CN108638916A - A kind of motor speed control method suitable for new-energy automobile automatic parking - Google Patents
A kind of motor speed control method suitable for new-energy automobile automatic parking Download PDFInfo
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- CN108638916A CN108638916A CN201810667622.8A CN201810667622A CN108638916A CN 108638916 A CN108638916 A CN 108638916A CN 201810667622 A CN201810667622 A CN 201810667622A CN 108638916 A CN108638916 A CN 108638916A
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Classifications
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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
- B60L15/2009—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 for braking
-
- 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
- B60L7/00—Electrodynamic brake systems for vehicles in general
- B60L7/10—Dynamic electric regenerative braking
- B60L7/18—Controlling the braking effect
-
- 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
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a kind of motor speed control methods suitable for new-energy automobile automatic parking, when vehicle will reach automatic parking parking position, VCU is converted into electric braking torque size and Orientation according to driving motor rotating speed and direction, MCU is asked to control electric braking torque size and Orientation using torsion loop, MCU is instructed according to the VCU of receiving enters the control of corresponding electric braking, so that driving motor is generated and reduces speed with the torque of motor speed opposite direction, vehicle is when arrival parking position needs to stop immediately under electric braking acts on, VCU asks MCU controls to use der Geschwindigkeitkreis, rotating speed size is 0, MCU asks to be converted to rotating speed control targe rotating speed by moment of torsion control to be 0 according to VCU, driving kinetic energy is converted to electric energy during the entire process of reducing and is recycled in high-tension battery by car speed.The driving kinetic energy of vehicle of the present invention is converted to electric energy and preserves into high-tension battery, and the mechanical wear of thermal energy is converted to instead of original kinetic energy, reduces energy loss, reduces the manufacturing cost of vehicle.
Description
Technical field
The present invention relates to New energy automobile motor control fields, more particularly to one kind being suitable for new-energy automobile automatic parking
Motor speed control method.
Background technology
The electric energy that electric vehicle is stored using in battery as unique energy resource supply, have efficient, energy saving, low noise and
, there is incomparable advantage in the features such as zero-emission at energy saving and environmentally friendly aspect, therefore is increasingly becoming the important hair of automobile industry
One of exhibition trend.
Important component of the power drive system as electric vehicle is the pass realized mechanical energy and mutually converted with electric energy
Key.
Existing New-energy electric vehicle vehicle will reach specified automatic parking position need parking when, VCU（Vehicle
Controller）Electric brake system braking is asked, wheel report is dead, achieve the purpose that parking, disadvantage mainly have the following：
1, vehicle braking is mainly and the kinetic energy of vehicle driving is converted into thermal energy consumption to fall, cannot be kinetic energy recycling, shape
At the waste of resource；
2, in braking process, kinetic energy is converted into thermal energy and adds additional mechanical wear vehicle, reduces the use of vehicle hub
Service life；
3, additionally increase the manufacturing cost of vehicle when vehicle braking using electric brake system；
4, electric brake system overcomes vehicle driving kinetic energy additionally to increase energy loss, forms the waste of resource.
Invention content
In order to overcome disadvantage mentioned above, the present invention to propose that a kind of motor speed suitable for new-energy automobile automatic parking controls
Method, when vehicle will reach specified automatic parking position, VCU (entire car controller) and MCU（Drive motor controller）Pass through
Vehicle driving kinetic energy is converted into electric energy recycling, achievees the purpose that parking by certain control strategy.
The technical scheme is that：
A kind of motor speed control method suitable for new-energy automobile automatic parking, including：
When vehicle will reach automatic parking parking position, entire car controller VCU is converted into according to driving motor rotating speed and direction
Electric braking torque size and Orientation, request drive motor controller MCU control electric braking torque size and Orientation using torsion loop,
MCU is controlled according to the VCU request instructions of receiving into corresponding electric braking, and driving motor is made to generate and motor speed opposite direction
Torque, reduce speed, while driving kinetic energy be converted to electric energy and is recycled in high-tension battery；
For vehicle when arrival parking position needs to stop immediately under electric braking acts on, VCU asks MCU controls to use der Geschwindigkeitkreis, turn
Fast size is that 0, MCU asks to be converted to rotating speed control targe rotating speed by moment of torsion control to be 0 according to VCU, while driving kinetic energy is turned
Electric energy is changed to be recycled in high-tension battery.
Preferably, the drive motor controller MCU controls electric braking torque size using torsion loop, in accordance with the following methods
It realizes：
It is maximum according to braking moment when the driving motor rotating speed maximum of automatic parking, driving motor rotating speed it is small to certain threshold value when give
The relationship of definite value braking moment calculates, if driving motor maximum (top) speed is Vmax, maximum braking moment Tmax when automatic parking,
Driving motor rotary speed threshold value is Vmin, and given value braking moment is Tmin, and the real-time rotating speed of driving motor is V, real-time requirement braking
Torque is T, and specific calculating is as follows：
①V<When Vmin, T=Tmin；
2. when V >=Vmin, T=Tmin+（V-Vmin）*（Tmax-Tmin）/（Vmax-Vmin）.
The MCU controls include following methods using der Geschwindigkeitkreis：
1. setting MCU der Geschwindigkeitkreis regulating cycles；
2. the control of MCU der Geschwindigkeitkreis is using increment type PI controls, according to the driving motor rotating speed before and after certain computation of Period twice
Difference calculates output control mode increment as PI input quantities, by PI, a period control mode is added, as this secondary control
Torque；
3. according to the 2. article described in, MCU enters the initial torque value that der Geschwindigkeitkreis control is needed when der Geschwindigkeitkreis control, by following two
Kind method obtains：
A, the torsion loop control mode for entering der Geschwindigkeitkreis previous cycle using MCU controls initial torque as der Geschwindigkeitkreis；
B, enter a cycle of der Geschwindigkeitkreis by torsion loop in MCU, control mode initial value setting one compares larger
Value, to further increase 0 rotating speed control accuracy of der Geschwindigkeitkreis；
4., the PI controls to limit der Geschwindigkeitkreis there is ovennodulation, make following two limitations torques, following limits value need to be according to driving
The difference of motor and vehicle driving-cycle demarcates its value：
A, the torque that control mode increment is exported to PI increases and torque reduction limits respectively；
B, the maximum value limitation of control mode；
5. MCU controls need to turn according to braking torque and motor speed and motor different before entrance 0 rotational speed governor of der Geschwindigkeitkreis
The direction of speed demarcates above-mentioned PI parameters, moment of torsion control increment and peak torque limitation, and makees the qualifications of relevant parameter, really
It protects different operating modes and uses corresponding parameter；
6. can also realize that automatic parking function, the parameter of 0 rotating speed level land of der Geschwindigkeitkreis calibration do time limit to adapt to car ramp
It is fixed, if driving motor rotating speed throws away not up to control requirement in setting time, the PI demarcated on ramp, moment of torsion control is used to increase
Amount and peak torque limit parameter.
Preferably, the MCU carries braking function, so that driving motor is generated using the rectification function of MCU and turns with motor
Vehicle driving kinetic energy is converted to electric energy while reducing the travel speed of vehicle and preserved to high pressure by the brake force of fast opposite direction
In battery；It can all realize that braking is parked function to ensure that vehicle moves forward and backward, driving motor rotates and reverse under two states
There is braking function.
Preferably, the driving motor installs the sensor for acquiring driving motor rotating speed and steering, while MCU is real-time
The signal for acquiring sensor calculates rotating speed and the steering of driving motor.
Preferably, the side of driving motor rotating speed is obtained in real time according to certain rule of communication, VCU between the MCU and VCU
To and size, VCU MCU is sent instructions to according to the requirement in the direction and size combination automatic parking of driving motor rotating speed in real time
It executes, MCU executes corresponding actions in real time according to VCU instructions are received, and will execute feedback of status to VCU.
Preferably, the communication between MCU and VCU is using one or more of CAN, Lin, FlexRay, Ethernet.
It is an advantage of the invention that：
1, motor speed control method of the invention, the driving kinetic energy of vehicle are converted to electric energy and preserve into high-tension battery, can be again
It utilizes, reduces energy loss；
2, the driving kinetic energy of vehicle of the present invention is converted to the mechanical wear that electric energy is converted to thermal energy instead of original kinetic energy, increases
The service life of wheel hub；
3, the present invention reduces the manufacturing cost of vehicle without increasing additional electric brake system.
Description of the drawings
The invention will be further described with reference to the accompanying drawings and embodiments：
Fig. 1 is the motor speed control flow block diagram of automatic parking.
Specific implementation mode
A kind of disclosed motor speed control method suitable for new-energy automobile automatic parking, MCU（It drives
Dynamic electric machine controller）There need to be braking function（Electric braking refers to making driving motor generate using the rectification function of MCU with motor to turn
Vehicle driving kinetic energy is converted to electric energy while reducing the travel speed of vehicle and preserved to high pressure by the brake force of fast opposite direction
In battery）, can all realize that braking is parked function to ensure that vehicle moves forward and backward, driving motor rotates and reverse under two states
Braking function is required.Driving motor need to install the sensor for acquiring driving motor rotating speed and steering, while MCU can
The signal of acquisition sensor calculates rotating speed and the steering of driving motor in real time.
Communication function is needed between MCU and VCU, according to certain rule of communication, VCU obtains driving motor rotating speed in real time
Direction and size, VCU are sent instructions in real time according to the requirement in the direction and size combination automatic parking of driving motor rotating speed
MCU is executed, and MCU executes corresponding actions in real time according to VCU instructions are received, and will execute feedback of status to VCU, above-mentioned communication function
Including one or more of CAN, Lin, FlexRay, Ethernet.
As shown in 1, the motor speed control method of automatic parking of the invention is stopped when vehicle will reach automatic parking
When truck position, entire car controller VCU is converted into electric braking torque size and Orientation according to driving motor rotating speed and direction, request
MCU controls electric braking torque size and Orientation using torsion loop, and MCU is instructed according to the VCU of receiving enters corresponding electric braking control
System makes driving motor generate the torque with motor speed opposite direction, and driving kinetic energy part is changed while reaching reduction speed
It is recycled in high-tension battery at electric energy.
The size of above-mentioned electric braking torque can be realized in accordance with the following methods：It is maximum according to the driving motor rotating speed of automatic parking
When braking moment it is maximum, the small relationship to given value braking moment when certain threshold value of driving motor rotating speed calculates, if automatic parking
When driving motor maximum (top) speed be Vmax, maximum braking moment Tmax, driving motor rotary speed threshold value be Vmin, given value braking
Power is Tmin, and the real-time rotating speed of driving motor is V, and real-time requirement braking moment is T, and specific calculating is as follows：
①V<When Vmin, T=Tmin；
2. when V >=Vmin, T=Tmin+（ V-Vmin）*（Tmax-Tmin）/（Vmax-Vmin）.
For vehicle when arrival parking position needs to stop immediately under electric braking acts on, VCU asks MCU controls to use rotating speed
Ring, rotating speed size are that 0, MCU asks to be converted to rotating speed control targe rotating speed by moment of torsion control to be 0 according to VCU, and driving kinetic energy is turned
It is changed to electric energy to be recycled in high-tension battery, includes following methods in being controlled for MCU der Geschwindigkeitkreis.
1. MCU der Geschwindigkeitkreis regulating cycles are set, PWM interrupt cycles in preferential usable software.
2. the control of MCU der Geschwindigkeitkreis is using increment type PI controls, method is according to the drive before and after certain computation of Period twice
Dynamic motor speed difference calculates output control mode increment as PI input quantities, by PI, adds a period control mode, makees
For this control mode.
3. according to the 2. article described in, MCU enters the initial torque value that der Geschwindigkeitkreis control is needed when der Geschwindigkeitkreis control, can be by
Following two methods obtain：
A, the torsion loop control mode for entering der Geschwindigkeitkreis previous cycle using MCU controls initial torque as der Geschwindigkeitkreis；
B, enter a cycle of der Geschwindigkeitkreis by torsion loop in MCU, control mode initial value setting one compares larger
Value, to further increase 0 rotating speed control accuracy of der Geschwindigkeitkreis.
4. ovennodulation occur in the PI controls for limitation der Geschwindigkeitkreis, make following two limitations torque, following limits value needs basis
The difference of driving motor and vehicle driving-cycle demarcates its value：
A, the torque that control mode increment is exported to PI increases and torque reduction limits respectively；
B, the maximum value limitation of control mode.
5. MCU controls need to be according to braking torque and motor speed and electricity different before entrance 0 rotational speed governor of der Geschwindigkeitkreis
The direction of machine rotating speed demarcates above-mentioned PI parameters, moment of torsion control increment and peak torque limitation, and makees the restriction item of relevant parameter
Part, it is ensured that different operating modes use corresponding parameter.
6. automatic parking function can be also realized in order to adapt to car ramp, when the parameter of 0 rotating speed level land of der Geschwindigkeitkreis calibration is done
Between limit, if driving motor rotating speed is thrown away not up to control and is required in setting time, using demarcate on ramp PI, torque control
Increment processed and peak torque limit parameter.
The above embodiments merely illustrate the technical concept and features of the present invention, and its object is to allow person skilled in the art
It cans understand the content of the present invention and implement it accordingly, it is not intended to limit the scope of the present invention.It is all main according to the present invention
The modification for wanting the Spirit Essence of technical solution to be done, should be covered by the protection scope of the present invention.
Claims (7)
1. a kind of motor speed control method suitable for new-energy automobile automatic parking, which is characterized in that including：
When vehicle will reach automatic parking parking position, entire car controller VCU is converted into according to driving motor rotating speed and direction
Electric braking torque size and Orientation, request drive motor controller MCU control electric braking torque size and Orientation using torsion loop,
MCU is controlled according to the VCU request instructions of receiving into corresponding electric braking, and driving motor is made to generate and motor speed opposite direction
Torque, reduce speed, while driving kinetic energy be converted to electric energy and is recycled in high-tension battery；
For vehicle when arrival parking position needs to stop immediately under electric braking acts on, VCU asks MCU controls to use der Geschwindigkeitkreis, turn
Fast size is that 0, MCU asks to be converted to rotating speed control targe rotating speed by moment of torsion control to be 0 according to VCU, while driving kinetic energy is turned
Electric energy is changed to be recycled in high-tension battery.
2. motor speed control method according to claim 1, which is characterized in that the drive motor controller MCU makes
Electric braking torque size is controlled with torsion loop, is realized in accordance with the following methods：
It is maximum according to braking moment when the driving motor rotating speed maximum of automatic parking, driving motor rotating speed it is small to certain threshold value when give
The relationship of definite value braking moment calculates, if driving motor maximum (top) speed is Vmax, maximum braking moment Tmax when automatic parking,
Driving motor rotary speed threshold value is Vmin, and given value braking moment is Tmin, and the real-time rotating speed of driving motor is V, real-time requirement braking
Torque is T, and specific calculating is as follows：
①V<When Vmin, T=Tmin；
2. when V >=Vmin, T=Tmin+（V-Vmin）*（Tmax-Tmin）/（Vmax-Vmin）.
3. motor speed control method according to claim 1 or 2, which is characterized in that the MCU controls use der Geschwindigkeitkreis
Including following methods：
1. setting MCU der Geschwindigkeitkreis regulating cycles；
2. the control of MCU der Geschwindigkeitkreis is using increment type PI controls, according to the driving motor rotating speed before and after certain computation of Period twice
Difference calculates output control mode increment as PI input quantities, by PI, a period control mode is added, as this secondary control
Torque；
3. according to the 2. article described in, MCU enters the initial torque value that der Geschwindigkeitkreis control is needed when der Geschwindigkeitkreis control, by following two
Kind method obtains：
A, the torsion loop control mode for entering der Geschwindigkeitkreis previous cycle using MCU controls initial torque as der Geschwindigkeitkreis；
B, enter a cycle of der Geschwindigkeitkreis by torsion loop in MCU, control mode initial value setting one compares larger
Value, to further increase 0 rotating speed control accuracy of der Geschwindigkeitkreis；
4., the PI controls to limit der Geschwindigkeitkreis there is ovennodulation, make following two limitations torques, following limits value need to be according to driving
The difference of motor and vehicle driving-cycle demarcates its value：
A, the torque that control mode increment is exported to PI increases and torque reduction limits respectively；
B, the maximum value limitation of control mode；
5. MCU controls need to turn according to braking torque and motor speed and motor different before entrance 0 rotational speed governor of der Geschwindigkeitkreis
The direction of speed demarcates above-mentioned PI parameters, moment of torsion control increment and peak torque limitation, and makees the qualifications of relevant parameter, really
It protects different operating modes and uses corresponding parameter；
6. can also realize that automatic parking function, the parameter of 0 rotating speed level land of der Geschwindigkeitkreis calibration do time limit to adapt to car ramp
It is fixed, if driving motor rotating speed throws away not up to control requirement in setting time, the PI demarcated on ramp, moment of torsion control is used to increase
Amount and peak torque limit parameter.
4. motor speed control method according to claim 1, which is characterized in that the MCU carries braking function, profit
So that driving motor is generated the brake force with motor speed opposite direction with the rectification function of MCU, reduces the travel speed of vehicle
Vehicle driving kinetic energy electric energy is converted to simultaneously to preserve into high-tension battery；Braking can be all realized to ensure that vehicle moves forward and backward
It parks function, driving motor, which rotates and reverse, braking function under two states.
5. motor speed control method according to claim 4, which is characterized in that the driving motor installation is for acquiring
The sensor of driving motor rotating speed and steering, while MCU acquires the rotating speed of the signal calculating driving motor of sensor and turns in real time
To.
6. motor speed control method according to claim 5, which is characterized in that according to certain between the MCU and VCU
Rule of communication, VCU obtains direction and the size of driving motor rotating speed in real time, and VCU is according to the direction of driving motor rotating speed and big
The requirement of small combination automatic parking, sends instructions to MCU execution in real time, and MCU is corresponding dynamic according to VCU instructions execution in real time is received
Make, and feedback of status will be executed to VCU.
7. motor speed control method according to claim 6, which is characterized in that the communication between MCU and VCU uses
One or more of CAN, Lin, FlexRay, Ethernet.
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201810667622.8A CN108638916A (en) | 2018-06-26 | 2018-06-26 | A kind of motor speed control method suitable for new-energy automobile automatic parking |
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|---|---|---|---|
| CN201810667622.8A CN108638916A (en) | 2018-06-26 | 2018-06-26 | A kind of motor speed control method suitable for new-energy automobile automatic parking |
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ID=63753693
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Cited By (9)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109624730A (en) * | 2018-12-12 | 2019-04-16 | 北京新能源汽车股份有限公司 | Torque control method and device and electric automobile |
| CN110154780A (en) * | 2019-04-11 | 2019-08-23 | 汉腾汽车有限公司 | A kind of new energy vehicle electricity drives wriggling moment of torsion control and wriggling Protection control system and method |
| CN112172796A (en) * | 2020-09-27 | 2021-01-05 | 合肥巨一动力系统有限公司 | Automatic parking method controlled by speed loop of electric automobile driving system |
| CN112644289A (en) * | 2021-01-05 | 2021-04-13 | 奇瑞新能源汽车股份有限公司 | Electric braking parking method and device for vehicle, motor controller and vehicle |
| CN112810595A (en) * | 2019-11-15 | 2021-05-18 | 湖南中车特种电气装备有限公司 | Motor electric braking control method and device for electrically driven vehicle |
| CN112848919A (en) * | 2021-01-25 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Power-off method and device of electric automobile and electric automobile |
| CN113147428A (en) * | 2019-05-06 | 2021-07-23 | 奇瑞汽车股份有限公司 | Control method of electric drive system with braking function |
| CN113561967A (en) * | 2021-08-24 | 2021-10-29 | 奇瑞新能源汽车股份有限公司 | Automatic parking method and device for vehicle and vehicle |
| CN114162112A (en) * | 2021-12-20 | 2022-03-11 | 合肥巨一动力系统有限公司 | Motor drive control method and system for torque allowance release and storage medium |
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| CN112644289A (en) * | 2021-01-05 | 2021-04-13 | 奇瑞新能源汽车股份有限公司 | Electric braking parking method and device for vehicle, motor controller and vehicle |
| CN112644289B (en) * | 2021-01-05 | 2022-07-12 | 奇瑞新能源汽车股份有限公司 | Electric braking parking method and device for vehicle, motor controller and vehicle |
| CN112848919A (en) * | 2021-01-25 | 2021-05-28 | 奇瑞新能源汽车股份有限公司 | Power-off method and device of electric automobile and electric automobile |
| CN113561967A (en) * | 2021-08-24 | 2021-10-29 | 奇瑞新能源汽车股份有限公司 | Automatic parking method and device for vehicle and vehicle |
| CN114162112A (en) * | 2021-12-20 | 2022-03-11 | 合肥巨一动力系统有限公司 | Motor drive control method and system for torque allowance release and storage medium |
| CN114162112B (en) * | 2021-12-20 | 2023-08-29 | 合肥巨一动力系统有限公司 | Motor drive control method, system and storage medium for torque margin relief |
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