KR102167612B1 - Method for controlling torque of electric drive device - Google Patents

Abstract

A method for controlling a torque command of an electric drive device is disclosed. The method for controlling a torque command of an electric drive device of the present invention includes: a step that a control unit determines whether the driving state of a vehicle satisfies a condition for generating a forward torque command or a condition for generating a reverse torque command; a step that the control unit generates at least one constant torque command limiting initial constant torque command at a time point when the torque command limit condition is satisfied based on whether at least one of a vehicle speed, a battery voltage, a motor temperature, an inverter temperature, and a battery temperature in an eco mode satisfies each preset torque command limit condition when the driving state satisfies the constant torque command generation condition; and a step that the control unit selects one of the constant torque command generated based on at least one of the vehicle speed, the battery voltage, the motor temperature, the inverter temperature, and the battery temperature as a target constant torque command.

Description

Torque command control method of electric drive system{METHOD FOR CONTROLLING TORQUE OF ELECTRIC DRIVE DEVICE}

The present invention relates to a method for controlling a torque command of an electric drive device, and more particularly, a torque command control of an electric drive device that is input to an inverter by limiting the torque command according to at least one of a battery state, a regenerative braking mode, and an eco mode. It's about how.

Recently, electric drive devices are being developed, and various types of electric drive devices such as micro electric vehicles are being developed.

In the case of a miniature electric drive, the inverter reads the voltage from the throttle sensor in consideration of the manufacturing cost, and the inverter uses it to generate driving torque, and when the brake is activated, the voltage input from the throttle sensor is ignored and the detected value of the brake sensor is First of all, it does not generate drive torque.

However, conventionally, a battery used in an electric drive device deteriorates when the temperature is low, and a large voltage drop may occur when a large current flows. At this time, if a voltage drop occurs when the battery voltage falls below the operating range of the battery, the inverter may stop operating, and as a result, a dangerous situation in which the electric drive device is turned off may occur.

In addition, even if the battery temperature is within the normal range, the voltage of the battery is also low when the battery has a low state of charge (SOC). In that situation, a voltage drop occurs when a large amount of current is consumed. At this time, it is also necessary to control the torque command for the battery voltage. In addition, it is necessary to limit the maximum RPM value even in the eco mode, and a plan to control the reverse torque command is required even in the regenerative mode.

The background technology of the present invention is disclosed in Korean Patent Publication No. 10-1517693 (2015.04.28) in'Torque Control Method Using Battery Voltage Prediction of Electric Vehicles'.

The present invention was invented to improve the above-described problem, and an object according to an aspect of the present invention is to limit the torque command corresponding to the position of the throttle valve according to at least one of a battery state, a regenerative braking mode, and an eco mode, To provide a method for controlling a torque command of an electric drive system by inputting to, to prevent dangerous situations such as start-off due to a sudden drop in battery voltage and to ensure driving safety.

A method for controlling a torque command of an electric drive device according to an aspect of the present invention includes: determining, by a controller, whether a driving state of a vehicle satisfies a condition for generating a forward torque command or a condition for generating a reverse torque command; When the driving state satisfies the constant torque command generation condition, the control unit determines whether at least one of vehicle speed, battery voltage, motor temperature, inverter temperature, and battery temperature in the eco mode satisfies the torque command limit condition preset for each. Generating at least one constant torque command limiting an initial constant torque command at a time point when the torque command limit condition is satisfied; And selecting any one of the constant torque command generated based on at least one of the vehicle speed, the battery voltage, the motor temperature, the inverter temperature, and the battery temperature as a target constant torque command. To do.

In the step of generating the constant torque command of the present invention, the controller generates the vehicle speed-based steady torque command based on the position of the throttle valve when the vehicle speed is greater than or equal to a speed limit value preset in the eco mode. .

In the step of generating the constant torque command of the present invention, the controller generates the battery voltage-based constant torque command based on the position of the throttle valve when the voltage of the battery is less than a preset minimum battery usable voltage. To do.

In the step of generating the constant torque command of the present invention, the control unit generates the constant torque command based on the motor temperature based on a preset maximum motor temperature that can be driven when the temperature of the motor is higher than a preset motor warning temperature. It is characterized.

The motor temperature-based constant torque command of the present invention is characterized in that it corresponds to a height of the motor temperature with respect to the maximum driveable motor temperature.

In the step of generating the constant torque command of the present invention, the control unit generates the constant torque command based on the inverter temperature based on a preset maximum drive temperature when the inverter temperature is higher than a preset inverter warning temperature. To do.

The inverter temperature-based constant torque command of the present invention is characterized in that corresponding to a height of the inverter temperature with respect to the maximum inverter temperature.

In the step of generating the constant torque command of the present invention, the controller generates a constant torque command based on the battery temperature based on a preset maximum battery temperature that can be driven when the battery temperature is higher than a preset battery warning temperature. To do.

The battery temperature-based constant torque command of the present invention is characterized in that it corresponds to a height of the battery temperature with respect to the maximum battery temperature.

The target steady torque command of the present invention is characterized in that the relatively smallest of the steady torque command.

The present invention is characterized in that the control unit further comprises the step of PI controlling the target constant torque command and inputting it to the inverter.

In the present invention, when the driving state of the vehicle satisfies the reverse torque command generation condition, the control unit generates a target reverse torque command limiting the initial reverse torque command at a time when the reverse torque command generation condition is satisfied, based on the vehicle speed. It characterized in that it further comprises the step of.

In the step of determining whether the driving state of the present invention satisfies the condition for generating the reverse torque command, the control unit includes the control unit when the vehicle speed is higher than a preset set speed and the brake switch is in a turn-on state in a state in which the gear stage is a gear stage in the forward direction. It is characterized in that it is determined that the driving state satisfies the condition for generating the reverse torque command.

In the step of generating the target reverse torque command based on a vehicle speed, the controller generates the target reverse torque command in proportion to a difference between the vehicle speed and a preset set speed.

In the step of generating the target reverse torque command based on a vehicle speed, the controller detects the target reverse torque command from a lookup table in which the target reverse torque command is set for each vehicle speed.

A method for controlling a torque command of an electric drive device according to another aspect of the present invention includes: determining, by a controller, whether a driving state of the vehicle satisfies a condition for generating a reverse torque command; And when the driving state satisfies the condition for generating the reverse torque command as a result of the determination, the controller generates a target reverse torque command limiting the initial reverse torque command at a time when the condition for generating the reverse torque command is satisfied, based on the vehicle speed. It characterized in that it comprises the step of.

In the step of determining whether the driving state of the present invention satisfies the condition for generating the reverse torque command, the control unit includes the control unit when the vehicle speed is higher than a preset set speed and the brake switch is in a turn-on state in a state in which the gear stage is a gear stage in the forward direction. It is characterized in that it is determined that the driving state satisfies the condition for generating the reverse torque command.

In the step of generating the target reverse torque command based on a vehicle speed, the controller generates the target reverse torque command in proportion to a difference between the vehicle speed and a preset set speed.

In the step of generating the target reverse torque command based on a vehicle speed, the controller detects the target reverse torque command from a lookup table in which the target reverse torque command is set for each vehicle speed.

In the method for controlling a torque command of an electric drive device according to an aspect of the present invention, the torque command corresponding to the position of the throttle valve is limited according to at least one of a battery state, a regenerative braking mode, and an eco mode, and is input to the inverter. Dangerous situations such as start-off due to descent can be prevented in advance and driving safety can be secured.

1 is a block diagram of a torque command control apparatus for an electric drive device according to an embodiment of the present invention.
2 is a view showing a change in a torque command according to an embodiment of the present invention.
3 is a diagram showing an example of inputting a forward/reverse torque command using a voltage according to an embodiment of the present invention.
4 is a diagram showing an example of inputting a forward/reverse torque command using communication according to an embodiment of the present invention.
5 is a flowchart of a method for controlling a torque command of an electric drive device according to an embodiment of the present invention.

Hereinafter, a method for controlling a torque command of an electric drive device according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In this process, thicknesses of lines or sizes of components shown in the drawings may be exaggerated for clarity and convenience of description. In addition, terms to be described later are terms defined in consideration of functions in the present invention, which may vary according to the intention or custom of users or operators. Therefore, definitions of these terms should be made based on the contents throughout the present specification.

The implementation described herein may be implemented in, for example, a method or process, an apparatus, a software program, a data stream or a signal. Although discussed only in the context of a single form of implementation (eg, only as a method), the implementation of the discussed features may also be implemented in other forms (eg, an apparatus or program). The device may be implemented with appropriate hardware, software and firmware. The method may be implemented in an apparatus such as a processor, which generally refers to a processing device including, for example, a computer, microprocessor, integrated circuit or programmable logic device, or the like. Processors also include communication devices such as computers, cell phones, personal digital assistants ("PDAs") and other devices that facilitate communication of information between end-users.

1 is a block diagram of a torque command control device of an electric drive device according to an embodiment of the present invention, FIG. 2 is a view showing a change in a torque command according to an embodiment of the present invention, and FIG. 3 is the present invention. A diagram showing an example of inputting a forward/reverse torque command using a voltage according to an embodiment of the present invention, and FIG. 4 is a diagram showing an example of inputting a forward/reverse torque command using communication according to an embodiment of the present invention.

Referring to FIG. 1, the torque command control device of the electric drive device according to an embodiment of the present invention includes a battery information detection unit 10, a throttle valve sensor 20, a brake sensor 30, a vehicle speed detection unit 40, and a gear. An information detection unit 50, a motor temperature detection unit 60, an inverter temperature detection unit 70, a control unit 80, and an inverter 90 are included.

The battery information detection unit 10 detects a state of charge (SOC) of a battery and a battery temperature, for example, a cell temperature of a battery from a battery management system (BMS).

The throttle valve sensor 20 detects the position of the throttle valve.

The brake sensor 30 detects the switch state of the brake pedal. The switch of the brake pedal is turned on when pressurized and is turned off when not pressurized.

The vehicle speed detection unit 40 is mounted on a vehicle wheel to detect a vehicle speed. In addition, the vehicle speed detection unit 40 may estimate a vehicle speed by receiving a motor RPM (Revolution Per Minute) generated by the resolver of the motor from the inverter 90.

The gear information detection unit 50 detects the position of a gear stage. That is, the gear information detection unit 50 detects whether the gear stage is a gear stage in a forward direction, a gear stage in a reverse direction, a neutral gear stage, or a parking gear stage.

The motor temperature detection unit 60 detects the motor temperature.

The inverter temperature detection unit 70 detects the inverter temperature.

The inverter 90 drives the motor according to the target forward torque command or the target reverse torque command input from the control unit 80. In this case, the target forward torque command or the target reverse torque command is an initial forward torque command detected based on the position of the throttle valve sensed by the throttle valve sensor 20 or a torque command limiting the initial reverse torque command.

Hereinafter, for convenience of explanation, the forward torque command input to the inverter 90 from the control unit 80 is referred to as a target forward torque command, and the reverse torque command is referred to as a target reverse torque command.

The control unit 80 determines whether the driving state of the vehicle satisfies a condition for generating a forward torque command or a condition for generating a reverse torque command. At this time, when the driving state satisfies the condition for generating the constant torque command, the controller 80 determines whether the driving mode of the vehicle is an eco mode.

When the driving mode of the vehicle is the eco mode, the controller 80 commands the torque according to whether at least one of the vehicle speed, the battery voltage, the motor temperature, the inverter temperature, and the battery temperature in the eco mode satisfies the torque command limit condition preset for each. At least one constant torque command for limiting the initial constant torque command at a time when the limiting condition is satisfied is generated.

Subsequently, the controller 80 selects any one of the constant torque command generated based on at least one of vehicle speed, battery voltage, motor temperature, inverter temperature, and battery temperature as the target constant torque command, and then selects the target constant torque command PI ( Proportional-Integral) is controlled and input to the inverter 90.

On the other hand, if the driving state of the vehicle satisfies the condition for generating the reverse torque command, the controller 80 generates a target reverse torque command limiting the initial reverse torque command at the time when the condition for generating the reverse torque command is satisfied, based on the vehicle speed. After that, the target reverse torque command is PI controlled and input to the inverter 90.

That is, as shown in Figure 2, the control unit 80 is the vehicle speed, battery voltage, motor temperature, inverter temperature, and battery temperature in which the initial forward torque command or the initial reverse torque command generated based on the position of the throttle valve. By limiting according to at least one, a target forward torque command or a target reverse torque command, which is relatively smaller than the initial forward torque command or the initial reverse torque command, is generated, and PI control is performed.

Typically, when the brake sensor 30 detects that the switch of the brake is turned on, a reverse torque command is generated. Accordingly, the inverter 90 may receive a target forward torque command from an intermediate value to an upper level and a target reverse torque command to a lower level.

Here, the controller 80 may input the target forward torque command and the target reverse torque command as voltages to the inverter 90. 3, the control unit 80 inputs the maximum voltage (5V) when the target forward torque command is the maximum value, and inputs the intermediate voltage (2.5V) when the target torque command is 0, and the target reverse torque command is the maximum. If it is a value, input it as the minimum voltage (0V). The control unit 80 inputs a voltage between 5V and 0V in proportion to the target forward torque command or the target reverse torque command between them.

In addition, the controller 80 may input the target forward torque command and the target reverse torque command to the inverter 90 through communication. Referring to FIG. 4, assuming that the torque command expression value is 8 bits, the controller 80 inputs 255 if the target positive torque command is the maximum value, and 128 inputs if the target torque command is 0, and the reverse torque command is For the maximum value, enter 0. The control unit 80 inputs a target forward torque command or a target reverse torque command between them as a value between 255 and 0 in proportion to the size.

For reference, in this embodiment, inputting the target forward torque command or the target reverse torque command using communication will be described as an example.

First, the control unit 80 determines whether the driving state of the vehicle satisfies a condition for generating a forward torque command or a condition for generating a reverse torque command. In this case, the control unit 80 determines that the driving state satisfies the condition for generating the reverse torque command when the brake switch is turned on and the vehicle speed is greater than or equal to a preset set speed in a state in which the gear stage is a gear stage in the forward direction.

Typically, When the vehicle is traveling in reverse, it is not desirable to use the regenerative brake.In addition, when the vehicle speed is too low, there is little regeneration amount, and low-speed inertia driving is not performed. In case of abnormality, reverse torque (regeneration) occurs. In this embodiment, the setting speed is set to 5 km/h as an example.

When the condition for generating the reverse torque command is satisfied, the controller 80 generates a target reverse torque command in proportion to the difference between the vehicle speed and the set speed. That is, the control unit 80 generates a target reverse torque command using the target reverse torque command = 128-{(vehicle speed-5)×a}. Where a is a proportional constant. As described above, when 128 is an intermediate value of 8 bits and a value smaller than 128 is input, the inverter 90 is used in the regenerative braking area.

In addition, the controller 80 may detect the target reverse torque command from a lookup table in which the target reverse torque command is set for each vehicle speed.

On the other hand, if the constant torque command generation condition, for example, when the gear stage is the gear stage in the forward direction, the brake switch is turned off, and the vehicle speed satisfies the preset set speed or more, the controller 80 sets the driving mode of the vehicle. It is determined whether it is an eco mode, and if it is an eco mode as a result of the determination, it is determined whether the vehicle speed is higher than the speed limit value preset in the eco mode. As a result of the determination, if the vehicle speed is greater than or equal to the speed limit value set in the eco mode, a constant torque command based on the vehicle speed is generated based on the position of the throttle valve at the time when the vehicle speed becomes greater than or equal to the speed limit value.

In addition, the controller 80 determines whether the battery voltage is less than or equal to a preset minimum battery usable voltage, and if the voltage of the battery is less than or equal to the lowest battery usable voltage, the throttle at the point when the battery voltage becomes less than the lowest battery usable voltage. A constant torque command based on the battery voltage is generated based on the position of the valve.

In addition, the controller 80 determines whether the temperature of the motor is higher than or equal to a preset motor warning temperature, and if the motor temperature is higher than the motor warning temperature as a result of the determination, the controller 80 issues a motor temperature-based constant torque command based on the preset maximum motor temperature. Generate. In this case, the constant torque command based on the motor temperature is a size corresponding to the height of the motor temperature with respect to the maximum driveable motor temperature.

For example, the control unit 80 generates a constant torque command based on the motor temperature at 128+{128×(current motor temperature/maximum driveable motor temperature×100)}.

Here, the maximum driveable motor temperature is a value that is set in advance according to the characteristics of the motor, and the motor warning temperature is a value that is relatively lower than the maximum driveable motor temperature and may be a value of about 80 to 90% of the maximum driveable motor temperature. have.

In addition, the controller 80 determines whether the inverter temperature is higher than a preset inverter warning temperature, and if the inverter temperature is higher than the inverter warning temperature as a result of the determination, the controller 80 generates a constant torque command based on the inverter temperature based on the preset maximum drive temperature. do. In this case, the constant torque command based on the inverter temperature is a size corresponding to the height of the inverter temperature with respect to the maximum inverter temperature that can be driven.

For example, the controller 80 generates a constant torque command based on the inverter temperature at 128+(128×(current inverter temperature/maximum driveable inverter temperature×100)).

Here, the maximum driveable inverter temperature is a value set in advance according to the characteristics of the corresponding inverter 90, and the inverter warning temperature is a value that is relatively lower than the maximum driveable temperature and is approximately 80 to 90% of the maximum drive temperature. May be the value of

In addition, the controller 80 determines whether the battery temperature is higher than or equal to a preset battery warning temperature, and if the battery temperature is higher than or equal to the battery warning temperature as a result of the determination, the control unit 80 generates a constant torque command based on the battery temperature based on the preset maximum battery temperature. do. In this case, the constant torque command based on the battery temperature is a size corresponding to the height of the battery temperature with respect to the maximum battery temperature that can be driven.

For example, the controller 80 generates a constant torque command based on the battery temperature at 128+(128×(current battery temperature/maximum driveable battery temperature×100)).

Here, the maximum battery temperature that can be driven is a value that is preset according to the characteristics of the battery, and the battery warning temperature is a value that is relatively lower than the maximum battery temperature that can be driven, and may be about 80 to 90% of the maximum battery temperature that can be driven. have.

Subsequently, the control unit 80 includes a constant torque command based on the vehicle speed detected as described above, a constant torque command based on the battery voltage, a constant torque command based on the motor temperature, a constant torque command based on the inverter temperature, and a constant torque command based on the inverter temperature. Compare the torque command (constant torque command based on vehicle speed, constant torque command based on battery voltage, constant torque command based on motor temperature, constant torque command based on inverter temperature, and constant torque command based on battery temperature are all necessarily detected. Not), and the smallest one of these is selected as the target constant torque command.

Subsequently, the control unit 80 controls the target constant torque command by PI and inputs it to the inverter 90.

Hereinafter, a method for controlling a torque command of an electric drive device according to an embodiment of the present invention will be described in detail with reference to FIG. 5.

5 is a flowchart of a method for controlling a torque command of an electric drive device according to an embodiment of the present invention.

Referring to FIG. 5, the battery information detection unit 10 detects a battery state of charge (SOC) and a battery temperature, for example, a cell temperature of a battery from a battery management system (BMS), and a throttle valve sensor 20 ) Detects the position of the throttle valve, the brake sensor 30 detects the switch state of the brake pedal, the vehicle speed detection unit 40 detects the vehicle speed, and the gear information detection unit 50 detects the position of the gear stage. , The motor temperature detection unit 60 detects the motor temperature, and the inverter temperature detection unit 70 detects the inverter temperature (S10).

In this way, as each information is detected, the control unit 80 determines whether the driving state of the vehicle satisfies the condition for generating the forward torque command or the condition for generating the reverse torque command.

That is, the control unit 80 indicates that when the brake switch is turned on and the vehicle speed is higher than a preset set speed (S20, S40) while the gear stage is the gear stage in the forward direction, the driving condition satisfies the condition for generating the reverse torque command. Judge.

As described above, when the condition for generating the reverse torque command is satisfied, the controller 80 generates the target reverse torque command in proportion to the difference between the vehicle speed and the set speed. That is, the control unit 80 generates a target reverse torque command using target reverse torque command = 128-{(vehicle speed-5)×a}, or receives a target reverse torque command from a lookup table in which a target reverse torque command is set for each vehicle speed. It can also be detected (S50).

As the target reverse torque command is detected, the controller 80 performs PI control (S60) on the target reverse torque command and inputs it to the inverter 90.

On the other hand, the control unit 80 determines whether the driving mode of the vehicle is an eco mode when the condition for generating the constant torque command is satisfied, that is, when the brake switch is turned off while the gear stage is a gear stage in the forward direction (S70). , If the driving mode is an eco mode as a result of the determination, it is determined whether the vehicle speed is equal to or greater than the speed limit value preset in the eco mode (S80). As a result of the determination in step 80, if the vehicle speed is greater than or equal to the speed limit value set in the eco mode, the control unit 80 generates a vehicle speed-based constant torque command based on the position of the throttle valve at the time when the vehicle speed becomes greater than or equal to the speed limit value. (S90).

In addition, the control unit 80 determines whether the voltage of the battery is less than or equal to the preset minimum battery usable voltage (S100), and if the battery voltage is less than or equal to the minimum battery usable voltage, the control unit 80 A constant torque command based on the battery voltage is generated based on the position of the throttle valve at a time when the voltage becomes less than the available battery voltage (S110).

Subsequently, the controller 80 determines whether the temperature of the motor is higher than the preset motor warning temperature (S120), and if the motor temperature is higher than the motor warning temperature as a result of the determination, the motor temperature-based determination is based on the preset maximum motor temperature. Generate a torque command (S130). In this case, the control unit 80 generates a constant torque command based on the motor temperature at 128+{128×(current motor temperature/maximum driveable motor temperature×100)}.

In addition, the controller 80 determines whether the temperature of the inverter 90 is higher than a preset inverter warning temperature (S140), and if the inverter temperature is higher than the inverter warning temperature as a result of the determination, the inverter temperature is based on the preset maximum inverter temperature. Generates a base constant torque command (S150). In this case, the controller 80 generates a constant torque command based on the inverter temperature at 128+{128×(current inverter temperature/maximum driveable inverter temperature×100)}.

In addition, the controller 80 determines whether the battery temperature is higher than a preset battery warning temperature (S160), and if the battery temperature is higher than the battery warning temperature as a result of the determination, the constant torque based on the battery temperature is based on the preset maximum battery temperature. Generate a command (S170). In this case, the control unit 80 generates a constant torque command based on the battery temperature at 128+{128×(current battery temperature/maximum driveable battery temperature×100)}.

Subsequently, the controller 80 compares these vehicle speed-based constant torque commands, battery voltage-based constant torque commands, motor temperature-based constant torque commands, inverter temperature-based constant torque commands, and battery temperature-based constant torque commands. One of the smallest ones is selected as the target constant torque command (S180).

Subsequently, the controller 80 performs PI control (S190) of the corresponding target constant torque command and inputs it to the inverter 90.

In this way, the torque command control method of the electric drive device according to an embodiment of the present invention limits the torque command corresponding to the position of the throttle valve according to at least one of a battery state, a regenerative braking mode, and an eco mode, and the inverter 90 By inputting to, dangerous situations such as start-off due to a sudden drop in battery voltage can be prevented and driving safety can be secured.

The present invention has been described with reference to the embodiments shown in the drawings, but these are only exemplary, and those of ordinary skill in the art to which the present technology pertains, various modifications and other equivalent embodiments are possible. I will understand. Therefore, the true technical protection scope of the present invention should be determined by the following claims.

10: battery information detection unit 20: throttle valve sensor
30: brake sensor 40: vehicle speed detection unit
50: gear information detection unit 60: motor temperature detection unit
70: inverter temperature detection unit 80: control unit
90: inverter

Claims (19)

Determining, by the control unit, whether a driving state of the vehicle satisfies a condition for generating a forward torque command or a condition for generating a reverse torque command;
When the driving state satisfies the constant torque command generation condition, the control unit determines whether at least one of vehicle speed, battery voltage, motor temperature, inverter temperature, and battery temperature in the eco mode satisfies the torque command limit condition preset for each. Generating at least one constant torque command limiting an initial constant torque command at a time point when the torque command limit condition is satisfied; And
The control unit includes the step of selecting any one of the constant torque command generated based on at least one of the vehicle speed, the battery voltage, the motor temperature, the inverter temperature, and the battery temperature as a target constant torque command,
In the step of generating the constant torque command, the controller generates a temperature-based constant torque command based on the temperature of the motor based on a preset maximum motor temperature that can be driven when the temperature of the motor is higher than a preset motor warning temperature,
The temperature-based constant torque command of the motor corresponds to a height of the motor temperature with respect to the maximum driveable motor temperature.
The method of claim 1, wherein in the step of generating the constant torque command,
The control unit generates a constant torque command based on the vehicle speed based on a position of a throttle valve when the vehicle speed is greater than or equal to a speed limit value preset in the eco mode.
The method of claim 1, wherein in the step of generating the constant torque command,
The control unit generates a voltage-based constant torque command of the battery based on a position of a throttle valve when the voltage of the battery is less than a preset minimum battery usable voltage.
delete delete The method of claim 1, wherein in the step of generating the constant torque command,
The control unit generates a constant torque command based on the inverter temperature based on a preset maximum drive temperature when the inverter temperature is higher than a preset inverter warning temperature.
The method of claim 6, wherein the inverter temperature-based constant torque command is
Torque command control method of an electric drive device, characterized in that corresponding to the height of the inverter temperature with respect to the maximum inverter temperature.
The method of claim 1, wherein in the step of generating the constant torque command,
And the control unit generates a constant torque command based on the battery temperature based on a preset maximum battery temperature that can be driven when the battery temperature is higher than a preset battery warning temperature.
The method of claim 8, wherein the battery temperature-based constant torque command is
Torque command control method of an electric drive device, characterized in that corresponding to the height of the battery temperature with respect to the maximum battery temperature.
The method of claim 1, wherein the target constant torque command is a relatively smallest of the constant torque commands.
The method of claim 1, further comprising the step of controlling, by the control unit, the target constant torque command to the inverter by PI control.
The vehicle speed according to claim 1, wherein when the driving state of the vehicle satisfies a condition for generating a reverse torque command, the control unit sets a target reverse torque command for limiting an initial reverse torque command at a time when the condition for generating the reverse torque command is satisfied. Torque command control method of an electric drive device, characterized in that it further comprises the step of generating the basis.
The method of claim 12, wherein in the step of determining whether the driving state satisfies a condition for generating a reverse torque command,
The control unit determines that the driving state satisfies the condition for generating the reverse torque command when the vehicle speed is higher than a preset set speed and the brake switch is turned on in a state in which the gear step is a gear step in the forward direction. Torque command control method of drive system.
The method of claim 12, wherein in the step of generating the target reverse torque command based on a vehicle speed,
The control unit generates the target reverse torque command in proportion to a difference between the vehicle speed and a preset set speed.
The method of claim 12, wherein in the step of generating the target reverse torque command based on a vehicle speed,
And the control unit detects the target reverse torque command from a lookup table in which the target reverse torque command is set for each vehicle speed.
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