CN117445697B - Motor torque control method and device for vehicle, vehicle and medium - Google Patents

Motor torque control method and device for vehicle, vehicle and medium Download PDF

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Publication number
CN117445697B
CN117445697B CN202311667855.5A CN202311667855A CN117445697B CN 117445697 B CN117445697 B CN 117445697B CN 202311667855 A CN202311667855 A CN 202311667855A CN 117445697 B CN117445697 B CN 117445697B
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motor
torque
vehicle
actual
predicted
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CN117445697A (en
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冯茂林
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Xiaomi Automobile Technology Co Ltd
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Xiaomi Automobile Technology 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
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W30/00—Purposes of road vehicle drive control systems not related to the control of a particular sub-unit, e.g. of systems using conjoint control of vehicle sub-units
    • B60W30/18—Propelling the vehicle
    • B60W30/18009—Propelling the vehicle related to particular drive situations
    • B60W30/18072—Coasting
    • 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
    • B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
    • B60W2710/00—Output or target parameters relating to a particular sub-units
    • B60W2710/08—Electric propulsion units
    • B60W2710/083—Torque
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Automation & Control Theory (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a motor torque control method, a motor torque control device, a motor and a motor medium of a vehicle, which relate to the technical field of vehicle power control and are used for acquiring actual motor recovery torque of a motor of the vehicle at the current moment, wherein the actual recovery torque is the torque actually generated by the motor in the process of driving the vehicle, the motor load predicted torque at the next moment is predicted, the motor load predicted torque is the torque for overcoming load resistance of the motor at the predicted next moment, a judgment value is obtained according to the actual motor recovery torque and the motor load predicted torque, the motor output control torque is controlled according to the judgment value, the locking phenomenon to be generated is timely responded through controlling the motor output control torque, the anti-lock effect is realized in advance, and the anti-lock accuracy is improved.

Description

Motor torque control method and device for vehicle, vehicle and medium
Technical Field
The disclosure relates to the technical field of vehicle power control, and in particular relates to a motor torque control method and device for a vehicle, the vehicle and a medium.
Background
The coasting energy recovery torque control system (Drag torque control, DTC) determines whether the wheels are locked according to the driving wheel speed of the vehicle and the reference vehicle speed of the vehicle in the process of vehicle coasting energy recovery, and can consider that the wheels are locked under the condition that the driving wheel speed is smaller than the reference vehicle speed. The locking phenomenon may cause safety accidents, for example, if the rear wheels of the vehicle are locked, the phenomena of vehicle sideslip, vehicle rollover and steering wheel failure to control the vehicle are very easy to occur. DTC systems are faced with the boost torque being activated in the event that the driving wheel speed is less than the vehicle reference speed. However, the DTC system in the related art increases torque only when the driving vehicle speed is less than the reference vehicle speed, and the DTC system may not achieve an anti-lock effect at this time when the vehicle is already locked.
Disclosure of Invention
In order to overcome the problems in the related art, the present disclosure provides a motor torque control method and apparatus for a vehicle, and a medium.
According to a first aspect of embodiments of the present disclosure, there is provided a motor torque control method of a vehicle, the method including: acquiring actual motor recovery torque of a motor of a vehicle at the current moment and predicting motor load prediction torque of the motor at the next moment of the current moment, wherein the actual motor recovery torque is torque actually generated by the motor in the process of driving the vehicle, and the motor load prediction torque is torque for overcoming load resistance of the motor at the next moment; obtaining a judgment value according to the actual motor recovery torque and the motor load predicted torque; and controlling the motor to output control torque according to the judgment value.
Optionally, the controlling the motor to output the control torque according to the determination value includes: and when the judging value does not meet a threshold condition, controlling the motor to output preset torque, wherein the preset torque is the corresponding torque of the vehicle under the condition of locking.
Optionally, the predicting the motor load predicted torque of the motor at the next time of the current time includes: predicting an initial motor load predicted torque of the motor at a moment next to the current moment; and obtaining a compensation parameter, and compensating the initial motor load predicted torque through the compensation parameter to obtain the motor load predicted torque.
Optionally, the acquiring the compensation parameter includes: acquiring the actual motor rotating speed of the motor at the current moment and acquiring the angular acceleration of the motor; predicting the predicted motor speed at the next moment of the current moment according to the actual motor speed and the angular acceleration; and obtaining the compensation parameter according to the actual motor rotating speed and the predicted motor rotating speed.
Optionally, the predicting the initial motor load predicted torque of the motor at a time next to the current time includes: acquiring the actual motor rotating speed of the motor at the current moment; and predicting the initial motor load predicted torque of the motor at the moment next to the current moment according to the actual motor rotating speed and the actual motor recovery torque.
Optionally, the controlling the motor to output the control torque according to the determination value includes: and when the judging value meets a threshold condition, controlling the motor to output a required torque, wherein the required torque is the torque regulated by an accelerator pedal of the vehicle.
Alternatively, the required torque is obtained by: acquiring the speed of the vehicle at the current moment and the opening value of the accelerator pedal; and obtaining the required torque according to the vehicle speed, the opening value and a first preset mapping relation, wherein the first preset mapping relation is a corresponding relation among the vehicle speed, the opening value and the required torque.
Optionally, the obtaining a determination value according to the actual motor recovery torque and the motor load predicted torque includes: and calculating the difference between the actual motor recovery torque and the motor load predicted torque to obtain a judgment value.
Optionally, when the determined value does not meet the threshold condition, controlling the motor to output a preset torque includes: and when the judging value is larger than the threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
Optionally, the threshold value is obtained by: acquiring a driving mode of the vehicle and acquiring the speed of the vehicle at the current moment; and obtaining the threshold value according to the driving mode, the vehicle speed and a second preset mapping relation, wherein the second preset mapping relation is a corresponding relation among the driving mode, the vehicle speed and the threshold value.
According to a second aspect of embodiments of the present disclosure, there is provided a motor torque control device of a vehicle, the device including: the system comprises an acquisition module, a load control module and a load control module, wherein the acquisition module is used for acquiring actual motor recovery torque of a motor of a vehicle at the current moment and predicting motor load prediction torque of the motor at the next moment of the current moment, wherein the actual motor recovery torque is torque actually generated by the motor in the process of driving the vehicle, and the motor load prediction torque is torque for overcoming load resistance of the motor at the predicted next moment; the judging module is used for obtaining a judging value according to the actual motor recovery torque and the motor load predicted torque; and the control module is used for controlling the motor to output control torque according to the judgment value.
According to a third aspect of embodiments of the present disclosure, there is provided a vehicle comprising: a processor; a memory for storing processor-executable instructions; wherein the processor is configured to implement the steps of the method provided by the first aspect when executing the instructions.
According to a fourth aspect of embodiments of the present disclosure, there is provided a computer readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the method provided by the first aspect of the present disclosure.
According to the motor torque control method, device, vehicle and medium of the vehicle, the actual motor recovery torque of the motor of the vehicle at the current moment is obtained, the actual recovery torque is the torque actually generated by the motor in the process of driving the vehicle, the motor load predicted torque at the next moment is predicted, the motor load predicted torque is the torque for overcoming the load resistance at the next moment, the judgment value is obtained according to the actual motor recovery torque and the motor load predicted torque, the motor output control torque is controlled according to the judgment value, in the method, the judgment value is obtained according to the actual motor recovery torque at the current moment and the motor load predicted torque at the next moment, the locking condition is pre-judged according to the judgment value, whether the locking phenomenon of the vehicle occurs at the next moment is pre-predicted, the motor output control torque is controlled to timely cope with the locking phenomenon to occur, and the anti-lock accuracy is improved.
It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the disclosure.
Drawings
The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the disclosure and together with the description, serve to explain the principles of the disclosure.
FIG. 1 is a flow chart diagram of a motor torque control method of a vehicle shown in an exemplary embodiment of the present disclosure;
FIG. 2 illustrates a schematic diagram of a motor torque control system of a vehicle provided by the present disclosure;
FIG. 3 illustrates a flow chart of step S110 of the motor torque control method of the vehicle illustrated in FIG. 1 of the present disclosure;
FIG. 4 illustrates a schematic diagram of a motor load torque estimation module of a motor torque control system of a vehicle provided by the present disclosure;
FIG. 5 is a block diagram illustrating a motor torque control device for a vehicle according to an exemplary embodiment;
FIG. 6 is a block diagram of a vehicle, according to an exemplary embodiment.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary examples are not representative of all implementations consistent with the present disclosure. Rather, they are merely examples of apparatus and methods consistent with some aspects of the present disclosure as detailed in the accompanying claims.
It should be noted that, all actions of acquiring signals, information or data in the present application are performed under the condition of conforming to the corresponding data protection rule policy of the country of the location and obtaining the authorization given by the owner of the corresponding device.
The coasting energy recovery torque control system (Drag torque control, DTC) is based on slip rate control, the control system estimates a reference vehicle speed according to the wheel speed and inertial sensor signals, obtains a target slip rate according to the estimated road adhesion coefficient and the vehicle speed, and superimposes the target slip rate on the reference vehicle speed to obtain a target drive shaft speed or a target motor speed. In the process of recovering the sliding energy of the vehicle, the DTC system judges whether the wheels are locked according to the driving wheel speed of the vehicle and the reference vehicle speed of the vehicle, and can consider that the wheels are locked under the condition that the driving wheel speed is smaller than the reference vehicle speed. The locking phenomenon may cause safety accidents, for example, if the rear wheels of the vehicle are locked, the vehicle is very easy to sideslip and even rollover. DTC systems are faced with the boost torque being activated in the event that the driving wheel speed is less than the vehicle reference speed. In order to improve the robustness of the DTC system and prevent false triggering of the DTC, the target driving shaft speed or the motor rotating speed can be larger than the reference vehicle speed by a certain deviation. Thus, when the wheel is locked, the DTC system does not activate the lifting torque immediately, and only when the locking amount exceeds a certain threshold, however, the DTC system in the related art can lift the torque only when the driving speed is smaller than the reference speed, and the vehicle is locked at this time, and the DTC system may not realize the anti-lock effect. In particular, the vehicle is capable of recovering the sliding energy (negative torque) by stepping on the accelerator pedal by a driver aiming at low-adhesion road surfaces such as ice surfaces and snow surfaces, and the recovery torque is larger than the adhesion force of the road surfaces because the adhesion coefficient of the road surfaces is lower, wheels are easy to lock, the stability of the vehicle is reduced, and the anti-lock effect is very unsatisfactory aiming at the low-adhesion road surfaces.
The present disclosure provides a motor torque control method of a vehicle, referring to fig. 1, which may be applied to a motor torque control device 200 of a vehicle shown in fig. 5, a vehicle 600 shown in fig. 6, and a computer-readable storage medium. The present embodiment is exemplified as being applied to a vehicle, wherein the vehicle may be a hybrid vehicle, a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other types of vehicles. As will be explained in detail below with respect to the flowchart shown in fig. 1, the motor torque control method of the vehicle may specifically include the steps of:
step S110, obtaining the actual motor recovery torque of a motor of a vehicle at the current moment and predicting the motor load predicted torque of the motor at the next moment of the current moment, wherein the actual motor recovery torque is the torque actually generated by the motor in the process of driving the vehicle, and the motor load predicted torque is the torque used by the motor for overcoming the load resistance at the predicted next moment.
And when the vehicle is in a braking or decelerating state, acquiring the actual motor recovery torque of the motor of the vehicle at the current moment. In a braking or decelerating state, the torque output from the motor is a negative torque, and thus, the actual motor recovery torque is a negative torque. In one embodiment, a sensor is mounted on the motor, a signal of the motor is collected by the sensor, and an actual motor recovery torque of the motor is obtained by the signal. The sensor may be a torque sensor, a rotation speed sensor, a load sensor, or the like. For example, the sensor may be a torque sensor that may be mounted on an output shaft of the motor, the torque sensor implementing the acquisition of actual motor recovery torque of the motor by the vehicle by measuring a torque signal of the output shaft. For another example, the sensor may be a rotation speed sensor, the wheel speed sensor is mounted on a motor shaft of the motor, a rotation speed signal of the electrode may be measured, and the vehicle calculates an actual motor recovery torque through the rotation speed signal.
Optionally, referring to fig. 2, the Motor Torque control system of the vehicle includes a driver requested Torque calculation module (Driver Request Torque) 110, a Motor load Torque estimation module (Motor Load Torque Estimation) 120, a Torque Threshold module (Torque Threshold) 130, a Torque arbitration module (Torque Arbitration) 140, and a Motor (Motor) 150. As one way, the actual motor speed collected at the present time is used to predict the predicted motor load predicted torque by the above-described module of the motor torque control system of the vehicle, and the motor 150 is controlled by the predicted motor load predicted torque.
And step 120, obtaining a judgment value according to the actual motor recovery torque and the motor load predicted torque.
In one embodiment, a difference between the actual motor recovery torque and the motor load predicted torque is calculated, and the difference is used as a determination value, thereby obtaining the determination value.
In another embodiment, a ratio between the actual motor recovery torque and the motor load predicted torque is calculated, and the ratio is taken as a determination value, thereby obtaining the determination value.
And step 130, controlling the motor to output control torque according to the judgment value.
Referring to fig. 2, a motor torque control system output of the vehicle controls rotation of a torque control motor 150. In one case, the control torque is a preset torque, for example, when the determination value does not meet the threshold condition, it is indicated that the vehicle may have a locking phenomenon at the next moment, so that the control motor outputs the preset torque, the preset torque is a corresponding torque of the vehicle under the locking condition, and the predicted torque is also a negative torque. The preset torque and the locking torque are equivalent, so that the preset torque and the locking torque can be almost offset each other, and the locking phenomenon of the wheels is prevented.
As one way, the determination value is a difference between the actual motor recovery torque and the motor load predicted torque. And when the judging value is larger than the threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
Alternatively, the determination value is a ratio between the actual motor recovery torque and the motor load predicted torque. And when the judging value is smaller than the threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
The actual motor recovery torque is negative torque, for example, the actual motor recovery torque is-1000N/m, the preset torque is-300N/m, and the motor of the vehicle can gradually rise to the preset torque according to a preset gradient from the actual motor recovery torque, and can also gradually rise to the preset torque according to a preset duration.
In another case, the control torque is a required torque, for example, the motor is controlled to output the required torque when the determination value satisfies the threshold condition, wherein the required torque is a torque adjusted by an accelerator pedal of the vehicle.
According to the motor torque control method of the vehicle, the actual motor recovery torque of the motor of the vehicle at the current moment is obtained, the actual recovery torque is the torque actually generated by the motor in the process of driving the vehicle, the motor load predicted torque at the next moment of the current moment is predicted, the motor load predicted torque is the predicted torque for overcoming the load resistance of the motor at the next moment, the judgment value is obtained according to the actual motor recovery torque and the motor load predicted torque, the motor output control torque is controlled according to the judgment value, in the method, the judgment value is obtained according to the actual motor recovery torque at the current moment and the motor load predicted torque at the next moment, the locking condition is pre-judged according to the judgment value, and whether the locking phenomenon of the vehicle occurs at the next moment is predicted, so that the anti-lock accuracy is improved through the response of the control torque.
In one case, when the judgment value does not meet the threshold condition, the motor is controlled to output preset torque, wherein the preset torque is the torque corresponding to the vehicle under the locking condition, in the embodiment, the judgment value is obtained according to the actual motor recovery torque at the current moment and the motor load prediction torque at the next moment, the judgment value is judged through the threshold condition, when the judgment value does not meet the threshold condition, the locking phenomenon of the vehicle possibly occurs at the next moment is predicted in advance, the motor is controlled to output the prediction torque and the locking phenomenon which is about to occur is timely dealt with, the anti-lock effect is achieved, and the anti-lock accuracy is improved.
In another case, the control torque is a required torque, for example, the motor is controlled to output the required torque when the determination value satisfies the threshold condition, wherein the required torque is a torque adjusted by an accelerator pedal of the vehicle.
As one way, the determination value is a difference between the actual motor recovery torque and the motor load predicted torque. And when the judging value is smaller than or equal to a threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
Alternatively, the determination value is a ratio between the actual motor recovery torque and the motor load predicted torque. And when the judging value is larger than or equal to a threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
Wherein the required torque is obtained by: the speed of the vehicle at the current moment is obtained, and the speed of the vehicle at the current moment is measured, for example, through a velocimeter arranged on the vehicle. And acquiring an opening value of the accelerator pedal, for example, acquiring the opening value of the accelerator pedal stepped on by a driver through a sensor installed on the accelerator pedal of the vehicle. And obtaining the required torque according to the vehicle speed, the opening value and a first preset mapping relation, wherein the first preset mapping relation is a corresponding relation among the vehicle speed, the opening value and the required torque. The first preset mapping relation can be in the form of a relation mapping table, and the required torque is obtained from the relation mapping table by looking up a table in the form of looking up a table according to the vehicle speed and the opening value.
For example, referring to fig. 2, the vehicle speed and opening value are input into a driver requested torque calculation module 110 in a motor torque control system of the vehicle, and the driver requested torque calculation module 110 outputs the requested torque using a first preset map.
Optionally, the threshold value is obtained by: the driving mode of the vehicle is obtained, for example, the vehicle has a plurality of driving modes such as a comfort mode, a movement mode and the like, the vehicle runs according to the driving mode set by a driver in the actual use process, and the obtained driving mode of the vehicle is the driving mode of the vehicle currently used. And acquiring the speed of the vehicle at the current moment, for example, measuring the speed of the vehicle at the current moment through a velocimeter arranged on the vehicle. And obtaining the threshold value according to the driving mode, the vehicle speed and a second preset mapping relation, wherein the second preset mapping relation is a corresponding relation among the driving mode, the vehicle speed and the threshold value. The second preset mapping relation can be in the form of a relation mapping table, and according to the driving mode and the vehicle speed, the threshold value is obtained by looking up the table in the relation mapping table in the form of looking up the table so as to adapt to different conditions, and the anti-lock accuracy can be further improved.
For example, referring to fig. 2, the driving mode and the vehicle speed are input into a torque threshold module 130 in a motor torque control system of the vehicle, and the torque threshold module 130 outputs the threshold value using a second preset mapping relationship.
It should be noted that, under different driving modes and/or vehicle speeds, the obtained threshold values are different so as to be suitable for the vehicle locking pre-judgment under different driving modes and/or vehicle speeds, thereby improving the accuracy of subsequent locking releasing.
In one embodiment, referring to fig. 3, the predicted motor load torque of the motor at the next time of the current time in step S110 may be as follows:
step S111, predicting initial motor load predicted torque of the motor at the moment next to the current moment.
For example, referring to FIG. 2, the actual motor speed and the actual motor recovery torque are input to a motor load torque estimation module 120 in a motor torque control system of the vehicle, and an initial motor load predicted torque is output by the motor load torque estimation module 120.
As one way, the actual motor rotation speed of the motor at the current moment is obtained; and predicting the initial motor load predicted torque of the motor at the next moment of the current moment according to the actual motor rotating speed and the actual motor recovery torque.
For example, the motor load torque estimation module 120 is designed in conjunction with the Long Beige observer, referring to fig. 4, the motor load torque estimation module 120 includes an initialization (Init) module 121, a Predicted (Predicted) module 122, and a Correction (Correction) module 123. The actual motor speed and the actual motor recovery torque are input to the initialization module 121, and it is understood that the initialization module 121 functions to assign the actual motor speed and the actual motor recovery torque to the motor load torque estimation module 120. The prediction module 122 predicts an initial motor load predicted torque for the motor at a time next to the current time based on the actual motor speed and the actual motor recovery torque. Alternatively, the prediction module 122 may predict according to the following formula:
Wherein, For the angular acceleration of the motor at the current moment, J is the moment of inertia, T M is the actual motor recovery torque, k is the damping coefficient, w is the predicted motor speed at the next moment at the current moment, T load is the initial motor load predicted torque, and w 0 is the actual motor speed of the motor at the current moment. And (3) combining the formula (1) and the formula (2) to obtain the initial motor load predicted torque T load.
And step S112, obtaining compensation parameters, and compensating the initial motor load predicted torque through the compensation parameters to obtain the motor load predicted torque.
As one way, the compensation parameter may be obtained by: acquiring the actual motor rotating speed of the motor at the current moment and acquiring the angular acceleration of the motor; predicting a predicted motor speed at a time next to the current time based on the actual motor speed and the angular acceleration, for example, calculating the predicted motor speed by the above-described formula (2); the compensation parameter is obtained from the actual motor speed and the predicted motor speed, for example, a difference between the actual motor speed and the predicted motor speed is calculated, and the difference is taken as the compensation parameter, thereby obtaining the compensation parameter, and for example, a ratio between the actual motor speed and the predicted motor speed is calculated, and the ratio is taken as the compensation parameter, thereby obtaining the compensation parameter.
For example, referring to FIG. 4, the prediction module 122 predicts a predicted motor speed at a time next to the current time by the actual motor speed and the angular acceleration, and sends the predicted motor speed to the deskew module 123. The deviation correcting module 123 obtains compensation parameters according to the actual motor rotation speed and the predicted motor rotation speed. The deviation correcting module 123 compensates the initial motor load predicted torque according to the compensation parameter to obtain the motor load predicted torque.
To implement the above method embodiments, the present disclosure provides a motor torque control device for a vehicle, referring to fig. 5, a motor torque control device 200 for a vehicle includes:
an obtaining module 210, configured to obtain an actual motor recovery torque of a motor of a vehicle at a current time and predict a motor load predicted torque of the motor at a next time of the current time, where the actual motor recovery torque is a torque actually generated by the motor in a process of driving the vehicle, and the motor load predicted torque is a predicted torque for the motor to overcome load resistance at the next time;
a determining module 220, configured to obtain a determination value according to the actual motor recovery torque and the motor load predicted torque;
And the control module 230 is configured to control the motor to output a control torque according to the determination value.
Optionally, the control module 230 includes: a first control module;
and the first control module is used for controlling the motor to output preset torque when the judging value does not meet a threshold condition, wherein the preset torque is the corresponding torque of the vehicle under the condition of locking.
Optionally, the obtaining module 210 includes:
the predicting module is used for predicting the initial motor load predicted torque of the motor at the moment next to the current moment;
And the compensation module is used for acquiring compensation parameters, compensating the initial motor load predicted torque through the compensation parameters and obtaining the motor load predicted torque.
Optionally, the compensation module includes:
the first rotation speed acquisition module is used for acquiring the actual motor rotation speed of the motor at the current moment and acquiring the angular acceleration of the motor;
The second rotating speed acquisition module is used for predicting the predicted rotating speed of the motor at the next moment of the current moment according to the actual rotating speed of the motor and the angular acceleration;
And the compensation parameter acquisition module is used for acquiring the compensation parameter according to the actual motor rotating speed and the predicted motor rotating speed.
Optionally, the compensation module includes:
the third rotating speed acquisition module is used for acquiring the actual rotating speed of the motor at the current moment;
and the torque prediction module is used for predicting the motor load predicted torque of the motor at the moment next to the current moment according to the actual motor rotating speed and the actual motor recovery torque.
Optionally, the control module 230 includes: a second control module;
And the second control module is used for controlling the motor to output a required torque when the judging value meets the threshold condition, wherein the required torque is the torque regulated by an accelerator pedal of the vehicle.
Alternatively, the required torque is obtained by:
Acquiring the speed of the vehicle at the current moment and the opening value of the accelerator pedal;
And obtaining the required torque according to the vehicle speed, the opening value and a first preset mapping relation, wherein the first preset mapping relation is a corresponding relation among the vehicle speed, the opening value and the required torque.
Optionally, the motor torque control device 200 of the vehicle further includes:
And the calculation module is used for calculating the difference between the actual motor recovery torque and the motor load predicted torque to obtain a judgment value.
Optionally, the determining module 220 includes:
And the judging sub-module is used for controlling the motor to output the preset torque when the judging value is larger than the threshold value and the judging value is determined to not meet the threshold condition.
Optionally, the threshold value is obtained by:
acquiring a driving mode of the vehicle and acquiring the speed of the vehicle at the current moment;
And obtaining the threshold value according to the driving mode, the vehicle speed and a second preset mapping relation, wherein the second preset mapping relation is a corresponding relation among the driving mode, the vehicle speed and the threshold value.
The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.
The present disclosure also provides a computer-readable storage medium having stored thereon computer program instructions which, when executed by a processor, implement the steps of the motor torque control method of the vehicle provided by the present disclosure.
FIG. 6 is a block diagram of a vehicle, according to an exemplary embodiment. For example, vehicle 600 may be a hybrid vehicle, but may also be a non-hybrid vehicle, an electric vehicle, a fuel cell vehicle, or other type of vehicle. The vehicle 600 may be an autonomous vehicle, a semi-autonomous vehicle, or a non-autonomous vehicle.
Referring to fig. 6, a vehicle 600 may include various subsystems, such as an infotainment system 610, a perception system 620, a decision control system 630, a drive system 640, and a computing platform 650. Wherein the vehicle 600 may also include more or fewer subsystems, and each subsystem may include multiple components. In addition, interconnections between each subsystem and between each component of the vehicle 600 may be achieved by wired or wireless means.
In some embodiments, the infotainment system 610 may include a communication system, an entertainment system, a navigation system, and the like.
The perception system 620 may include several sensors for sensing information of the environment surrounding the vehicle 600. For example, the sensing system 620 may include a global positioning system (which may be a GPS system, a beidou system, or other positioning system), an inertial measurement unit (inertial measurement unit, IMU), a lidar, millimeter wave radar, an ultrasonic radar, and a camera device.
Decision control system 630 may include a computing system, a vehicle controller, a steering system, a throttle, and a braking system.
The drive system 640 may include components that provide powered movement of the vehicle 600. In one embodiment, the drive system 640 may include an engine, an energy source, a transmission, and wheels. The engine may be one or a combination of an internal combustion engine, an electric motor, an air compression engine. The engine is capable of converting energy provided by the energy source into mechanical energy.
Some or all of the functions of the vehicle 600 are controlled by the computing platform 650. The computing platform 650 may include at least one processor 651 and memory 652, the processor 651 may execute instructions 653 stored in the memory 652.
The processor 651 may be any conventional processor, such as a commercially available CPU. The processor may also include, for example, an image processor (Graphic Process Unit, GPU), a field programmable gate array (Field Programmable GATE ARRAY, FPGA), a System On Chip (SOC), an Application SPECIFIC INTEGRATED Circuit (ASIC), or a combination thereof.
The memory 652 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.
In addition to instructions 653, memory 652 may store data such as road maps, route information, vehicle location, direction, speed, and the like. The data stored by memory 652 may be used by computing platform 650.
In an embodiment of the present disclosure, the processor 651 may execute instructions 653 to perform all or part of the steps of the motor torque control method of the vehicle described above.
In another exemplary embodiment, a computer program product is also provided, which comprises a computer program executable by a programmable apparatus, the computer program having code portions for performing the above-mentioned motor torque control method of a vehicle when being executed by the programmable apparatus.
In summary, the method, the device, the vehicle and the medium for controlling the motor torque of the vehicle provided by the present disclosure acquire an actual motor recovery torque of the motor of the vehicle at a current moment, the actual recovery torque is a torque actually generated by the motor in a process of driving the vehicle, and a predicted motor load predicted torque at a next moment of the current moment is a predicted torque for overcoming load resistance of the motor at the next moment, and then a determination value is obtained according to the actual motor recovery torque and the predicted motor load torque, and the motor output control torque is controlled according to the determination value.
Other embodiments of the disclosure will be apparent to those skilled in the art from consideration of the specification and practice of the disclosure. This application is intended to cover any adaptations, uses, or adaptations of the disclosure following, in general, the principles of the disclosure and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.

Claims (11)

1. A motor torque control method of a vehicle, characterized by comprising:
acquiring actual motor recovery torque of a motor of a vehicle at the current moment and predicting motor load predicted torque of the motor at the next moment of the current moment when the vehicle is in a braking or decelerating state, wherein the actual motor recovery torque is torque actually generated by the motor in the process of driving the vehicle, and the motor load predicted torque is torque for overcoming load resistance by the motor at the predicted next moment;
obtaining a judgment value according to the actual motor recovery torque and the motor load predicted torque;
When the judging value does not meet a threshold condition, controlling the motor to output preset torque, wherein the preset torque is corresponding to the vehicle under the condition of locking;
And when the judging value meets a threshold condition, controlling the motor to output a required torque, wherein the required torque is the torque regulated by an accelerator pedal of the vehicle.
2. The method of claim 1, wherein predicting the motor load predicted torque for the motor at a time next to a current time comprises:
predicting an initial motor load predicted torque of the motor at a moment next to the current moment;
And obtaining a compensation parameter, and compensating the initial motor load predicted torque through the compensation parameter to obtain the motor load predicted torque.
3. The method of claim 2, wherein the obtaining compensation parameters comprises:
acquiring the actual motor rotating speed of the motor at the current moment and acquiring the angular acceleration of the motor;
Predicting the predicted motor speed at the next moment of the current moment according to the actual motor speed and the angular acceleration;
and obtaining the compensation parameter according to the actual motor rotating speed and the predicted motor rotating speed.
4. The method of claim 2, wherein predicting an initial motor load predicted torque for the motor at a time next to a current time comprises:
acquiring the actual motor rotating speed of the motor at the current moment;
And predicting the initial motor load predicted torque of the motor at the moment next to the current moment according to the actual motor rotating speed and the actual motor recovery torque.
5. The method according to claim 1, wherein the required torque is obtained by:
Acquiring the speed of the vehicle at the current moment and the opening value of the accelerator pedal;
And obtaining the required torque according to the vehicle speed, the opening value and a first preset mapping relation, wherein the first preset mapping relation is a corresponding relation among the vehicle speed, the opening value and the required torque.
6. The method according to any one of claims 1 to 5, wherein the obtaining a determination value based on the actual motor recovery torque and the motor load predicted torque includes:
And calculating the difference between the actual motor recovery torque and the motor load predicted torque to obtain a judgment value.
7. The method according to any one of claims 1 to 4, wherein controlling the motor to output a preset torque when the determination value does not satisfy a threshold condition includes:
and when the judging value is larger than the threshold value, and the judging value is determined to not meet the threshold condition, controlling the motor to output the preset torque.
8. The method of claim 7, wherein the threshold value is obtained by:
acquiring a driving mode of the vehicle and acquiring the speed of the vehicle at the current moment;
And obtaining the threshold value according to the driving mode, the vehicle speed and a second preset mapping relation, wherein the second preset mapping relation is a corresponding relation among the driving mode, the vehicle speed and the threshold value.
9. A motor torque control device of a vehicle, characterized by comprising:
The system comprises an acquisition module, a load prediction module and a load control module, wherein the acquisition module is used for acquiring the actual motor recovery torque of a motor of a vehicle at the current moment and predicting the motor load prediction torque of the motor at the next moment of the current moment when the vehicle is in a braking or decelerating state, wherein the actual motor recovery torque is the torque actually generated by the motor in the process of driving the vehicle, and the motor load prediction torque is the predicted torque for overcoming the load resistance of the motor at the next moment;
the judging module is used for obtaining a judging value according to the actual motor recovery torque and the motor load predicted torque;
The control module is used for controlling the motor to output preset torque when the judging value does not meet a threshold condition, wherein the preset torque is corresponding to the vehicle under the condition of locking; and when the judging value meets a threshold condition, controlling the motor to output a required torque, wherein the required torque is the torque regulated by an accelerator pedal of the vehicle.
10. A vehicle, characterized by comprising:
A processor;
A memory for storing processor-executable instructions;
Wherein the processor is configured to implement the steps of the method of any one of claims 1 to 8 when executing the instructions.
11. A computer readable storage medium having stored thereon computer program instructions, which when executed by a processor, implement the steps of the method of any of claims 1 to 8.
CN202311667855.5A 2023-12-06 2023-12-06 Motor torque control method and device for vehicle, vehicle and medium Active CN117445697B (en)

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