patents
Vehicle control method, device, vehicle and computer readable storage medium Download PDFInfo
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Abstract
The invention provides a vehicle control method, a device, a vehicle and a computer readable storage medium, relating to the technical field of vehicle control, wherein the vehicle comprises a boost converter, a battery and a driving motor, the boost converter is connected with the battery and the driving motor, and the method comprises the following steps: acquiring target torque, actual rotating speed of a motor and battery voltage of a vehicle; determining an original target voltage according to the target torque and the actual rotating speed of the motor; taking the maximum value of the original target voltage and the battery voltage as a final target voltage; the operating state of the boost converter is determined according to the final target voltage to boost power to the drive motor through the battery and the boost converter. The invention has the beneficial effects that: the loss of a vehicle system can be reduced, and the power performance of the running of the vehicle can be improved.
Description
Technical Field
The present invention relates to the field of vehicle control technology, and in particular, to a vehicle control method, device, vehicle, and computer readable storage medium.
Background
With the increasing strictness of oil consumption and emission requirements and the development of an electrified system, pure electric power technology and hybrid electric power technology become the keys of energy conservation and emission reduction. For a two-motor hybrid system, there are typically three modes of motors, a pure electric mode, a series mode, and a parallel mode. In a series mode, the driving motor drives wheels, the C0 clutch of the vehicle is not combined, and the engine charges a battery through the generator; in the pure electric mode, the battery directly supplies power to the driving motor to drive the wheels, and the engine does not work; in parallel mode, the C0 clutch is engaged and the engine directly drives the wheels. For pure electric systems, the battery directly supplies power to the driving motor to drive the wheels.
In an electric driving system of an electric automobile or a hybrid electric automobile, since the direct current voltage is generally determined by the output voltage of a high-voltage battery or a fuel cell, the rotation speed of a constant torque area of a driving motor is determined by the output voltage of the battery, the constant power area is entered after the speed is increased, the acceleration performance of the vehicle is reduced, however, the external characteristics of the output voltage of the fuel cell are softer, the fuel cell falls along with the increase of a load, so that the driving motor cannot be supplied with power by stable high voltage, and the movement performance of the vehicle is difficult to ensure or improve.
Disclosure of Invention
The invention solves the problem of reducing the loss of a vehicle system and improving the power performance of the running of the vehicle.
In order to solve the above-described problems, the present invention provides a vehicle control method applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control method including the steps of:
acquiring target torque, actual rotating speed of a motor and battery voltage of the vehicle;
determining an original target voltage according to the target torque and the actual rotating speed of the motor;
taking the maximum value of the original target voltage and the battery voltage as a final target voltage;
and determining the operation state of the boost converter according to the final target voltage so as to boost power supply to the driving motor through the battery and the boost converter.
According to the vehicle control method, after the original target voltage of the motor is determined through the target torque and the actual rotating speed of the motor, the original target voltage is compared with the current battery voltage, the maximum value of the original target voltage is taken as the determination basis of the operation condition of the boost converter, so that a relatively higher target voltage value is always ensured, the reduction of the target voltage value due to the limitation of the battery voltage is avoided, further, the boost converter performs boost control based on the final target voltage, so that the boost power is supplied to the driving motor through the battery, after the voltage of the driving motor is increased, the working current of the driving motor is reduced under the condition of the same working power required by the driving motor, the copper loss of the driving motor is reduced, the efficiency loss of a boost link is counteracted, and finally, the overall efficiency of the vehicle can be ensured to be increased. In addition, after the driving voltage of the driving motor is increased, convenience is brought to driving control of the driving motor, the range of a constant torque area of the driving motor can be increased, and further the acceleration performance of the driving motor, particularly the acceleration performance of a high-speed section, is improved, so that the power performance of the vehicle is better.
Further, the vehicle further includes a generator connected to the drive motor and the battery, respectively; the vehicle control method further includes the steps of:
determining a current limit of the boost converter from the battery voltage to determine a power limit from the current limit and the battery voltage;
determining a target output power according to the target torque and the actual rotating speed of the motor;
determining excess power from the power limit and the target output power;
and controlling the generator to operate according to the excess power so as to supply power to the driving motor through the cooperation of the generator and the battery.
Further, the determining the operation state of the boost converter according to the final target voltage includes the steps of:
acquiring actual bus voltage and actual bus current;
performing voltage loop control according to the actual bus voltage and the final target voltage to obtain bus target current;
and performing current loop control according to the bus target current and the bus actual current to obtain a first duty ratio of the boost converter.
Further, the boost converter includes two-phase legs; the determining the operating state of the boost converter according to the final target voltage further comprises the steps of:
acquiring actual current differences of the bridge arms of two phases and preset target current differences;
performing current sharing loop control according to the actual current difference and the target current difference, and shifting the first duty ratio;
and determining the sum of the result of the current sharing loop control and the result of the phase shifting as a second duty ratio, wherein the first duty ratio and the second duty ratio respectively correspond to the bridge arms of two phases.
Further, the vehicle control method further includes the steps of:
and determining whether to stop the boost power supply according to the current and/or the duty ratio of the bridge arms of the two phases.
Further, the step of determining whether to stop the boost supply according to the current and/or the duty ratio of the two-phase bridge arm comprises the steps of:
responding to a request for stopping boosting, and stopping boosting power supply when the average value of the duty ratios of the two bridge arms is smaller than a preset average threshold value; and/or
Stopping boosting power supply when the actual current difference of the two bridge arms is larger than a preset current difference value; and/or
When the current value of any one of the two phase bridge arms is larger than a preset current value, stopping the boosting power supply; and/or
And stopping boosting power supply when the duty ratio difference value of the bridge arms of the two phases is larger than a preset duty ratio difference threshold value.
Further, the vehicle control method further includes the steps of:
acquiring charging power of a generator of the vehicle and target output power of the driving motor when the vehicle is in a series mode, wherein the generator is used for generating electricity in the series mode;
when the target output power is smaller than or equal to the charging power, supplying power to the driving motor through the generator;
and when the target output power is larger than the charging power, boosting and supplying power to the driving motor through the battery and the boosting converter.
The invention also proposes a vehicle control device applied to a vehicle including a boost converter, a battery and a drive motor, the boost converter being connected with the battery and the drive motor, respectively, the vehicle control device comprising:
the acquisition module is used for acquiring target torque, actual motor rotation speed and battery voltage of the vehicle;
the first processing module is used for determining an original target voltage according to the target torque and the actual rotating speed of the motor;
the comparison module is used for taking the maximum value of the original target voltage and the battery voltage as a final target voltage;
and the second processing module is used for determining the operation state of the boost converter according to the final target voltage so as to boost and supply power to the driving motor through the battery and the boost converter.
The vehicle control device of the present invention has similar technical effects to those of the above-described vehicle control method, and will not be described in detail herein.
The invention also provides a vehicle comprising the vehicle control device.
The vehicle of the present invention has similar technical effects to the above-described vehicle control method and vehicle control apparatus, and will not be described in detail herein.
The present invention also proposes a computer-readable storage medium having stored thereon a computer program which, when executed by a processor, implements a vehicle control method as described above.
The computer readable storage medium of the present invention has similar technical effects to those of the vehicle control method described above, and will not be described in detail herein.
Drawings
FIG. 1 is a schematic diagram of a series mode motor drive of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a parallel mode motor drive of a vehicle according to an embodiment of the present invention;
FIG. 3 is a flow chart of a vehicle control method according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a boost converter according to an embodiment of the present invention connected to a battery and a motor;
FIG. 5 is a schematic diagram of signal transmission of a vehicle according to an embodiment of the invention;
FIG. 6 is a schematic diagram illustrating a transition between different modes of a vehicle according to an embodiment of the present invention;
FIG. 7 is a schematic diagram of torque versus system loss for a vehicle according to an embodiment of the present invention;
fig. 8 is a schematic diagram of a duty cycle determining flow of a boost converter according to an embodiment of the present invention;
fig. 9 is a flowchart of boost control of the vehicle control method according to the embodiment of the invention;
FIG. 10 is a schematic diagram of power distribution of a motor and a battery according to an embodiment of the present invention;
FIG. 11 is a schematic diagram showing the correspondence between the actual rotational speed of the motor, the target torque and the original target voltage in the embodiment of the present invention;
fig. 12 is a block diagram showing a configuration of a vehicle control apparatus according to an embodiment of the present invention.
Detailed Description
In order that the above objects, features and advantages of the invention will be readily understood, a more particular description of the invention will be rendered by reference to specific embodiments thereof which are illustrated in the appended drawings. While the invention is susceptible of embodiment in the drawings, it is to be understood that the invention may be embodied in various forms and should not be construed as limited to the embodiments set forth herein, but rather are provided to provide a more thorough and complete understanding of the invention. It should be understood that the drawings and embodiments of the invention are for illustration purposes only and are not intended to limit the scope of the present invention.
It should be understood that the various steps recited in the method embodiments of the present invention may be performed in a different order and/or performed in parallel. Furthermore, method embodiments may include additional steps and/or omit performing the illustrated steps. The scope of the invention is not limited in this respect.
The term "including" and variations thereof as used herein are intended to be open-ended, i.e., including, but not limited to. The term "based on" is based at least in part on. The term "one embodiment" means "at least one embodiment"; the term "another embodiment" means "at least one additional embodiment"; the term "some embodiments" means "at least some embodiments"; the term "optionally" means "alternative embodiments". Related definitions of other terms will be given in the description below. It should be noted that the terms "first," "second," and the like herein are merely used for distinguishing between different devices, modules, or units and not for limiting the order or interdependence of the functions performed by such devices, modules, or units.
The embodiment of the invention provides a vehicle control method which is applied to a vehicle, wherein the vehicle comprises a boost converter, a battery and a driving motor, and the boost converter is respectively connected with the battery and the driving motor.
The vehicle control method in the embodiment can be used for an electric vehicle or a hybrid vehicle, and the driving motor can boost the voltage of the battery through the boost converter and then directly drive the battery. For a hybrid vehicle, a generator, particularly, as shown with reference to fig. 1, 2 and 10, may be further included, the generator (P1 motor) being connected with the driving motor (P3 motor) and the battery, whereby the battery may be charged or the driving motor may be directly powered.
The driving motor in the embodiment of the present invention is the P3 motor in fig. 1, 2 and 10, which represents a motor connected to the output shaft end of the transmission, and in some operation scenarios, for example, in the kinetic energy recovery mode, the P3 motor can also generate power; the generator is the P1 motor in fig. 1, fig. 2 and fig. 10, which represents a motor connected with a crankshaft of an engine, the engine can be a diesel engine, a gasoline engine, an alcohol fuel engine or other engine, the engine drives the generator to generate electricity so as to charge a battery or supply power to the P3 motor, and in some operation scenarios, the P1 motor can also be driven, for example, the P1 motor starts and stops the engine.
Referring to fig. 3, the vehicle control method of the present embodiment includes the steps of:
and acquiring the target torque, the actual rotating speed of the motor and the battery voltage of the vehicle.
The relevant signals of the vehicle can be obtained through signal sampling and signal processing, and the mode to be entered by the vehicle or each motor is determined.
Based on the operation of the user, such as the control of the accelerator, the target torque required by the target running requirement of the vehicle is obtained, correspondingly, the actual motor rotation speed of the driving motor of the current vehicle is obtained by sampling the driving motor data, and the current battery voltage is obtained by sampling the battery of the vehicle.
And determining an original target voltage according to the target torque and the actual rotating speed of the motor.
By combining the target torque and the actual rotation speed of the motor, the voltage required to control the driving motor under the current driving requirement can be determined and used as the original target voltage. Meanwhile, the output power of the driving motor can be determined according to the actual rotating speed of the motor and the target torque. The determination formula of the original target voltage includes:
V target_raw ＝minloss(Torque,Speed)；
wherein V is target_raw Representing the original target voltage, torque represents the target Torque, and Speed represents the actual Speed of the motor.
Specifically, the original target voltage may be determined according to a table lookup method, and referring to fig. 11, in an embodiment, the correspondence between the actual rotational speed of the motor, the target torque and the original target voltage is shown.
The longitudinal positioning column is the target torque, the transverse positioning column is the actual rotating speed of the motor, and the data in the crossed unit cells are the original target voltage.
And taking the maximum value of the original target voltage and the battery voltage as a final target voltage.
Specifically, the determination formula of the final target voltage includes:
wherein V is target_final Which represents the final target voltage to be applied,
representing the original target voltage, V Battery The battery voltage is represented, that is, the original target voltage and the battery voltage are maximized, when the voltage required by the current motor is smaller than the battery voltage, the battery voltage is taken as the final target voltage to carry out subsequent power supply, and when the voltage required by the current motor is larger than the battery voltage, the final target voltage is not reduced due to the limitation of the battery voltage, so that the final target voltage is always ensured to be maximized.
And determining the operation state of the boost converter according to the final target voltage so as to boost power supply to the driving motor through the battery and the boost converter.
Specifically, the duty ratio of the boost converter can be determined through the final target voltage, the actual operation of the boost converter is controlled to boost the battery, and further the battery and the boost converter are matched to boost and supply power to the driving motor.
Therefore, in the vehicle control method provided by the embodiment of the invention, after the original target voltage of the motor is determined through the target torque and the actual rotation speed of the motor, the original target voltage of the motor is compared with the current battery voltage, the maximum value of the original target voltage is taken as the determination basis of the running condition of the boost converter, so that a relatively higher target voltage value is ensured, or the target voltage value is prevented from being reduced due to the limitation of the battery voltage. In addition, after the driving voltage of the driving motor is increased, convenience is brought to driving control of the driving motor, the range of a constant torque area of the driving motor can be increased, and further the acceleration performance of the driving motor, particularly the acceleration performance of a high-speed section, is improved, so that the power performance of the vehicle is better.
Referring to fig. 7, which is a schematic diagram showing the relationship between the system loss and the torque obtained during an actual test, it can be seen that, under the same torque requirement, the system loss can reach a relatively smaller value as the voltage applied to the driving motor is higher.
Referring to table 1 below, in a specific embodiment, the vehicle control method of the present invention is applied to a description table of the operation mode of the hybrid vehicle, the operation states of the engine, the P1 motor and the P3 motor, and the target voltage strategy and the related application scenario adopted.
Table 1 vehicle operation mode specification table:
in all of pure electric drive, series hybrid (series mode) and parallel hybrid (parallel mode), the vehicle control method in the embodiment of the invention, namely the rotation speed/torque mode target voltage strategy, can be adopted, so that the vehicle performance is improved and the vehicle loss is reduced. The battery directly drives the motor for pure electric driving, so that the vehicle control method can be applied to pure electric vehicles adaptively.
In an alternative embodiment of the present invention, the vehicle control method further includes the steps of:
determining a current limit of the boost converter from the battery voltage to determine a power limit from the current limit and the battery voltage;
determining a target output power according to the target torque and the actual rotating speed of the motor;
determining excess power from the power limit and the target output power;
and controlling the generator to operate according to the excess power so as to supply power to the driving motor through the cooperation of the generator and the battery.
In this embodiment, when boost power is supplied to the driving motor through the battery and the boost converter, for the difference of specific values of the current battery voltage, the maximum current that can circulate in the boost converter is limited at this time, so that the boost is limited, and finally the boosted power is limited, and at this time, the battery cooperates with the boost converter to supply power to the driving motor, so that the current limit of the current boost converter can be determined through the battery voltage, and then the current limit and the battery voltage are combined to determine the current limit. Specifically, the determination may be performed according to a table lookup method, as shown in table 2 below, which is a comparison table of current limit values and power limit values corresponding to different battery voltages when the final target voltage for boosting is 450V in a specific usage scenario.
Table 2 voltage versus current and power limit table:
referring to table 2 and fig. 10, in a specific embodiment, the currently determined final target voltage is 450V, the battery voltage is 300V at this time, the current limit value is 400A, the corresponding power limit value is the product of 400A and 300V, i.e. 120kw, at this time, 120kw of power can be provided by the battery, the target torque required by the current driving motor and the actual rotation speed of the motor correspond to 150kw, at this time, it is determined that there is excess power of 30kw, therefore, the excess power is distributed to the generator (P1 motor) capable of generating power, the P3 motor is directly supplied with power through the P1 motor, so that the power is not limited by the boost power, finally, the high voltage and high power requirements of the driving motor are satisfied by supplying power to the driving motor together with the battery, and further the vehicle performance is improved and the loss is reduced.
In an alternative embodiment of the invention, said determining the operating state of the boost converter from the final target voltage comprises:
acquiring actual bus voltage and actual bus current;
performing voltage loop control according to the actual bus voltage and the final target voltage to obtain bus target current;
and performing current loop control according to the bus target current and the bus actual current to obtain a first duty ratio of the boost converter.
In the embodiment of the invention, the bus is a passage between the boost converter and the driving motor.
For convenience of description, in the embodiment of the present invention, the judgment and execution process of boosting and supplying power to the driving motor through the boost converter and the battery are named as a boost mode.
Referring to fig. 6, the vehicle may define a plurality of modes according to the operation conditions, and perform mode switching when different signals are acquired.
The normal mode of the vehicle operation may include a direct mode and the boost mode, for example, in a series mode, the engine directly drives the P3 motor through the P1 motor, and the mode switching may be performed according to the vehicle signal collected by the vehicle controller of the vehicle after processing, where the boost (boost) state condition is met, the boost mode is entered, and the bypass state condition is met, and the boost mode is exited, so as to enter the direct mode.
The vehicle initial state (initialization mode), i.e., the free wheel mode is entered, which may be when the transmission control module of the vehicle wakes up.
The vehicle off mode, i.e., the drive motor or generator mode is powered down and is entered when the shift control module is not requested to wake up.
The vehicle fault mode is entered when a fault condition such as an overcurrent fault or an overvoltage fault occurs.
Referring to fig. 5, in a specific embodiment, in combination with the signal transmitted by the CAN bus of the system, the signal sampling of the vehicle may further include four-way IGBT temperature sampling, four-way pwm output, one-way output voltage sampling, two-way inductor current sampling, and two-way inductor temperature sampling, after the signal processing, the target mode of the vehicle, the P1 motor mode request, the P3 motor mode request, and the boost mode request may be determined, after the state machine determines that the boost mode is entered, the boost target voltage request may be determined according to the torque request and the rotation speed of the motor, so as to determine the target voltage in combination with the battery voltage, and further determine to perform boost double-loop control (voltage loop and current loop) in combination with the boost converter, or further combine with the current loop control, so as to control specific operation conditions of the P3 motor and the P1 motor.
Referring to fig. 9, when it is determined that the current vehicle operation condition is boost, i.e., a boost request is issued, a subsequent determination is made to enter a boost mode in which a final target voltage is determined based on a target torque, an actual motor rotation speed, and a battery voltage, and in the subsequent control of the final target voltage, a slope limitation may be performed, so as to avoid a failure caused by an excessively fast rise in a voltage applied to the driving motor.
After the final target voltage is determined, voltage loop control can be performed in combination with the actual bus voltage of the current boost converter, the result of the voltage loop control is taken as a bus target current, specifically, PI regulator control is adopted, and then, the bus target current is taken as the basis of subsequent current loop control, so that current loop control is performed in combination with the actual bus current of the current boost converter, so that a first duty ratio is obtained, and control of the boost converter is realized.
In an alternative embodiment of the present invention, the boost converter includes two-phase legs, specifically, referring to fig. 4, the boost converter includes two-phase legs connected in parallel, where each of the two-phase legs includes an inductor and an IGBT connected in series, and the IGBT of the boost converter is connected to the IGBT of the motor. For convenience of description, the two phases are designated as phase a and phase B, respectively.
Based on the boost converter in the form of the two-phase bridge arm, the step of determining the operation state of the boost converter according to the final target voltage further includes the steps of:
and acquiring the actual current difference and the preset target current difference of the bridge arms of the two phases.
Specifically, the actual current difference of the bridge arm can be obtained by calculating after collecting the current of each branch through a sensor, and the target current difference is a preset value set according to the actual requirement.
Performing current sharing loop control according to the actual current difference and the target current difference, and shifting the first duty ratio;
referring to fig. 8, the first duty ratio obtained from the actual bus voltage, the final target voltage, and the actual bus current is the a-phase duty ratio, and the second B-phase duty ratio is obtained by shifting the phase by 180 degrees, and the result of the current sharing loop control according to the actual current difference and the target current difference is the first B-phase duty ratio.
And determining the sum of the result of the current sharing loop control and the result of the phase shifting as a second duty ratio, wherein the first duty ratio and the second duty ratio respectively correspond to the bridge arms of two phases.
Thus, the resulting B-phase duty cycle (second duty cycle) is the sum of the first B-phase duty cycle and the second B-phase duty cycle. Therefore, the control of the boost converter of the two-phase bridge arm is realized through the finally determined A-phase duty ratio and B-phase duty ratio, and the driving motor can be driven more stably.
In a specific embodiment of the present invention, the vehicle control method further includes the steps of:
and determining whether to stop the boost power supply according to the current and/or the duty ratio of the bridge arms of the two phases.
In this embodiment, the switching from the boost mode to the through mode in the actual running of the vehicle can be judged by detecting the actual current and the duty ratio of the two-phase bridge arm, so that the accurate control of the boost converter is realized, and the condition of system faults is reduced.
Specifically, the determining whether to stop the boost supply according to the current and/or the duty ratio of the two-phase bridge arm includes:
responding to a request for stopping boosting, and stopping boosting power supply when the average value of the duty ratios of the two bridge arms is smaller than a preset average threshold value; and/or
Stopping boosting power supply when the actual current difference of the two bridge arms is larger than a preset current difference value; and/or
When the current value of any one of the two phase bridge arms is larger than a preset current value, stopping the boosting power supply; and/or
And stopping boosting power supply when the duty ratio difference value of the bridge arms of the two phases is larger than a preset duty ratio difference threshold value.
The step-up stopping request may be determined according to a user operation signal collected by the vehicle controller or operation state data of each motor or engine in the vehicle, for example, when the P1 motor in the series mode can meet the output power requirement of the P3 motor, at this time, if it is determined that the average value of the sums of the duty ratios of the two phase bridge arms is smaller than a certain preset average threshold, for example, 0.5, the vehicle may be controlled to exit from the step-up mode to enter the straight-through mode, so that the P1 motor is used to directly supply power to the P3 motor, that is, exit from the step-up mode.
Meanwhile, the actual current flowing through each bridge arm and the actual duty ratio of each bridge arm in the boost converter of the two-phase bridge arm can be actually detected, if the actual current difference of the two bridge arms is larger, or a certain current value is larger, or the difference value of the duty ratios of the two bridge arms is overlarge, the fact that the vehicle system possibly fails or the risk of boosting exists is indicated, so that the vehicle can exit from the boosting mode and enter into the through mode at the moment, and the accurate control of the vehicle is realized.
In an alternative embodiment of the present invention, the vehicle control method further includes the steps of:
acquiring charging power of a generator of the vehicle and target output power of the driving motor when the vehicle is in a series mode, wherein the generator is used for generating electricity in the series mode;
when the target output power is smaller than or equal to the charging power, supplying power to the driving motor through the generator;
and when the target output power is larger than the charging power, boosting and supplying power to the driving motor through the battery and the boosting converter.
In this embodiment, during the series mode, the engine may work, and power is supplied to the driving motor (P3 motor) through the generator (P1 motor), when the target output power required by the driving motor is less than or equal to the charging power of the generator, it indicates that the driving motor is currently powered without battery intervention, so that the driving motor may be powered only through the generator, so as to meet the working requirement of the series mode in the hybrid vehicle, and meanwhile, the charging power that the generator is excessive may be distributed to the battery for storage.
When the target output power is greater than the charging power, the generator cannot meet the requirement of the driving motor, so that the battery and the boost converter are introduced to supply power to the driving motor at the moment, namely, the boost converter and the battery are used for boosting and supplying power to the driving motor in a series mode, the generator can charge the battery at the moment, and when the boost converter and the battery cannot meet the power requirement of the driving motor, the generator is combined to supply power to the driving motor, so that the boosting requirement is met.
Referring to fig. 12, a vehicle control apparatus applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control apparatus comprising:
the acquisition module is used for acquiring target torque, actual motor rotation speed and battery voltage of the vehicle;
the first processing module is used for determining an original target voltage according to the target torque and the actual rotating speed of the motor;
the comparison module is used for taking the maximum value of the original target voltage and the battery voltage as a final target voltage;
and the second processing module is used for determining the operation state of the boost converter according to the final target voltage so as to boost and supply power to the driving motor through the battery and the boost converter.
The vehicle control device of the present invention has similar technical effects to those of the above-described vehicle control method, and will not be described in detail herein.
A vehicle of another embodiment of the invention includes the vehicle control apparatus as described above, and a boost converter, a battery, and a drive motor.
In one embodiment of the invention, the vehicle is a hybrid vehicle, the vehicle further comprising a generator and an engine, the generator being connected to the engine, the battery and the drive motor.
The vehicle of the present invention has similar technical effects to the above-described vehicle control method and vehicle control apparatus, and will not be described in detail herein.
A computer-readable storage medium of another embodiment of the present invention has stored thereon a computer program which, when executed by a processor, implements the vehicle control method as described above.
The computer readable storage medium of the present invention has similar technical effects to those of the vehicle control method described above, and will not be described in detail herein.
In general, the computer instructions for carrying out the methods of the present invention may be carried in any combination of one or more computer-readable storage media. The non-transitory computer-readable storage medium may include any computer-readable medium, except the signal itself in temporary propagation.
The computer readable storage medium can be, for example, but not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or a combination of any of the foregoing. More specific examples (a non-exhaustive list) of the computer-readable storage medium would include the following: an electrical connection having one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing. In this document, a computer readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device.
Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including an object oriented programming language such as Java, smalltalk, C ++ and conventional procedural programming languages, such as the "C" language or similar programming languages, and in particular, the Python language suitable for neural network computing and TensorFlow, pyTorch-based platform frameworks may be used. The program code may execute entirely on the user's computer, partly on the user's computer, as a stand-alone software package, partly on the user's computer and partly on a remote computer or entirely on the remote computer or server. In the case of a remote computer, the remote computer may be connected to the user's computer through any kind of network, including a Local Area Network (LAN) or a Wide Area Network (WAN), or may be connected to an external computer (for example, through the Internet using an Internet service provider).
Although the invention is disclosed above, the scope of the invention is not limited thereto. Various changes and modifications may be made by one skilled in the art without departing from the spirit and scope of the invention, and such changes and modifications would be within the scope of the invention.
Claims (10)
1. A vehicle control method, characterized by being applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control method comprising:
acquiring target torque, actual rotating speed of a motor and battery voltage of the vehicle;
determining an original target voltage according to the target torque and the actual rotating speed of the motor;
taking the maximum value of the original target voltage and the battery voltage as a final target voltage;
and determining the operation state of the boost converter according to the final target voltage so as to boost power supply to the driving motor through the battery and the boost converter.
2. The vehicle control method according to claim 1, characterized in that the vehicle further includes a generator connected with the drive motor and the battery; the vehicle control method further includes:
determining a current limit of the boost converter from the battery voltage to determine a power limit from the current limit and the battery voltage;
determining a target output power according to the target torque and the actual rotating speed of the motor;
determining excess power from the power limit and the target output power;
and controlling the generator to operate according to the excess power so as to supply power to the driving motor through the cooperation of the generator and the battery.
3. The vehicle control method according to claim 1, characterized in that the determining of the operation state of the boost converter from the final target voltage includes:
acquiring actual bus voltage and actual bus current;
performing voltage loop control according to the actual bus voltage and the final target voltage to obtain bus target current;
and performing current loop control according to the bus target current and the bus actual current to obtain a first duty ratio of the boost converter.
4. The vehicle control method of claim 3, wherein the boost converter includes two-phase legs; the determining the operating state of the boost converter from the final target voltage further includes:
acquiring actual current differences of the bridge arms of two phases and preset target current differences;
performing current sharing loop control according to the actual current difference and the target current difference, and shifting the first duty ratio;
and determining the sum of the result of the current sharing loop control and the result of the phase shifting as a second duty ratio, wherein the first duty ratio and the second duty ratio respectively correspond to the bridge arms of two phases.
5. The vehicle control method according to claim 4, characterized by further comprising:
and determining whether to stop the boost power supply according to the current and/or the duty ratio of the bridge arms of the two phases.
6. The vehicle control method according to claim 5, characterized in that the determining whether to stop the boost supply according to the current and/or the duty ratio of the two-phase bridge arm includes:
responding to a request for stopping boosting, and stopping boosting power supply when the average value of the duty ratios of the two bridge arms is smaller than a preset average threshold value; and/or
Stopping boosting power supply when the actual current difference of the two bridge arms is larger than a preset current difference value; and/or
When the current value of any one of the two phase bridge arms is larger than a preset current value, stopping the boosting power supply; and/or
And stopping boosting power supply when the duty ratio difference value of the bridge arms of the two phases is larger than a preset duty ratio difference threshold value.
7. The vehicle control method according to any one of claims 1 to 6, characterized by further comprising:
acquiring charging power of a generator of the vehicle and target output power of the driving motor when the vehicle is in a series mode, wherein the generator is used for generating electricity in the series mode;
when the target output power is smaller than or equal to the charging power, supplying power to the driving motor through the generator;
and when the target output power is larger than the charging power, boosting and supplying power to the driving motor through the battery and the boosting converter.
8. A vehicle control apparatus, characterized by being applied to a vehicle including a boost converter, a battery, and a drive motor, the boost converter being connected to the battery and the drive motor, respectively, the vehicle control apparatus comprising:
the acquisition module is used for acquiring target torque, actual motor rotation speed and battery voltage of the vehicle;
the first processing module is used for determining an original target voltage according to the target torque and the actual rotating speed of the motor;
the comparison module is used for taking the maximum value of the original target voltage and the battery voltage as a final target voltage;
and the second processing module is used for determining the operation state of the boost converter according to the final target voltage so as to boost and supply power to the driving motor through the battery and the boost converter.
9. A vehicle comprising the vehicle control device according to claim 8.
10. A computer-readable storage medium, characterized in that the storage medium has stored thereon a computer program which, when executed by a processor, implements the vehicle control method according to any one of claims 1 to 7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202310377917.2A CN116394773A (en) | 2023-04-10 | 2023-04-10 | Vehicle control method, device, vehicle and computer readable storage medium |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310377917.2A CN116394773A (en) | 2023-04-10 | 2023-04-10 | Vehicle control method, device, vehicle and computer readable storage medium |
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| CN116394773A true CN116394773A (en) | 2023-07-07 |
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| CN202310377917.2A Pending CN116394773A (en) | 2023-04-10 | 2023-04-10 | Vehicle control method, device, vehicle and computer readable storage medium |
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Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116853073A (en) * | 2023-09-04 | 2023-10-10 | 江西五十铃汽车有限公司 | New energy electric automobile energy management method and system |
| CN117246148A (en) * | 2023-11-01 | 2023-12-19 | 采埃孚传动技术(嘉兴)有限公司 | Control method, control device, electronic apparatus, and storage medium for electric drive system |
-
2023
- 2023-04-10 CN CN202310377917.2A patent/CN116394773A/en active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN116853073A (en) * | 2023-09-04 | 2023-10-10 | 江西五十铃汽车有限公司 | New energy electric automobile energy management method and system |
| CN116853073B (en) * | 2023-09-04 | 2024-01-26 | 江西五十铃汽车有限公司 | New energy electric automobile energy management method and system |
| CN117246148A (en) * | 2023-11-01 | 2023-12-19 | 采埃孚传动技术(嘉兴)有限公司 | Control method, control device, electronic apparatus, and storage medium for electric drive system |
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