CN107487227A - Vehicular electric machine control method, device and vehicle - Google Patents

Vehicular electric machine control method, device and vehicle Download PDF

Info

Publication number
CN107487227A
CN107487227A CN201710348676.3A CN201710348676A CN107487227A CN 107487227 A CN107487227 A CN 107487227A CN 201710348676 A CN201710348676 A CN 201710348676A CN 107487227 A CN107487227 A CN 107487227A
Authority
CN
China
Prior art keywords
motor
speed
vehicle
torsion
rotational speed
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Granted
Application number
CN201710348676.3A
Other languages
Chinese (zh)
Other versions
CN107487227B (en
Inventor
杨卓
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Borgward Automotive China Co Ltd
Original Assignee
Borgward Automotive China Co Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Borgward Automotive China Co Ltd filed Critical Borgward Automotive China Co Ltd
Priority to CN201710348676.3A priority Critical patent/CN107487227B/en
Publication of CN107487227A publication Critical patent/CN107487227A/en
Application granted granted Critical
Publication of CN107487227B publication Critical patent/CN107487227B/en
Expired - Fee Related legal-status Critical Current
Anticipated expiration legal-status Critical

Links

Classifications

    • 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
    • B60L2240/421—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
    • 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

Landscapes

  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The disclosure provides a kind of vehicular electric machine control method, device and vehicle, to solve the problems, such as that vehicle stabilization mode has deviation to vehicular electric machine torque compensation in the prior art.Wherein, vehicular electric machine control method includes：The actual speed of collection vehicle motor；The compensating rotational speed of motor is obtained according to the variable quantity of the actual speed of motor；The compensation moment of torsion of motor is obtained according to the compensating rotational speed of motor；The target torque of motor, controlled motor output target torque are obtained according to the command torque of the compensation moment of torsion of motor and motor.The program make it that the compensation to Motor torque is more accurate, improves the stabilization effect of vehicle.

Description

Vehicular electric machine control method, device and vehicle
Technical field
This disclosure relates to technical field of vehicle, in particular it relates to a kind of vehicular electric machine control method, device and vehicle.
Background technology
Electric machine controller and motor are arranged on vehicle chassis as the driving equipment of electric automobile.Motor It would generally be connected with decelerator, the moment of torsion of motor output is delivered on power transmission shaft by decelerator.It is whole due to vehicle For individual power-driven system using being mechanically connected, generally use bolt adds the mode of cushioning piece to be installed.Due to driving The inherent characteristic of motor, it is caused to have the phenomenon of shake in rotary course.Further, since mechanical connection and mounting means Being fitted together for equipment 100% can not be ensured, so in electric car running, whole transmission system easily produces shake The problem of.
Because the drive system of vehicle and the vibration equipment characteristic and mechanical connecting properties of transmission system are different, cause The frequency of shake also differ, general vibration frequency is higher.But the vehicle stabilization scheme in presently relevant technology is in reality Can exist in implementation process and deviation be present to Motor torque compensation, so as to have influence on the effect of vehicle stabilization, it is seen that be a kind of effective Vehicular electric machine stabilization measure need to be suggested.
The content of the invention
The purpose of the disclosure is to provide a kind of vehicular electric machine control method, device and vehicle, to solve in the prior art The problem of deviation be present to Motor torque compensation in vehicle stabilization mode.
Present disclose provides a kind of vehicular electric machine control method, this method includes：The actual speed of collection vehicle motor；Root The compensating rotational speed of the motor is obtained according to the variable quantity of the actual speed；The benefit of the motor is obtained according to the compensating rotational speed Repay moment of torsion；The target torque of the motor is obtained according to the command torque of the compensation moment of torsion and the motor, described in control Motor exports the target torque.
Optionally, it is described that the compensation moment of torsion of the motor is obtained according to the compensating rotational speed, including：Integrated with preset ratio Coefficient carries out that the compensation moment of torsion is calculated according to the compensating rotational speed.
Optionally, the variable quantity according to the actual speed obtains the compensating rotational speed of the motor, including：Calculate Mean speed corresponding to the actual speed collected in preset time period；Obtain the instantaneous of the motor that single acquisition arrives Rotating speed；The difference of the mean speed and the transient speed is calculated, obtains the compensating rotational speed.
Optionally, the variable quantity according to the actual speed obtains the compensating rotational speed of the motor, including：Using pre- Imputation method, the rotating speed of target of the motor is obtained according to the actual speed, turned according to the rotating speed of target and the reality The difference of speed obtains the compensating rotational speed；The preset algorithm is used to be calculated according to influence of the setting factor beforehand to the motor speed The rotating speed of target；Wherein, the setting factor beforehand includes following at least one factor：The rigidity of vehicle bearing, the rotating speed of wheel Than, the damping of wheel, vehicle wheel rotation inertia and decelerator rotating speed.
Optionally, the rotating speed of the collection vehicle motor, including：It is pre- with predetermined period collection in the preset time period If the actual speed of number.
The disclosure additionally provides a kind of vehicular electric machine control device, including：Acquisition module, for turning for collection vehicle motor Speed；First computing module, for obtaining the compensating rotational speed of the motor according to the variable quantity of the actual speed；Second calculates mould Block, for obtaining the compensation moment of torsion of the motor according to the compensating rotational speed；Control module, for according to it is described compensation moment of torsion with And the target torque of the motor is calculated in the command torque of the motor, the motor is controlled to export the target torque.
Optionally, second computing module is used for：
Carried out according to the compensating rotational speed that the compensation moment of torsion is calculated with preset ratio integral coefficient.
Optionally, first computing module, including：First computing unit, gathered for calculating in preset time period Mean speed corresponding to the actual speed arrived；Acquiring unit, the instantaneous of the motor arrived for obtaining single acquisition turn Speed；Second computing unit, for calculating the difference of the mean speed and the transient speed, obtain the compensating rotational speed.
Optionally, first computing module is used for：Using preset algorithm, the motor is obtained according to the actual speed Rotating speed of target, the compensating rotational speed is obtained according to the difference of the rotating speed of target and the actual speed；The pre- imputation Method is used to calculate the rotating speed of target according to influence of the setting factor beforehand to the motor speed；Wherein, the setting factor beforehand includes Following at least one factor：The rigidity of vehicle bearing, the rotating ratio of wheel, the damping of wheel, vehicle wheel rotation inertia and deceleration Device rotating speed.
Optionally, the acquisition module is used for：The institute of predetermined number is gathered with predetermined period in the preset time period State actual speed.
The disclosure additionally provides a kind of vehicle, and the vehicle includes any one vehicular electric machine control device of the disclosure.
The disclosure is monitored to the actual speed of vehicular electric machine, and the benefit of motor is calculated according to the actual speed of motor Moment of torsion is repaid, the command torque of motor is compensated using the compensation moment of torsion being calculated so that the compensation to Motor torque is more It is accurate to add, and improves the stabilization effect of vehicle.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is a kind of flow chart of vehicular electric machine control method according to an exemplary embodiment；
Fig. 2 is a kind of schematic diagram of vehicular electric machine control method according to an exemplary embodiment；
Fig. 3 is the flow chart of the motor control method according to an exemplary embodiment；
Fig. 4 is a kind of structured flowchart of vehicular electric machine control device according to an exemplary embodiment.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
Fig. 1 is a kind of flow chart of vehicular electric machine control method according to an exemplary embodiment.As shown in figure 1, This method comprises the following steps.
S101：The actual speed of collection vehicle motor；
In S101, the actual speed of vehicular electric machine can be the transient speed of vehicular electric machine.Specifically can be with default Cycle gathers the transient speed of the motor of predetermined number in preset time period, wherein, predetermined period for example can be 10 milliseconds, The cycle specifically can carry out classifying rationally according to the length of preset time period, be not limited in 10 milliseconds.Preset time period has Body can be an execution cycle in electric machine controller, and predetermined number for example can be 50, and similarly, the predetermined number can be with Classifying rationally is carried out according to the size of the length of preset time period and predetermined period, is not limited in 50.
S102：The compensating rotational speed of motor is obtained according to the variable quantity of the actual speed of motor；
In S102, the computational methods of the compensating rotational speed of motor can specifically include：Calculating gathers in preset time period Mean speed corresponding to the transient speed of the motor arrived；Obtain the transient speed for the motor that single acquisition arrives；Calculate mean speed With the difference of transient speed, rotating speed is compensated.Wherein, single acquisition to the transient speed of motor can be specifically default Any transient speed for being collected in cycle or after mean speed is calculated, is collected in next cycle The transient speed of motor.
In the disclosure, a preset algorithm can also be pre-set, after the current transient speed of motor is collected, profit The rotating speed of target of motor is calculated according to the transient speed collected with the preset algorithm.Further according to the rotating speed of target and motor The difference of transient speed is compensated rotating speed., can be after the current transient speed of motor be collected, directly default based on this In model (played a part of according to the model, can the model be referred to as stabilization model) corresponding to algorithm input this instantaneous turn Speed, that is, immediately arrive at rotating speed of target.It should be noted that the rotating speed of target be motor be based on target torque operation in the case of Corresponding rotating speed of target.Stabilization model can be arranged in electric machine controller.Wherein, the preset algorithm is specifically used for according to default The influence of factor pair motor speed calculates rotating speed of target, wherein, setting factor beforehand can at least include following at least one factor：
The rigidity of vehicle bearing, the rotating ratio of wheel, the damping of wheel, vehicle wheel rotation inertia and decelerator rotating speed.Its In, influence coefficient of each setting factor beforehand to the transient speed of motor can be based on the electric transient speed collected in advance and corresponding The historical data of above-mentioned each factor parameter calculated to obtain according to unitary variant rule.
S103：The compensation moment of torsion of motor is obtained according to compensating rotational speed；
In S103, the operation that the compensation moment of torsion of motor is obtained according to compensating rotational speed can be specifically to preset PI (proportion integral, proportional integration) coefficient carries out that compensation moment of torsion, PI moulds is calculated according to the compensating rotational speed of motor The output quantity of block is the compensation moment of torsion being calculated.Illustratively, compensating rotational speed can be specifically motor in preset time herein The variable quantity of rotating speed in section.Wherein, presetting PI coefficients can be pre-stored in the PI modules of electric machine controller.
S104：The target torque of motor is calculated according to the command torque of compensation moment of torsion and motor, controlled motor is defeated Go out target torque.
In S104, the command torque of motor is sent to electric machine controller by entire car controller, the benefit obtained in S103 Repay moment of torsion to be used to compensate the command torque, after being compensated using compensation moment of torsion to command torque, obtain target torsion Square, motor, which exports the target torque, can reduce shake caused by motor.Optionally, in the disclosure, target torque=order Moment of torsion-compensation moment of torsion.
In the disclosure, above compensation moment of torsion can calculate once in each execution cycle of electric machine controller, i.e., Above-mentioned S101 to S104 is performed both by once in each execution cycle of electric machine controller.To ensure the compensation moment of torsion energy calculated Enough drive systems to vehicle promptly and accurately carry out effective stabilization compensation.
Illustratively, Fig. 2 is a kind of schematic diagram of vehicular electric machine control method according to an exemplary embodiment.Such as figure Shown in 2, electric machine controller collects motor actual speed n r, and the nr is inputed into stabilization model, passes through the processing of stabilization model (being stored with above-mentioned preset algorithm in the stabilization model), obtains rotating speed of target ns.The rotating speed of target is subtracted into motor transient speed, It is compensated rotating speed Δ n, i.e. Δ n=ns-nr.Δ n is input to PI modules, compensation is debugged out by the PI coefficients demarcated in advance Moment of torsion Δ Tq.Wherein, Δ Tqref is the command torque that entire car controller is sent to electric machine controller, and Δ Tqref_new is process Compensation moment of torsion is actually delivered to the command torque of vector operation after being compensated to the command torque, wherein, Δ Tqref_new= ΔTqref-ΔTq。
Example, Fig. 3 is the flow chart of the motor control method according to an exemplary embodiment, and the flow is to be based on The whole flow process for the motor control method that the principle that above-mentioned Fig. 2 is proposed obtains, as shown in figure 3, the flow comprises the following steps：
Flow starts；
S301：Receive the command torque of VMS (vehicle management System, entire car controller) outputs Tqref；
S302：By the current transient speed of stabilization model analyzing motor, the rotating speed of target of motor is calculated；
S303：The compensating rotational speed Δ of motor is drawn according to motor rotating speed of target ns and motor transient speed nr mathematic interpolation n；
S304：By the compensating rotational speed Δ n of motor by PI processing, the compensation moment of torsion Δ Tq of motor is calculated；
S305：Calculate motor reality output moment of torsion, Δ Tqref_new=Δ Tqref- Δs Tq；
S306：Vector operation parses the reality output moment of torsion；
S307：Export three-phase dutycycle.
Flow terminates.
In the disclosure, in each PWM (Pulse Width Modulation, pulse width modulation) ripple controlling cycle It is interior, the actual speed of motor is monitored, by the stabilization model and PI modules that are built in electric machine controller in advance The algorithm of setting, the command torque Δ Tqref_new compensated by stabilization, i.e. target torque are obtained out, uses the target torque Motor is controlled, the null value method can be compensated timely and effectively to the drive system of vehicle, mitigate vehicle traction The shake of system, ensure the driver comfort of vehicle.
The disclosure additionally provides a kind of vehicular electric machine control device, and Fig. 4 is one kind according to an exemplary embodiment The structured flowchart of vehicular electric machine control device.As shown in figure 4, the device includes following part：
Acquisition module 41, the actual speed for collection vehicle motor；
The acquisition module 41 specifically can be used for：The reality for gathering predetermined number with predetermined period in preset time period turns Speed.
First computing module 42, the variable quantity for the actual speed according to the vehicular electric machine collected obtain the benefit of motor Repay rotating speed；
First computing module 42 can specifically include such as lower unit：
First computing unit, averagely turn corresponding to the actual speed of the motor collected in preset time period for calculating Speed；
Acquiring unit, the transient speed of the motor arrived for obtaining single acquisition；
Second computing unit, for calculating the difference of mean speed and transient speed, it is compensated rotating speed.
In addition, above-mentioned first computing module 42 also particularly useful for：Using preset algorithm, obtained according to the actual speed of motor The rotating speed of target of motor；Rotating speed is compensated further according to the difference of the rotating speed of target and the actual speed of motor；The pre- imputation Method specifically can be used for the rotating speed of target that motor is calculated according to influence of the setting factor beforehand to motor speed.Wherein, setting factor beforehand bag Include following at least one factor：The rigidity of vehicle bearing, the rotating ratio of wheel, the damping of wheel, vehicle wheel rotation inertia and subtract Fast device rotating speed.
Second computing module 43, for obtaining the compensation moment of torsion of motor according to compensating rotational speed；
Second computing module 43 specifically can be used for：To preset PI coefficients according to compensating rotational speed carry out that compensation is calculated Moment of torsion.
Control module 44, for the target torque of motor to be calculated according to the command torque of compensation moment of torsion and motor, Controlled motor exports target torque.
The disclosure additionally provides a kind of vehicle, and the vehicle can specifically include any one vehicular electric machine control of above-mentioned record Device processed, the vehicular electric machine control device can be specifically set in the electric machine controller with vehicular electric machine.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, it can be combined by any suitable means.In order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (11)

  1. A kind of 1. vehicular electric machine control method, it is characterised in that including：
    The actual speed of collection vehicle motor；
    The compensating rotational speed of the motor is obtained according to the variable quantity of the actual speed；
    The compensation moment of torsion of the motor is obtained according to the compensating rotational speed；
    The target torque of the motor is obtained according to the command torque of the compensation moment of torsion and the motor, controls the motor Export the target torque.
  2. 2. according to the method for claim 1, it is characterised in that described that the benefit of the motor is obtained according to the compensating rotational speed Moment of torsion is repaid, including：
    Carried out according to the compensating rotational speed that the compensation moment of torsion is calculated with preset ratio integral coefficient.
  3. 3. according to the method for claim 1, it is characterised in that described in the variable quantity according to the actual speed obtains The compensating rotational speed of motor, including：
    Calculate mean speed corresponding to the actual speed collected in preset time period；
    Obtain the transient speed for the motor that single acquisition arrives；
    The difference of the mean speed and the transient speed is calculated, obtains the compensating rotational speed.
  4. 4. according to the method for claim 1, it is characterised in that described in the variable quantity according to the actual speed obtains The compensating rotational speed of motor, including：
    Using preset algorithm, the rotating speed of target of the motor is obtained according to the actual speed, according to the rotating speed of target and The difference of the actual speed obtains the compensating rotational speed；
    The preset algorithm is used to calculate the rotating speed of target according to influence of the setting factor beforehand to the motor speed；
    Wherein, the setting factor beforehand includes following at least one factor：
    The rigidity of vehicle bearing, the rotating ratio of wheel, the damping of wheel, vehicle wheel rotation inertia and decelerator rotating speed.
  5. 5. according to the method described in Claims 1-4 any one, it is characterised in that the rotating speed of the collection vehicle motor, bag Include：
    The actual speed of predetermined number is gathered with predetermined period in the preset time period.
  6. A kind of 6. vehicular electric machine control device, it is characterised in that including：
    Acquisition module, the rotating speed for collection vehicle motor；
    First computing module, for obtaining the compensating rotational speed of the motor according to the variable quantity of the actual speed；
    Second computing module, for obtaining the compensation moment of torsion of the motor according to the compensating rotational speed；
    Control module, for the target of the motor to be calculated according to the command torque of the compensation moment of torsion and the motor Moment of torsion, the motor is controlled to export the target torque.
  7. 7. device according to claim 6, it is characterised in that second computing module is used for：
    Carried out according to the compensating rotational speed that the compensation moment of torsion is calculated with preset ratio integral coefficient.
  8. 8. device according to claim 6, it is characterised in that first computing module, including：
    First computing unit, for calculating mean speed corresponding to the actual speed collected in preset time period；
    Acquiring unit, the transient speed of the motor arrived for obtaining single acquisition；
    Second computing unit, for calculating the difference of the mean speed and the transient speed, obtain the compensating rotational speed.
  9. 9. device according to claim 6, it is characterised in that first computing module is used for：
    Using preset algorithm, the rotating speed of target of the motor is obtained according to the actual speed, according to the rotating speed of target and The difference of the actual speed obtains the compensating rotational speed；
    The preset algorithm is used to calculate the rotating speed of target according to influence of the setting factor beforehand to the motor speed；
    Wherein, the setting factor beforehand includes following at least one factor：
    The rigidity of vehicle bearing, the rotating ratio of wheel, the damping of wheel, vehicle wheel rotation inertia and decelerator rotating speed.
  10. 10. according to the device described in claim 6 to 9 any one, it is characterised in that the acquisition module is used for：
    The actual speed of predetermined number is gathered with predetermined period in the preset time period.
  11. 11. a kind of vehicle, it is characterised in that the vehicle includes the vehicular electric machine control described in claim 6 to 10 any one Device processed.
CN201710348676.3A 2017-05-17 2017-05-17 Vehicle motor control method and device and vehicle Expired - Fee Related CN107487227B (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
CN201710348676.3A CN107487227B (en) 2017-05-17 2017-05-17 Vehicle motor control method and device and vehicle

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
CN201710348676.3A CN107487227B (en) 2017-05-17 2017-05-17 Vehicle motor control method and device and vehicle

Publications (2)

Publication Number Publication Date
CN107487227A true CN107487227A (en) 2017-12-19
CN107487227B CN107487227B (en) 2020-02-14

Family

ID=60643267

Family Applications (1)

Application Number Title Priority Date Filing Date
CN201710348676.3A Expired - Fee Related CN107487227B (en) 2017-05-17 2017-05-17 Vehicle motor control method and device and vehicle

Country Status (1)

Country Link
CN (1) CN107487227B (en)

Cited By (13)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340812A (en) * 2018-02-07 2018-07-31 浙江吉利汽车研究院有限公司 Method for control speed, system and automobile
CN108556683A (en) * 2018-04-20 2018-09-21 江铃汽车股份有限公司 A kind of new energy vehicle ride comfort optimization method based on big data
CN108583288A (en) * 2018-06-04 2018-09-28 深圳市锐钜科技有限公司 A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device
CN108657018A (en) * 2018-04-16 2018-10-16 常州科研试制中心有限公司 The control method of mining electric vehicle
CN110126639A (en) * 2019-05-14 2019-08-16 奇瑞新能源汽车技术有限公司 Torsional oscillation control method based on electric drive system for electric vehicles
CN110171297A (en) * 2019-05-05 2019-08-27 北京新能源汽车股份有限公司 Method and system for controlling output torque of driving motor of electric automobile and vehicle
CN111251900A (en) * 2019-11-21 2020-06-09 浙江零跑科技有限公司 Shake suppression method capable of reducing torque loss
CN111376737A (en) * 2018-12-29 2020-07-07 北京宝沃汽车有限公司 Method and device for controlling shaking of driving motor and vehicle
CN112208349A (en) * 2019-07-12 2021-01-12 北京新能源汽车股份有限公司 Control method and device of electric automobile, control equipment and automobile
CN112428990A (en) * 2020-11-30 2021-03-02 合肥巨一动力系统有限公司 Front collision early warning control method for pure electric vehicle
CN112706620A (en) * 2020-12-31 2021-04-27 北京金万安汽车电子技术研发有限公司 Motor braking torque control method in energy recovery of new energy vehicle
CN112977395A (en) * 2021-02-26 2021-06-18 中国第一汽车股份有限公司 Vehicle anti-shake method, device, storage medium and system
CN115095651A (en) * 2021-11-17 2022-09-23 长城汽车股份有限公司 Gear shifting control method and device, control equipment and storage medium

Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002814A (en) * 2014-05-30 2014-08-27 合康变频科技（武汉）有限公司 Gear shifting method and device based on AMT parallel hybrid vehicle system and vehicle with same
CN104057839A (en) * 2014-06-18 2014-09-24 安徽江淮汽车股份有限公司 Torque compensation method and device
CN105577061A (en) * 2014-10-28 2016-05-11 现代自动车株式会社 Torque control apparatus and method and motor controller
CN106143209A (en) * 2015-04-09 2016-11-23 上海汽车集团股份有限公司 Vehicle torsion vibration control method, Apparatus and system
CN106314195A (en) * 2016-08-17 2017-01-11 重庆长安汽车股份有限公司 Method and system for inhibiting torsional vibration of power system of electric vehicle

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN104002814A (en) * 2014-05-30 2014-08-27 合康变频科技（武汉）有限公司 Gear shifting method and device based on AMT parallel hybrid vehicle system and vehicle with same
CN104057839A (en) * 2014-06-18 2014-09-24 安徽江淮汽车股份有限公司 Torque compensation method and device
CN105577061A (en) * 2014-10-28 2016-05-11 现代自动车株式会社 Torque control apparatus and method and motor controller
CN106143209A (en) * 2015-04-09 2016-11-23 上海汽车集团股份有限公司 Vehicle torsion vibration control method, Apparatus and system
CN106314195A (en) * 2016-08-17 2017-01-11 重庆长安汽车股份有限公司 Method and system for inhibiting torsional vibration of power system of electric vehicle

Cited By (18)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN108340812A (en) * 2018-02-07 2018-07-31 浙江吉利汽车研究院有限公司 Method for control speed, system and automobile
CN108657018A (en) * 2018-04-16 2018-10-16 常州科研试制中心有限公司 The control method of mining electric vehicle
CN108657018B (en) * 2018-04-16 2021-01-15 常州科研试制中心有限公司 Control method of mining electric vehicle
CN108556683A (en) * 2018-04-20 2018-09-21 江铃汽车股份有限公司 A kind of new energy vehicle ride comfort optimization method based on big data
CN108583288A (en) * 2018-06-04 2018-09-28 深圳市锐钜科技有限公司 A kind of method for limiting speed of pure electric vehicle new-energy automobile drive control device
CN111376737A (en) * 2018-12-29 2020-07-07 北京宝沃汽车有限公司 Method and device for controlling shaking of driving motor and vehicle
CN110171297A (en) * 2019-05-05 2019-08-27 北京新能源汽车股份有限公司 Method and system for controlling output torque of driving motor of electric automobile and vehicle
CN110126639A (en) * 2019-05-14 2019-08-16 奇瑞新能源汽车技术有限公司 Torsional oscillation control method based on electric drive system for electric vehicles
CN112208349A (en) * 2019-07-12 2021-01-12 北京新能源汽车股份有限公司 Control method and device of electric automobile, control equipment and automobile
CN111251900A (en) * 2019-11-21 2020-06-09 浙江零跑科技有限公司 Shake suppression method capable of reducing torque loss
CN111251900B (en) * 2019-11-21 2021-04-27 浙江零跑科技有限公司 Shake suppression method capable of reducing torque loss
CN112428990A (en) * 2020-11-30 2021-03-02 合肥巨一动力系统有限公司 Front collision early warning control method for pure electric vehicle
CN112706620A (en) * 2020-12-31 2021-04-27 北京金万安汽车电子技术研发有限公司 Motor braking torque control method in energy recovery of new energy vehicle
CN112977395A (en) * 2021-02-26 2021-06-18 中国第一汽车股份有限公司 Vehicle anti-shake method, device, storage medium and system
CN112977395B (en) * 2021-02-26 2022-07-05 中国第一汽车股份有限公司 Vehicle anti-shake method, device, storage medium and system
WO2022179287A1 (en) * 2021-02-26 2022-09-01 中国第一汽车股份有限公司 Vehicle anti-shake method, apparatus and system, and storage medium
CN115095651A (en) * 2021-11-17 2022-09-23 长城汽车股份有限公司 Gear shifting control method and device, control equipment and storage medium
CN115095651B (en) * 2021-11-17 2024-04-16 长城汽车股份有限公司 Gear shifting control method, gear shifting control device, control equipment and storage medium

Also Published As

Publication number Publication date
CN107487227B (en) 2020-02-14

Similar Documents

Publication Publication Date Title
CN107487227A (en) Vehicular electric machine control method, device and vehicle
EP2839983B1 (en) Electric-vehicle control device, and method for controlling electric vehicle
JP6164371B2 (en) Electric power steering device
KR101601494B1 (en) Method for operating a stabilizer arrangement
JP5835091B2 (en) Electric power steering device
EP2815914A1 (en) Vibration suppression control device for electric motor-driven vehicle and method for controlling vibration suppression
US20170183031A1 (en) Steering control apparatus and steering control method
CN112977080B (en) Drive anti-slip control method and device and drive anti-slip control system
CA3021274C (en) Control method for electric vehicle and control device for electric vehicle
DE102012201200A1 (en) Vehicle engine control device
KR20190138700A (en) Control method and control device for electric vehicle
CN106849823A (en) Electric automobile active vibration-reducing control method
US9604548B2 (en) Driving force controller for electric vehicle
EP2950445B1 (en) Induction motor control device and induction motor control method
US20120053770A1 (en) Method and system for controlling an electrical machine in a drivetrain of a motor vehicle
CN104210382B (en) The method of vehicle and control motor
DE112012006994B4 (en) Wheel control device, vehicle, and wheel control method
US11654778B2 (en) Electric vehicle control method and electric vehicle control device
JP6736991B2 (en) Electric vehicle control method and electric vehicle control device
JP6720714B2 (en) Electric vehicle control method and electric vehicle control device
JP6686658B2 (en) Electric vehicle control method and electric vehicle control device
JP6728633B2 (en) Electric vehicle control method and control device
JP2015195698A (en) Vehicle control device
JP2017085706A (en) Control apparatus for electric vehicle, and control method therefor
JP5511751B2 (en) Vehicle motor control device

Legal Events

Date Code Title Description
PB01 Publication
PB01 Publication
SE01 Entry into force of request for substantive examination
SE01 Entry into force of request for substantive examination
GR01 Patent grant
GR01 Patent grant
PP01 Preservation of patent right
PP01 Preservation of patent right

Effective date of registration: 20200521

Granted publication date: 20200214

PD01 Discharge of preservation of patent
PD01 Discharge of preservation of patent

Date of cancellation: 20200717

Granted publication date: 20200214

PE01 Entry into force of the registration of the contract for pledge of patent right
PE01 Entry into force of the registration of the contract for pledge of patent right

Denomination of invention: Vehicle motor control method, device and vehicle

Effective date of registration: 20211213

Granted publication date: 20200214

Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd.

Pledgor: Borgward Automotive (China) Co., Ltd.

Registration number: Y2021990001167

PC01 Cancellation of the registration of the contract for pledge of patent right
PC01 Cancellation of the registration of the contract for pledge of patent right

Date of cancellation: 20231201

Granted publication date: 20200214

Pledgee: BEIJING AUTOMOTIVE GROUP Co.,Ltd.

Pledgor: Beijing baowo Automobile Co.,Ltd.|Borgward Automotive (China) Co., Ltd.

Registration number: Y2021990001167

CF01 Termination of patent right due to non-payment of annual fee
CF01 Termination of patent right due to non-payment of annual fee

Granted publication date: 20200214