CN117048425A - Vehicle control method and device and vehicle power system - Google Patents

Vehicle control method and device and vehicle power system Download PDF

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Publication number
CN117048425A
CN117048425A CN202311308207.0A CN202311308207A CN117048425A CN 117048425 A CN117048425 A CN 117048425A CN 202311308207 A CN202311308207 A CN 202311308207A CN 117048425 A CN117048425 A CN 117048425A
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China
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current
absolute value
value
torque voltage
real
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Granted
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CN202311308207.0A
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Chinese (zh)
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CN117048425B (en
Inventor
李宇虹
张平化
孟凡己
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Fj Controlling Co ltd
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Fj Controlling Co ltd
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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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • 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
    • 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • B60L2240/549—Current
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention discloses a vehicle control method, a vehicle control device and a vehicle power system. The invention relates to the technical field of vehicle power control. The vehicle control method includes: according to the relation between the real-time current of the battery pack of the vehicle and a preset current threshold value, regulating the torque voltage limit value of the motor of the vehicle; if the absolute value of the current torque voltage of the motor is smaller than or equal to the absolute value of the torque voltage limit value, controlling the motor to operate according to the current torque voltage so as to control the current of the battery pack; and if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack. The technical scheme of the invention ensures that the battery pack is not excessively flowed, realizes the fine control of the battery pack current, improves the control precision of the battery pack current, and improves the charge and discharge power of the battery pack while ensuring that the battery pack is excessively flowed.

Description

Vehicle control method and device and vehicle power system
Technical Field
The present invention relates to the field of vehicle power control technologies, and in particular, to a vehicle control method and apparatus, and a vehicle power system.
Background
With the increasing deterioration of the environment, new energy vehicles grow well, and how to effectively protect batteries and prolong the service life of the new energy vehicles by using lithium battery packs as power sources of the new energy vehicles is particularly important.
When the vehicle is running in acceleration, the lithium battery pack is in a discharge mode, and when the residual capacity (State of Charge, SOC) of the lithium battery pack is low, the discharge current is limited to prevent over-discharge and cause irreversible damage. When the vehicle is braked in a decelerating mode, the lithium battery pack is in a charging mode, and when the SOC of the lithium battery pack is high, charging current is limited, so that the battery cell is prevented from being damaged due to overcharge.
At present, when the charging current or the discharging current of the lithium battery pack is overlarge, the motor current is greatly reduced, so that the motor torque output is greatly reduced, the charging current or the discharging current of the lithium battery pack is ensured to be reduced, but the current of the battery pack cannot be finely controlled, so that the current of the battery pack is excessively reduced, the utilization rate of a battery is reduced, and the working efficiency is influenced.
Disclosure of Invention
The invention provides a vehicle control method and device and a vehicle power system, which are used for solving the problems that the current of a battery pack is reduced too much, the utilization rate of a battery is reduced, and the working efficiency is influenced.
According to an aspect of the present invention, there is provided a vehicle control method including:
according to the relation between the real-time current of the battery pack of the vehicle and a preset current threshold value, regulating the torque voltage limit value of the motor of the vehicle; wherein the real-time current includes a charging current and a discharging current;
if the absolute value of the current torque voltage of the motor is smaller than or equal to the absolute value of the torque voltage limit value, controlling the motor to run according to the current torque voltage so as to control the current of the battery pack;
and if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to run according to the torque voltage limit value so as to control the current of the battery pack.
Optionally, the adjusting the torque voltage limit value of the motor of the vehicle according to the relation between the real-time current of the battery pack of the vehicle and the preset current threshold value includes:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, the torque voltage limit value is reduced until the real-time current is equal to the preset current threshold;
And if the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, increasing the torque voltage limit value until the updated torque voltage limit value reaches the preset voltage threshold.
Optionally, if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, reducing the torque voltage limit until the real-time current is equal to the preset current threshold includes:
and if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to the step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold.
Optionally, the decreasing step value includes a first step value and a second step value;
if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to a step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than an error threshold, gradually reducing the torque voltage limit value according to the first step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold;
If the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold, gradually reducing the torque voltage limit value according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold; wherein the second step value is less than the first step value.
Optionally, the decreasing step value includes a first step value and a second step value;
if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to a step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than an error threshold, gradually reducing the torque voltage limit value according to the first step value until the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold;
Gradually reducing the torque voltage limit value according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold value; wherein the second step value is less than the first step value.
Optionally, if the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, the torque voltage limit is increased until the updated torque voltage limit reaches the preset voltage threshold, including:
and if the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, gradually increasing the torque voltage limit value according to the increasing step value until the updated torque voltage limit value reaches the preset voltage threshold.
Optionally, before adjusting the torque voltage limit of the motor of the vehicle according to the relation between the real-time current of the battery pack of the vehicle and the preset current threshold value, the method further comprises:
the real-time current is obtained from a battery management system or a current sensor of the battery pack, and the preset current threshold is obtained from the battery management system of the battery pack.
Optionally, before controlling the motor to operate according to the current torque voltage if the absolute value of the current torque voltage of the motor is less than or equal to the absolute value of the torque voltage limit value, the method further includes:
The current torque voltage of the motor is determined according to a state of an accelerator pedal or a brake pedal of the vehicle.
According to another aspect of the present invention, there is provided a vehicle control apparatus for performing the vehicle control method according to any one of the embodiments of the present invention; the vehicle control device includes:
the adjusting module is used for adjusting the torque voltage limit value of the motor of the vehicle according to the relation between the real-time current of the battery pack of the vehicle and a preset current threshold value; wherein the real-time current includes a charging current and a discharging current;
the motor control module is used for controlling the motor to run according to the current torque voltage if the absolute value of the current torque voltage of the motor is smaller than or equal to the absolute value of the torque voltage limit value so as to control the current of the battery pack; and if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to run according to the torque voltage limit value so as to control the current of the battery pack.
According to another aspect of the present invention, there is provided a vehicle power system including a battery pack, a motor, and a controller; the controller comprises the vehicle control device according to any embodiment of the invention; the controller is connected between a battery pack of the vehicle and a motor of the vehicle.
According to the technical scheme, the torque voltage limit value of the motor of the vehicle is adjusted according to the relation between the real-time current of the battery pack of the vehicle and the preset current threshold value, so that when the battery pack is over-current, the torque voltage limit value of the motor is smaller, the torque voltage output to the motor is convenient to control to be smaller, the current of the battery pack is reduced, and the battery pack is prevented from being over-current. When the battery pack does not overflow, the torque voltage limit value of the motor can be larger, so that the torque voltage output to the motor can be larger, the current of the battery pack is increased, and the power of the battery pack is increased on the premise of ensuring that the battery pack does not overflow. When the current torque voltage of the motor is smaller than or equal to the torque voltage limit value, the current torque voltage of the motor is indicated to meet the requirement of reducing the current of the battery pack, or the requirement of increasing the current of the battery pack on the premise of not overcurrent is met, the motor can be controlled to operate continuously according to the current torque voltage, the current of the battery pack is controlled, and damage to the battery pack caused by overcurrent of the battery pack is avoided. When the absolute value of the current torque voltage is less than or equal to the torque voltage limit value, the torque voltage does not need to be adjusted, so that the torque voltage output to the motor is consistent with the torque voltage corresponding to the expected rotation speed of the motor, and the vehicle runs at the expected speed. Compared with the prior art that the torque voltage is directly reduced to ensure that the battery pack is not excessively excessive, the technical scheme of the embodiment can realize fine control on the current of the battery pack and the torque of the motor, can control the motor to operate according to the expected rotating speed, and is beneficial to improving user experience. When the current torque voltage of the motor is larger than the torque voltage limit value, the current torque voltage cannot meet the requirement of reducing the current of the battery pack, and the battery pack can be caused to overflow, the torque voltage limit value is used as the torque voltage to be output to the motor, so that the torque of the motor meets the requirement of reducing the current of the battery pack, and the battery pack is prevented from overflowing. And the motor is controlled to run according to the torque voltage limit value, so that the motor runs at the maximum allowable torque voltage on the premise of ensuring that the motor does not overflow, and the current of the battery pack is larger under the condition of not overflow, namely the final current of the battery pack is stabilized at a current limit point, the battery pack is protected, the charge and discharge power of the battery pack is improved, and the running efficiency of a vehicle is ensured.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flow chart of a vehicle control method provided by an embodiment of the present invention;
FIG. 2 is a flow chart of yet another vehicle control method provided by an embodiment of the present invention;
FIG. 3 is a flow chart of yet another vehicle control method provided by an embodiment of the present invention;
FIG. 4 is a flow chart of yet another vehicle control method provided by an embodiment of the present invention;
fig. 5 is a schematic structural view of a vehicle control apparatus according to an embodiment of the present invention;
fig. 6 is a schematic structural diagram of a vehicle power system according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Aiming at the problems that the current of a battery pack cannot be finely controlled at present, so that the current of the battery pack is reduced too much, the utilization rate of a battery is reduced, and the working efficiency is influenced, the embodiment provides a vehicle control method. Fig. 1 is a flowchart of a vehicle control method according to an embodiment of the present invention, as shown in fig. 1, the vehicle control method includes:
s110, adjusting a torque voltage limit value of a motor of the vehicle according to the relation between the real-time current of a battery pack of the vehicle and a preset current threshold value; wherein the real-time current includes a charging current and a discharging current.
The vehicle comprises a battery pack, a controller and a motor, when the vehicle accelerates, the battery pack discharges, the battery pack supplies power to the motor through the controller, and the controller can control the voltage output to the motor according to the state of an accelerator pedal, so that the rotating speed of the motor is controlled according to the state of the accelerator pedal, and the vehicle runs according to the rotating speed expected by a driver. When the vehicle is braked in a decelerating way, energy generated by rotation of the motor is converted into electric energy to charge the battery pack. In this way, discharging and charging of the battery pack are achieved.
When the controller controls the rotation speed of the motor, the rotation speed required by the motor is calculated according to the external input (states of an accelerator pedal and a brake pedal), and d-axis voltage and q-axis voltage under a rotation coordinate system of the motor are calculated according to the rotation speed required by the motor, and the q-axis voltage is related to the torque of the motor, so that the torque of the motor can be controlled by controlling the q-axis voltage. The charging current and the discharging current of the battery pack can be controlled by controlling the motor torque, namely, the charging current of the battery pack can be controlled by controlling the motor torque when the vehicle accelerates, and the discharging current of the battery pack can be controlled by controlling the motor torque when the vehicle decelerates and brakes.
Specifically, the torque voltage limit is a limit of the motor q-axis voltage. The controller may acquire a real-time current of the battery pack, that is, a charge current and a discharge current of the battery pack, while the vehicle is running. The controller compares the real-time current of the battery pack with a preset current threshold value, and determines the relation between the real-time current and the preset current threshold value, so as to determine whether the battery pack is over-current. For example, when the absolute value of the real-time current is larger than the absolute value of the preset current threshold value, determining that the battery pack is in an overcurrent state; and when the absolute value of the real-time current is smaller than or equal to the absolute value of the preset current threshold value, determining that the battery pack is in a non-overcurrent state.
And adjusting the torque voltage limit value according to the relation between the real-time current of the battery pack and the preset current threshold value, namely adjusting the torque voltage limit value according to whether the battery pack is over-current or not. When the battery pack is over-current, the torque voltage limit is reduced to ensure that the torque voltage output to the motor is small, thereby reducing the current of the battery pack. When the battery pack does not overflow, the torque voltage limit value is increased, so that the torque voltage output to the motor is larger, the current of the battery pack is increased, the situation that the power of the battery pack is smaller is avoided, and the working efficiency of the battery pack and the motor is guaranteed.
The initial torque voltage limit value may be the torque voltage that the controller outputs to the motor the previous time, or may be a set voltage value, and the present embodiment is not limited thereto.
S120, judging whether the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, and if not, executing the step S130; if yes, go to step S140.
The current torque voltage of the motor is the torque voltage which is determined to be output by the motor according to the state input by the controller, namely the torque voltage corresponding to the rotating speed required by the motor. And comparing the absolute value of the current torque voltage with the torque voltage limit value, determining whether the current torque voltage to be output to the motor exceeds the torque voltage limit value, and facilitating control of the torque of the motor so as to control the current of the battery pack.
And S130, controlling the motor to operate according to the current torque voltage so as to control the current of the battery pack.
Specifically, if the current torque voltage is smaller than or equal to the torque voltage limit value, the current torque voltage is within an allowable voltage range, that is, after the torque voltage limit value is adjusted according to the relation between the real-time current of the battery pack and the preset current threshold value, the current torque voltage is still within the allowable voltage range (the absolute value of the current torque voltage is smaller than the absolute value of the torque voltage threshold value), that is, the current torque voltage can meet the requirement of reducing the current of the battery pack, or meet the requirement of increasing the current of the battery pack on the premise of not exceeding the current, the motor can be controlled to operate according to the current torque voltage continuously, the current of the battery pack is controlled, and damage to the battery pack caused by the exceeding of the battery pack is avoided.
In this way, when the absolute value of the current torque voltage is less than or equal to the torque voltage limit value, it is unnecessary to adjust the torque voltage so that the torque voltage output to the motor coincides with the torque voltage corresponding to the desired rotational speed of the motor, so that the vehicle runs at the desired speed. Compared with the prior art that the torque voltage is directly reduced to ensure that the battery pack is not excessively excessive, the technical scheme of the embodiment can realize fine control on the current of the battery pack and the torque of the motor, improves the control precision of the current of the battery pack, can control the motor to operate according to the expected rotating speed, and is beneficial to improving user experience.
And S140, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack.
Specifically, if the current torque voltage is greater than the torque voltage limit value, the current torque voltage is not within the allowable voltage range, that is, the current torque voltage cannot meet the requirement of reducing the current of the battery pack, and the battery pack is caused to overflow, the torque voltage limit value is output to the motor as the torque voltage, so that the torque of the motor meets the requirement of reducing the current of the battery pack, the current of the battery pack is reduced, and the battery pack is prevented from overflowing. And the motor is controlled to run according to the torque voltage limit value, so that the motor runs at the maximum allowable torque voltage on the premise of ensuring that the motor does not overflow, the battery pack has larger charge and discharge current under the condition of not overflow, namely the final current of the battery pack is stabilized at a current limit point, the battery pack is protected, and meanwhile, the battery pack is charged with the maximum power output or the maximum power, so that the running efficiency of the vehicle is ensured.
According to the technical scheme of the embodiment, the torque voltage limit value of the motor of the vehicle is adjusted according to the relation between the real-time current of the battery pack of the vehicle and the preset current threshold value, so that when the battery pack is over-current, the torque voltage limit value of the motor is smaller, the torque voltage output to the motor is convenient to control to be smaller, the current of the battery pack is reduced, and the battery pack is prevented from being over-current. When the battery pack does not overflow, the torque voltage limit value of the motor can be larger, so that the torque voltage output to the motor can be larger, the current of the battery pack is increased, and the power of the battery pack is increased on the premise of ensuring that the battery pack does not overflow. When the current torque voltage of the motor is smaller than or equal to the torque voltage limit value, the current torque voltage of the motor is indicated to meet the requirement of reducing the current of the battery pack, or the requirement of increasing the current of the battery pack on the premise of not overcurrent is met, the motor can be controlled to operate continuously according to the current torque voltage, the current of the battery pack is controlled, and damage to the battery pack caused by overcurrent of the battery pack is avoided. When the absolute value of the current torque voltage is less than or equal to the torque voltage limit value, the torque voltage does not need to be adjusted, so that the torque voltage output to the motor is consistent with the torque voltage corresponding to the expected rotation speed of the motor, and the vehicle runs at the expected speed. Compared with the prior art that the torque voltage is directly reduced to ensure that the battery pack is not excessively excessive, the technical scheme of the embodiment can realize fine control on the current of the battery pack and the torque of the motor, can control the motor to operate according to the expected rotating speed, and is beneficial to improving user experience. When the current torque voltage of the motor is larger than the torque voltage limit value, the current torque voltage cannot meet the requirement of reducing the current of the battery pack, and the battery pack can be caused to overflow, the torque voltage limit value is used as the torque voltage to be output to the motor, so that the torque of the motor meets the requirement of reducing the current of the battery pack, and the battery pack is prevented from overflowing. And the motor is controlled to run according to the torque voltage limit value, so that the motor runs at the maximum allowable torque voltage on the premise of ensuring that the motor does not overflow, and the current of the battery pack is larger under the condition of not overflow, namely the final current of the battery pack is stabilized at a current limit point, the battery pack is protected, the charge and discharge power of the battery pack is improved, and the running efficiency of a vehicle is ensured.
On the basis of the above technical solution, the vehicle control method will be further described below with reference to a specific adjustment method of the torque voltage limit value, but the application is not limited thereto.
Fig. 2 is a flowchart of yet another vehicle control method provided by the implementation of the present application, optionally, referring to fig. 2, the vehicle control method includes:
s210, judging whether the absolute value of the real-time current is larger than the absolute value of a preset current threshold value, if so, executing a step S220; if not, go to step S230.
Specifically, the directions of the charging current and the discharging current of the battery pack are different, so that the current values corresponding to the charging current and the discharging current are divided into positive and negative values, and similarly, the preset current threshold value is divided into positive and negative values. By comparing the absolute value of the real-time current with the absolute value of the preset current threshold, whether the battery pack is over-current or not can be conveniently judged.
It should be noted that, in some embodiments, the preset current threshold includes, for example, a preset charging current threshold and a preset discharging current threshold, and an absolute value of the preset charging current threshold may be the same as or different from an absolute value of the preset discharging current threshold. In this embodiment, when the absolute value of the real-time current is compared with the absolute value of the preset current threshold, the absolute value of the real-time charging current is compared with the absolute value of the preset charging current threshold, and the absolute value of the real-time discharging current is compared with the absolute value of the preset discharging current threshold. When the battery pack is in discharge, judging whether the absolute value of the real-time current is larger than the absolute value of a preset current threshold value, namely judging whether the absolute value of the real-time discharge current is larger than the absolute value of the preset discharge current threshold value; when the battery pack is charged, judging whether the absolute value of the real-time current is larger than the absolute value of the preset current threshold, namely judging whether the absolute value of the real-time charging current is larger than the absolute value of the preset charging current threshold.
S220, reducing the torque voltage limit value until the real-time current is equal to a preset current threshold value.
Specifically, when the absolute value of the real-time current is greater than the absolute value of the preset current threshold, indicating that the battery pack is over-current, the torque voltage limit of the motor needs to be reduced, so that the torque voltage output to the motor is smaller, the charging current or the discharging current of the battery pack is reduced, the real-time current of the battery pack is equal to the preset current threshold, and the battery pack is prevented from over-current. When the torque voltage limit value is reduced, the torque voltage limit value can be gradually reduced according to the stepping value until the regulated torque voltage limit value meets the requirement that the real-time current of the battery pack is equal to the preset current threshold value. In other embodiments, the torque voltage to be output to the motor may also be calculated according to a preset current threshold, and the torque voltage limit is reduced according to the required torque voltage, so that the adjusted torque voltage limit meets the requirement that the real-time current is equal to the preset current threshold.
Therefore, the real-time current of the battery pack is controlled to be equal to the preset current threshold, so that the current of the battery pack is stabilized at the current limiting point, namely, the current of the battery pack is maximized while the overcurrent is prevented, the battery pack is protected, and meanwhile, the battery pack is discharged or charged at the maximum power, so that the working efficiency of the battery pack is improved.
S230, judging whether the absolute value of the real-time current is smaller than the absolute value of a preset current threshold value, if so, executing step S240; if not, go to step S250.
S240, increasing the torque voltage limit value until the updated torque voltage limit value reaches a preset voltage threshold value.
Specifically, when the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, the battery pack is indicated to not overflow, at the moment, the output bandwidth of the torque voltage can be recovered, the torque voltage limit value is increased, the current of the battery pack is increased, and therefore the charging and discharging efficiency of the battery pack is improved. In one embodiment, the torque voltage limit may be increased to a preset voltage threshold. In other embodiments, during the process of increasing the torque voltage limit, if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, the increase of the torque voltage limit is stopped, and the battery pack is prevented from being over-flowed.
When the torque voltage limit value is increased, the torque voltage limit value can be increased according to the difference value between the preset voltage threshold value and the current torque voltage limit value, and the torque voltage limit value is directly increased to the preset voltage threshold value; the torque voltage limit may also be increased step by step according to the step value until the torque voltage limit reaches a preset voltage threshold.
S250, the torque voltage limit value is unchanged.
Specifically, when the absolute value of the real-time current is equal to the absolute value of the preset current threshold, the torque voltage limit value of the motor at the moment can not only meet the condition that the battery pack does not overflow, but also meet the condition that the battery pack is charged and discharged with the maximum power, and the torque voltage limit value does not need to be changed.
S260, judging whether the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, and if not, executing step S270; if yes, go to step S280.
And S270, controlling the motor to operate according to the current torque voltage so as to control the current of the battery pack.
And S280, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack.
On the basis of the above-described technical solutions, the vehicle control method will be further described below in connection with a specific method of reducing and increasing the torque voltage limit value, but this is not a limitation of the present application.
Fig. 3 is a flowchart of yet another vehicle control method provided by the implementation of the present application, optionally, referring to fig. 3, the vehicle control method includes:
s310, judging whether the absolute value of the real-time current is larger than the absolute value of a preset current threshold value, if so, executing a step S320; if not, go to step S330.
S320, gradually reducing the torque voltage limit value according to the reduction stepping value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold value.
Specifically, the torque voltage limit value is gradually reduced according to the step value, so that the speed of reducing the torque voltage limit value can be reduced, the problem that the speed of the vehicle is changed greatly due to the fact that the torque voltage output to the motor is changed greatly due to the fact that the torque voltage limit value is changed greatly is avoided, smooth driving is facilitated, and user experience is improved. For example, the real-time current may be measured once per torque voltage limit reduction, and the absolute value of the real-time current may be compared with the absolute value of the preset current threshold until the absolute value of the real-time current is equal to the absolute value of the preset current threshold.
S330, judging whether the absolute value of the real-time current is smaller than the absolute value of a preset current threshold value, if so, executing a step S340; if not, go to step S350.
And S340, gradually increasing the torque voltage limit value according to the increasing step value until the updated torque voltage limit value reaches a preset voltage threshold value.
Specifically, the torque voltage limit value is gradually increased according to the increasing step value, so that the speed of the torque voltage limit value reduction can be reduced, the problem that the speed of the vehicle is changed greatly due to the fact that the torque voltage output to the motor is changed greatly due to the fact that the torque voltage limit value is changed greatly is avoided, smooth driving is facilitated, and user experience is improved.
S350, the torque voltage limit value is unchanged.
S360, judging whether the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, and if not, executing step S370; if yes, go to step S380.
And S370, controlling the motor to operate according to the current torque voltage so as to control the current of the battery pack.
And S380, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack.
The specific process of reducing the torque voltage limit value is described below on the basis of the above-described embodiments, but the present application is not limited thereto.
Optionally, decreasing the step value includes a first step value and a second step value; wherein the second step value is smaller than the first step value. Therefore, according to different conditions, different stepping values can be selected to reduce the torque voltage limit value so as to meet different requirements. The first step value and the second step value are selected in the following description, but the present application is not limited thereto.
In one embodiment, optionally, if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, gradually decreasing the torque voltage limit according to the decreasing step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
If the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than the error threshold, the torque voltage limit value is gradually reduced according to the first step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold.
Specifically, when the absolute value of the real-time current is greater than the absolute value of the preset current threshold, it is indicated that the battery pack is over-current, and the torque voltage limit needs to be reduced. At this time, if the difference between the absolute value of the real-time current and the absolute value of the preset current threshold is greater than the error threshold, the current of the battery pack is more, and the torque voltage limit value is gradually reduced according to the larger first stepping value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, so that the speed of reducing the torque voltage limit value can be increased, the speed of changing the current is increased, the current can be pulled back as soon as possible, and damage to the battery pack caused by longer overcurrent time is avoided.
If the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold, the torque voltage limit value is gradually reduced according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold.
Specifically, when the absolute value of the real-time current is greater than the absolute value of the preset current threshold, it is indicated that the battery pack is over-current, and the torque voltage limit needs to be reduced. At this time, if the difference between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold, the current overcurrent of the battery pack is smaller, and the torque voltage limit value is gradually reduced according to the smaller second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, so that the speed of reducing the torque voltage limit value can be reduced, the current change is slower, smooth driving can be realized, and overshoot can be avoided.
When the difference between the absolute value of the real-time current and the absolute value of the preset current threshold is equal to the error threshold, the torque voltage limit value can be gradually reduced according to the first step value, and the torque voltage limit value can also be gradually reduced according to the second step value.
In another embodiment, optionally, if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, the torque voltage limit is gradually reduced according to the step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
step a1, if the absolute value of the real-time current is larger than the absolute value of the preset current threshold value and the difference value of the absolute value of the real-time current and the absolute value of the preset current threshold value is larger than the error threshold value, gradually reducing the torque voltage limit value according to the first step value until the difference value of the absolute value of the real-time current and the absolute value of the preset current threshold value is smaller than the error threshold value;
Step a2, gradually reducing the torque voltage limit value according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold value; wherein the second step value is smaller than the first step value.
Specifically, when the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than the error threshold, the battery pack is indicated to have larger overcurrent, the torque voltage limit value is required to be gradually reduced according to a larger first stepping value, when the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold after the torque voltage limit value is gradually reduced according to the larger first stepping value, the battery pack is smaller in overcurrent at the moment, the stepping value is changed into a second stepping value, and the torque voltage limit value is gradually reduced according to the second stepping value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold. When the overcurrent of the battery pack is large, the torque voltage limit value is gradually reduced according to the first large stepping value, the speed of reducing the torque voltage limit value is increased, the speed of current change is increased, and the current can be pulled back as soon as possible; after the battery pack is adjusted for a plurality of times (at least once), when the overcurrent of the battery pack is smaller, the stepping value is changed into a second stepping value, the torque voltage limit value is gradually reduced according to the second stepping value, the speed of reducing the torque voltage limit value can be reduced, the current change is slower, smooth driving can be realized, and the overshoot can be avoided.
On the basis of the above aspects, fig. 4 is a flowchart of another vehicle control method provided by the implementation of the present invention, optionally, referring to fig. 4, the vehicle control method includes:
s410, acquiring real-time current from a battery management system or a current sensor of the battery pack, and acquiring a preset current threshold from the battery management system of the battery pack.
Specifically, a current sensor is generally provided in the battery system, and the current sensor may acquire a real-time current of the battery pack and transmit the real-time current to a battery management system of the battery pack, and thus, the controller may acquire the real-time current from the battery management system or the current sensor. The battery management system can calculate the residual capacity of the battery pack, and can determine a corresponding preset current threshold according to the residual capacity, for example, when the residual capacity is large, the absolute value of the preset charging current threshold is small, so that the large absolute value of the charging current is avoided, and the battery pack is prevented from being overcharged; and when the residual capacity is smaller, the absolute value of the preset discharge current threshold value is smaller, so that the larger absolute value of the discharge current is avoided, and the overdischarge of the battery pack is prevented. Therefore, the preset current threshold value can be obtained from the battery management system, and the control of the current of the battery pack is facilitated.
S420, adjusting a torque voltage limit value of a motor of the vehicle according to the relation between the real-time current of a battery pack of the vehicle and a preset current threshold value; wherein the real-time current includes a charging current and a discharging current.
S430, determining the current torque voltage of the motor according to the state of an accelerator pedal or a brake pedal of the vehicle.
Specifically, the controller calculates the rotation speed required by the motor according to the current state of the accelerator pedal or the brake pedal, for example, the displacement of the accelerator pedal or the brake pedal, and calculates the q-axis voltage under the rotation coordinate system of the motor according to the rotation speed required by the motor, namely, the current torque voltage of the motor.
S440, judging whether the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, if not, executing step S450; if yes, go to step S460.
S450, controlling the motor to operate according to the current torque voltage so as to control the current of the battery pack.
S460, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack.
The embodiment also provides a vehicle control device, and fig. 5 is a schematic structural diagram of the vehicle control device provided by the embodiment of the invention. As shown in fig. 5, the vehicle control apparatus includes: an adjustment module 510 and a motor control module 520; the adjusting module 510 is configured to adjust a torque voltage limit of a motor of the vehicle according to a relationship between a real-time current of a battery pack of the vehicle and a preset current threshold; wherein the real-time current comprises a charging current and a discharging current; the motor control module 520 is configured to control the motor to operate according to the current torque voltage if the absolute value of the current torque voltage of the motor is less than or equal to the absolute value of the torque voltage limit, so as to control the current of the battery pack; and if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to operate according to the torque voltage limit value so as to control the current of the battery pack.
Specifically, the vehicle control device is the controller in any of the above embodiments, or the controller in any of the above embodiments includes the vehicle control device. Through setting up adjustment module 510, adjustment module 510 adjusts the torque voltage limit value of the motor of vehicle according to the relation of the real-time electric current of the group battery of vehicle and preset current threshold value for when the group battery overflows, the torque voltage limit value of motor is less, and the torque voltage of the control output to the motor of being convenient for is less, thereby reduces the electric current of group battery, avoids the group battery to overflow. When the battery pack does not overflow, the torque voltage limit value of the motor can be larger, so that the torque voltage output to the motor can be larger, the current of the battery pack is increased, and the power of the battery pack is increased on the premise of ensuring that the battery pack does not overflow. When the absolute value of the current torque voltage is less than or equal to the torque voltage limit value, the motor control module 520 controls the motor to operate according to the current torque voltage, that is, without adjusting the torque voltage, so that the torque voltage output to the motor is consistent with the torque voltage corresponding to the expected rotation speed of the motor, and the vehicle is driven according to the expected speed. Compared with the prior art that the torque voltage is directly reduced to ensure that the battery pack is not excessively excessive, the technical scheme of the embodiment can realize fine control on the current of the battery pack and the torque of the motor, can control the motor to operate according to the expected rotating speed, and is beneficial to improving user experience. The motor control module 520 outputs the torque voltage limit as a torque voltage to the motor when the current torque voltage of the motor is greater than the torque voltage limit, indicating that the current torque voltage cannot meet the current reduction requirement of the battery pack, and the battery pack is caused to overflow.
The vehicle control device provided by the embodiment of the invention can execute the vehicle control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
The embodiment also provides a vehicle power system, and fig. 6 is a schematic structural diagram of the vehicle power system according to the embodiment of the invention. As shown in fig. 6, the vehicle power system includes a battery pack 10, a motor 20, and a controller 30; the controller 30 includes the vehicle control apparatus provided in any of the above embodiments; the controller 30 is connected between the battery pack 10 of the vehicle and the motor 20 of the vehicle. During deceleration braking of the vehicle, energy generated by rotation of the motor 20 is converted into electric energy to charge the battery pack 10, so that the battery pack 10 can conveniently provide power during acceleration of the vehicle. During the acceleration operation of the vehicle, the battery pack 10 is discharged, the battery pack 10 supplies power to the motor 20 through the controller 30, and the controller 30 can control the voltage output to the motor 20 according to the state of the accelerator pedal, thereby controlling the rotation speed of the motor 20 according to the state of the accelerator pedal, so that the vehicle runs at the rotation speed desired by the driver. In this way, power is provided to the vehicle. The controller 30 in the vehicle power system provided in this embodiment includes the vehicle control device provided in any of the foregoing embodiments, so that the vehicle power system provided in this embodiment has the same advantages as the vehicle control device provided in any of the foregoing embodiments, and will not be described in detail herein.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.

Claims (10)

1. A vehicle control method characterized by comprising:
according to the relation between the real-time current of the battery pack of the vehicle and a preset current threshold value, regulating the torque voltage limit value of the motor of the vehicle; wherein the real-time current includes a charging current and a discharging current;
if the absolute value of the current torque voltage of the motor is smaller than or equal to the absolute value of the torque voltage limit value, controlling the motor to run according to the current torque voltage so as to control the current of the battery pack;
And if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to run according to the torque voltage limit value so as to control the current of the battery pack.
2. The method of claim 1, wherein adjusting the torque voltage limit of the motor of the vehicle based on the real-time current of the battery pack of the vehicle versus a preset current threshold comprises:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, the torque voltage limit value is reduced until the real-time current is equal to the preset current threshold;
and if the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, increasing the torque voltage limit value until the updated torque voltage limit value reaches the preset voltage threshold.
3. The method of claim 2, wherein reducing the torque voltage limit if the absolute value of the real-time current is greater than the absolute value of the preset current threshold until the real-time current is equal to the preset current threshold comprises:
and if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to the step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold.
4. A method according to claim 3, wherein the decreasing step value comprises a first step value and a second step value;
if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to a step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than an error threshold, gradually reducing the torque voltage limit value according to the first step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold;
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold, gradually reducing the torque voltage limit value according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold; wherein the second step value is less than the first step value.
5. A method according to claim 3, wherein the decreasing step value comprises a first step value and a second step value;
if the absolute value of the real-time current is greater than the absolute value of the preset current threshold, gradually reducing the torque voltage limit value according to a step-down value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold, including:
if the absolute value of the real-time current is larger than the absolute value of the preset current threshold, and the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is larger than an error threshold, gradually reducing the torque voltage limit value according to the first step value until the difference value between the absolute value of the real-time current and the absolute value of the preset current threshold is smaller than the error threshold;
gradually reducing the torque voltage limit value according to the second step value until the absolute value of the real-time current is equal to the absolute value of the preset current threshold value; wherein the second step value is less than the first step value.
6. The method of claim 2, wherein if the absolute value of the real-time current is less than the absolute value of the preset current threshold, increasing the torque voltage limit until the updated torque voltage limit reaches a preset voltage threshold comprises:
And if the absolute value of the real-time current is smaller than the absolute value of the preset current threshold, gradually increasing the torque voltage limit value according to the increasing step value until the updated torque voltage limit value reaches the preset voltage threshold.
7. The method of claim 1, further comprising, prior to adjusting the torque voltage limit of the motor of the vehicle based on a relationship of the real-time current of the battery pack of the vehicle to a preset current threshold:
the real-time current is obtained from a battery management system or a current sensor of the battery pack, and the preset current threshold is obtained from the battery management system of the battery pack.
8. The method of claim 1, further comprising, prior to controlling operation of the motor in accordance with the present torque voltage if the absolute value of the present torque voltage of the motor is less than or equal to the absolute value of the torque voltage limit:
the current torque voltage of the motor is determined according to a state of an accelerator pedal or a brake pedal of the vehicle.
9. A vehicle control apparatus for performing the vehicle control method according to any one of claims 1 to 8; the vehicle control device includes:
The adjusting module is used for adjusting the torque voltage limit value of the motor of the vehicle according to the relation between the real-time current of the battery pack of the vehicle and a preset current threshold value; wherein the real-time current includes a charging current and a discharging current;
the motor control module is used for controlling the motor to run according to the current torque voltage if the absolute value of the current torque voltage of the motor is smaller than or equal to the absolute value of the torque voltage limit value so as to control the current of the battery pack; and if the absolute value of the current torque voltage of the motor is larger than the absolute value of the torque voltage limit value, controlling the motor to run according to the torque voltage limit value so as to control the current of the battery pack.
10. A vehicle powertrain comprising a battery pack, a motor, and a controller; the controller includes the vehicle control apparatus of claim 9; the controller is connected between a battery pack of the vehicle and a motor of the vehicle.
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