CN109353227B - Motor torque control method and wheel-side motor distributed driving system - Google Patents

Motor torque control method and wheel-side motor distributed driving system Download PDF

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Publication number
CN109353227B
CN109353227B CN201811149524.1A CN201811149524A CN109353227B CN 109353227 B CN109353227 B CN 109353227B CN 201811149524 A CN201811149524 A CN 201811149524A CN 109353227 B CN109353227 B CN 109353227B
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motor
torque
value
motor system
current
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CN109353227A (en
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王彦波
李强
陈国涛
邓金涛
张佳骥
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Weichai Power Co Ltd
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Weichai Power Co Ltd
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/42—Electrical machine applications with use of more than one motor
    • 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
    • B60L2220/00—Electrical machine types; Structures or applications thereof
    • B60L2220/40—Electrical machine applications
    • B60L2220/46—Wheel motors, i.e. motor connected to only one wheel
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—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

Abstract

The application provides a motor torque control method and a wheel-side motor distributed driving system, wherein the method is applied to a whole vehicle control unit in the system, the system also comprises two motor systems, each motor system comprises a motor, and the method simultaneously executes the following motor torque control process for each motor system: calculating a torque basic value of a motor in the motor system based on the current accelerator pedal signal and the current rotating speed of the motor in the motor system; correcting the torque basic value of the motor to obtain a torque correction value of the motor; limiting a torque correction value of a motor by using the current speed of the vehicle and the motor torque which is recently sent to another motor system by the whole vehicle control unit history to obtain a torque limit value of the motor; the motor torque is determined from the torque limit value and the torque correction value of the motor and is input to a motor system to which the motor belongs to control the motor system to control a motor in the motor system to drive a driving wheel on the vehicle for being driven by the motor system in response to the motor torque.

Description

Motor torque control method and wheel-side motor distributed driving system
Technical Field
The invention relates to the technical field of motor driving, in particular to a motor torque control method and a wheel-side motor distributed driving system.
Background
The automobile driving wheel is connected with the driving axle and bears forward ground friction force to provide driving force for the running of the automobile. Two driving modes generally exist for vehicles, one is front wheel driving and the other is rear wheel driving, the front wheel driving is that two wheels positioned at a vehicle head are driving wheels, two wheels positioned at a vehicle tail are non-driving wheels, the rear wheel driving is that two wheels positioned at the vehicle head are non-driving wheels, and two wheels positioned at the vehicle tail are driving wheels.
The wheel motor distributed driving system adopts a left driving wheel and a right driving wheel independent driving mode, although the mode can respectively provide motor torque for each driving wheel side motor and drive the corresponding driving wheel to provide driving force for the running of the vehicle; however, if the ground adhesion on the left and right driving wheel sides is different, as the torque of the motor on the driving wheel side increases, one driving wheel always reaches the adhesion limit and slips, so that the driving forces on the left and right sides are unequal to generate a yaw torque around the center of mass, and when the yaw torque is large and the lateral adhesion of the wheels is poor, the problem of vehicle body yaw occurs, and the driving safety is affected.
In view of this, how to provide a motor torque control method and a wheel-side motor distributed drive system to reduce the occurrence of vehicle body yaw during the vehicle running process and improve the driving safety.
Disclosure of Invention
In view of this, the present invention provides a motor torque control method and a wheel-side motor distributed driving system, so as to reduce the occurrence of vehicle body yaw during the driving process of a vehicle and improve the driving safety.
The technical scheme is as follows:
a motor torque control method is applied to a whole vehicle control unit in a wheel-side motor distributed driving system, the wheel-side motor distributed driving system further comprises two motor systems connected with the whole vehicle control unit, one motor system is used for driving a driving wheel on a vehicle, the motor systems comprise motors, and the method comprises the following motor torque control processes of simultaneously executing to each of the two motor systems:
calculating a torque basic value of a motor in the motor system based on a current accelerator pedal signal and a current rotating speed of the motor in the motor system;
correcting a torque basic value of a motor in the motor system according to the current rotating speed of a driving wheel driven by the motor system to obtain a torque correction value of the motor in the motor system;
limiting a torque correction value of a motor in the motor system by using the current speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit recently to obtain a torque limit value of the motor in the motor system;
and determining a motor torque from the torque limit value and the torque correction value of the motor in the motor system, and inputting the motor torque into the motor system to control the motor in the motor system to drive a driving wheel on the vehicle for being driven by the motor system in response to the motor torque.
Preferably, the calculating a torque base value of a motor in the motor system based on the current accelerator pedal signal and the current rotation speed of the motor in the motor system includes:
acquiring a current accelerator pedal signal and the current rotating speed of a motor in the motor system;
and inquiring the preset corresponding relation among the accelerator pedal signal, the motor rotating speed and the torque basic value, and acquiring the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system.
Preferably, a plurality of curves are preset, different curves correspond to different accelerator pedal signals, the abscissa of the curve is the motor rotating speed, the ordinate is the torque basic value,
the inquiring of the corresponding relation among the preset accelerator pedal signal, the motor rotating speed and the torque basic value, and the obtaining of the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system comprise:
determining a target curve corresponding to a current accelerator pedal signal from the plurality of curves;
and when the motor rotating speed in the target curve is determined to be the current rotating speed, determining a torque basic value in the target curve, and taking the determined torque basic value as the torque basic value of the motor in the motor system.
Preferably, the correcting the torque basic value of the motor in the motor system according to the current rotating speed of the driving wheel driven by the motor system to obtain the torque correction value of the motor in the motor system includes:
calculating a slip rate of a drive wheel driven by the motor system from a current rotational speed of the drive wheel;
searching a preset corresponding relation between the slip ratio and the slip correction coefficient, and determining the slip correction coefficient corresponding to the slip ratio of the driving wheel as the slip correction coefficient of the driving wheel;
and correcting the torque basic value of the motor in the motor system by using the slip correction coefficient of the driving wheel to obtain the torque correction value of the motor in the motor system.
Preferably, the calculating of the slip ratio of the drive wheel based on the current rotational speed for the drive wheel driven by the motor system includes:
calculating the slip ratio of the driving wheel according to the current rotating speed of the driving wheel driven by the motor system and a preset slip ratio calculation formula; the slip ratio calculation formula includes:
Figure BDA0001817607980000031
nwhl≥nbasicwherein n iswhlIs the current rotating speed of the driving wheel; n isrefSpeed equivalent, n, for the wheel edge of the drive wheel with reference to the vehicle speedwhlThe minimum value is limited to nbasic，nbasicA rotation speed value greater than zero.
Preferably, the correcting the torque basic value of the motor in the motor system by using the slip correction coefficient of the driving wheel to obtain the torque correction value of the motor in the motor system includes:
and calculating the product of the torque basic value of the motor in the motor system and the slip correction coefficient of the driving wheel driven by the motor system, and taking the product as the torque correction value of the motor in the motor system.
Preferably, the limiting the torque correction value of the motor in the motor system by using the current speed of the vehicle and the motor torque which is sent to another motor system by the entire vehicle control unit in the past and recently to obtain the torque limit value of the motor in the motor system includes:
acquiring the current speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
searching a preset corresponding relation among the vehicle speed, the motor torque and a torque deviation limiting value, and determining a torque deviation limiting value corresponding to the current vehicle speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
and limiting the torque correction value of the motor in the motor system by using the determined torque deviation limiting value to obtain the torque limiting value of the motor in the motor system.
Preferably, the limiting the torque correction value of the motor in the motor system by using the determined torque deviation limiting value to obtain the torque limiting value of the motor in the motor system includes:
and calculating the sum of the determined torque deviation limit value and the torque correction value of the motor in the motor system, and taking the calculation result as the torque limit value of the motor in the motor system.
Preferably, the determining the motor torque from the torque limit value and the torque correction value of the motor in the motor system includes:
and comparing the torque limit value and the torque correction value of the motor in the motor system, and determining the smaller value of the torque limit value and the torque correction value as the motor torque of the motor in the motor system.
The utility model provides a wheel limit motor distributed drive system, include whole car the control unit, with two electrical system that whole car the control unit links to each other, an electrical system is used for driving a drive wheel on the vehicle, electrical system includes the motor.
The application provides a motor torque control method and a wheel-side motor distributed driving system, wherein the method is based on a whole vehicle control unit in the wheel-side motor distributed driving system to simultaneously control two motor systems in the wheel-side distributed driving system to drive different driving wheels in a vehicle; in the process that the motor system drives the driving wheel in the vehicle, the determination of the rotating speed of the motor for outputting to the motor system is realized according to the current rotating speed of the motor in the motor system, so that the closed-loop control of the rotating speed of the motor can be realized, and the excessive slip of the wheel is avoided; in addition, in the process of driving the driving wheel in the vehicle by the motor system, the basic torque value of the motor in the motor system is corrected by using the current rotating speed of the driving wheel driven by the motor system, so that the wheel can be controlled to be in a good lateral adhesion state, and the tire wear is reduced; and in the process of driving the driving wheels in the vehicle by the motor system, the torque correction value of the motor in the motor system is limited by using the motor torque which is recently received by another motor system, so that high-speed safety and low-speed dynamic property can be considered. Based on the method and the device, the occurrence of the vehicle body yaw condition in the driving process of the vehicle can be effectively reduced, and the driving safety is improved.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the description of the embodiments or the prior art will be briefly described below, it is obvious that the drawings in the following description are only embodiments of the present invention, and for those skilled in the art, other drawings can be obtained according to the provided drawings without creative efforts.
Fig. 1 is a schematic structural diagram of a wheel-side motor distributed drive system according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of a method for controlling torque of a motor according to an embodiment of the present disclosure;
fig. 3 is a flowchart of an implementation method of a motor torque control process according to an embodiment of the present disclosure;
FIG. 4 is a schematic diagram illustrating a corresponding relationship among an accelerator pedal signal, a motor speed and a torque basic value according to an embodiment of the present disclosure;
FIG. 5 is a flowchart of a method for correcting a base torque value of a motor in a motor system according to a current rotational speed of a driving wheel driven by the motor system to obtain a corrected torque value of the motor in the motor system according to an embodiment of the present application;
fig. 6 is a flowchart of a method for obtaining a torque limit value of a motor in a motor system by limiting a torque correction value of the motor in the motor system according to a current vehicle speed of a vehicle and a motor torque that is recently sent to another motor system by a vehicle control unit according to an embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Example (b):
the embodiment of the application provides a motor torque control method, which is used for realizing torque control of motors in two motor systems in a wheel motor distributed driving system at the same time. In order to facilitate understanding of a motor torque control method provided in the embodiments of the present application, a detailed description will be first given of a wheel-side motor distributed drive system provided in the embodiments of the present application.
Fig. 1 is a schematic structural diagram of a wheel-side motor distributed drive system according to an embodiment of the present disclosure.
As shown in fig. 1, the wheel-side motor distributed drive system includes: the system comprises a vehicle control unit, a motor system 1 and a motor system 2; the motor system 1 comprises a motor 1, the motor system 2 comprises a motor 2, and the motor 1 and the motor 2 are used for driving different driving wheels on the vehicle.
In the embodiment of the present application, the motor system 1 may include a motor control unit 1 in addition to the motor 1; the motor system 2 may include a motor control unit 2 in addition to the motor 2; furthermore, both the motor system 1 and the motor system 2 may further include a speed reduction mechanism.
A vehicle control unit in the wheel-side motor distributed drive system may receive a current rotation speed of the motor 1 (a rotation speed of the motor 1 shown in fig. 1) sent by the motor 1 and a current rotation speed of the motor 2 (a rotation speed of the motor 2 shown in fig. 1) sent by the motor 2; and the torque of the motor 1 (the torque of the motor 1 shown in fig. 1) and the torque of the motor 2 (the torque of the motor 2 shown in fig. 1) are calculated based on the rotating speed of the motor 1 and the rotating speed of the motor 2, and the whole vehicle control unit simultaneously sends the torque of the motor 1 to the motor 1 and the torque of the motor 2 to the motor 2 so as to control the motor 1 to drive the driving wheel for being driven by the motor 1 in the vehicle (the driving wheel for being driven by the motor 1 is the driving wheel connected with the motor 1 through the speed reducing mechanism in fig. 1) in response to the torque of the motor 1 and control the motor 2 to drive the driving wheel for being driven by the motor 2 in the vehicle (the driving wheel for being driven by the motor 2 through the speed reducing mechanism in fig. 2) in response to.
Further, under the condition that the motor system 1 further comprises a motor control unit 1 and the motor system 2 further comprises a motor control unit 2, the motor control unit 1 can collect the current rotating speed of the motor 1 (the rotating speed of the motor 1) and send the current rotating speed to the vehicle control unit, and the motor control unit 2 can collect the current rotating speed of the motor 2 (the rotating speed of the motor 2) and send the current rotating speed to the vehicle control unit; after the vehicle control unit calculates the torque of the motor 1 (the torque of the motor 1) and the torque of the motor 2 (the torque of the motor 2) based on the rotating speed of the motor 1 and the rotating speed of the motor 2, the vehicle control unit can simultaneously send the torque of the motor 1 to the motor control unit 1 and send the torque of the motor 2 to the motor control unit 2; so that the motor 1 drives the drive wheels of the vehicle intended to be driven by the motor 1 in response to the torque of the motor 1 received by the motor control unit 1, and the motor 2 drives the drive wheels of the vehicle intended to be driven by the motor 2 in response to the torque of the motor 2 received by the motor control unit 2.
Based on the wheel-side motor distributed driving system shown in fig. 1, the embodiment of the present application further provides a motor torque control method applied to a vehicle control unit in the wheel-side motor distributed driving system, and based on the motor torque control method provided in the embodiment of the present application, the vehicle control unit can simultaneously realize torque control on the motor 1 and the motor 2, so that the motor 1 and the motor 2 respectively drive corresponding driving wheels.
Fig. 2 is a schematic diagram of a motor torque control method according to an embodiment of the present disclosure.
A motor torque control method as shown in fig. 2 is applied to a vehicle control unit of a motor distributed drive system, and the vehicle control unit is configured to simultaneously control a motor system 1 and a motor system 2 to execute a motor torque control process. As can be seen from fig. 1 and fig. 2, an implementation manner of a motor torque control method provided in an embodiment of the present application is as follows:
receiving a current accelerator pedal signal of a vehicle to be controlled by a motor distributed drive system;
calculating a torque base value of the motor 1 (motor 1 torque base value) based on the received current accelerator pedal signal and the current rotation speed of the motor 1 in the motor system 1 (motor 1 rotation speed); and calculating a torque base value of the motor 2 (motor 2 torque base value) based on the received current accelerator pedal signal and the current rotation speed of the motor 2 in the motor system 2 (motor 2 rotation speed);
taking the product of the slip correction coefficient of the motor 1 (the slip correction coefficient of the motor 1) and the torque basic value of the motor 1 as the torque correction value of the motor 1 (the torque correction value of the motor 1); and, taking the product of the slip correction factor of the motor 2 (motor 2 slip correction factor) and the base torque value of the motor 2 as the torque correction value of the motor 2 (motor 2 torque correction value);
taking the sum of the motor 1 torque correction value and the torque deviation limit value of the motor 2 (motor 2 torque deviation limit) as the torque limit value of the motor 1 (motor 1 torque limit value); and, the sum of the motor 2 torque correction value and the torque deviation limit of the motor 1 (motor 1 torque deviation limit) is taken as the torque limit value of the motor 2 (motor 2 torque limit value);
the smaller value of the corrected value of the torque of the motor 1 and the limited value of the torque of the motor 1 is used as the motor torque of the motor 1 (the motor torque of the motor 1); and the smaller of the motor 2 torque correction value and the motor 2 torque limit value is used as the motor torque of the motor 2 (motor 2 torque);
simultaneously sending motor torque of the motor 1 to the motor system 1 and sending motor torque of the motor 2 to the motor system 2; so that the motor system 1 controls the motor 1 in the motor system 1 to drive the driving wheels for being driven by the motor system 1 on the vehicle in response to the motor torque of the motor 1; and facilitates the motor system 2 controlling the motor 2 in the motor system 2 to drive the drive wheels of the vehicle for being driven by the motor system 2 in response to the motor torque of the motor 2.
The wheel-side motor distributed driving system may include two motor systems, the vehicle control unit executes a motor torque control process on the two motor systems at the same time, and in order to facilitate understanding of the motor torque control process executed by the vehicle control unit on the motor systems, the vehicle control unit controls an angle of executing the motor torque control process on one motor system in the wheel-side motor distributed driving system, so as to describe in detail a motor torque control method provided in an embodiment of the present application, specifically refer to fig. 3.
Fig. 3 is a flowchart of an implementation method of a motor torque control process according to an embodiment of the present disclosure. As shown in fig. 3, the motor torque control process includes:
s301, calculating a torque basic value of a motor in the motor system based on a current accelerator pedal signal and the current rotating speed of the motor in the motor system;
in an embodiment of the present application, calculating a torque base value of a motor in a motor system based on a current accelerator pedal signal and a current rotation speed of the motor in the motor system includes: acquiring a current accelerator pedal signal and the current rotating speed of a motor in a motor system; and inquiring the preset corresponding relation among the pedal signal, the motor rotating speed and the torque basic value, and acquiring the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system.
The system comprises a motor, a torque base value, a plurality of curves, a motor speed sensor, a torque sensor, a motor speed sensor. Correspondingly, inquiring the corresponding relation of the preset accelerator pedal signal, the motor rotating speed and the torque basic value, and acquiring the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system, wherein the method comprises the following steps: determining a target curve corresponding to a current accelerator pedal signal from the plurality of curves; and when the rotating speed of the motor in the target curve is determined to be the current rotating speed, determining a torque basic value in the target curve, and taking the determined torque basic value as the torque basic value of the motor in the motor system.
Referring to fig. 4, a plurality of preset curves are provided in the embodiment of the present application, taking fig. 4 as an example, the throttles corresponding to each point in the curve 1 are the same (i.e., the throttle pedal signals corresponding to each point in the curve 1 are the same); the accelerator corresponding to each point in the curve 2 is the same (i.e., the accelerator pedal signal corresponding to each point in the curve 2 is the same); the accelerator corresponding to each point in the curve 3 is the same (i.e., the accelerator pedal signal corresponding to each point in the curve 3 is the same); the throttle corresponding to curve 1, curve 2 and curve 3 is raised in sequence. That is, the accelerator indicated by the accelerator pedal signal corresponding to each point in the curve 1 is smaller than the accelerator indicated by the accelerator pedal signal corresponding to each point in the curve 2, and the accelerator indicated by the accelerator pedal signal corresponding to each point in the curve 2 is smaller than the accelerator indicated by the accelerator pedal signal corresponding to each point in the curve 3.
Referring to fig. 4, the larger the accelerator is, the larger the basic value of the torque is at the same motor speed; under the same accelerator, a low motor rotating speed area can keep a constant torque basic value, so that the driving capability is ensured; the higher the motor rotating speed is, the smaller the torque basic value is; after the motor speed exceeds the running resistance balance point, the motor torque is rapidly reduced.
S302, correcting a torque basic value of a motor in the motor system according to the current rotating speed of a driving wheel driven by the motor system to obtain a torque correction value of the motor in the motor system;
s303, limiting a torque correction value of a motor in the motor system by using the current speed of the vehicle and the motor torque which is recently sent to another motor system by the whole vehicle control unit history to obtain a torque limit value of the motor in the motor system;
and S304, determining motor torque from the torque limit value and the torque correction value of the motor in the motor system, and inputting the motor torque into the motor system to control the motor system to respond to the motor torque to control the motor in the motor system to drive a driving wheel on the vehicle for being driven by the motor system.
In an embodiment of the present application, determining a motor torque from a torque limit value and a torque correction value of a motor in a motor system includes: and comparing the torque limit value and the torque correction value of the motor in the motor system, and determining the smaller value of the torque limit value and the torque correction value as the motor torque of the motor in the motor system.
An embodiment of the present application provides a flowchart of a method for correcting a basic torque value of a motor in a motor system according to a current rotation speed of a driving wheel driven by the motor system to obtain a corrected torque value of the motor in the motor system, and specifically refer to fig. 5, as shown in fig. 5, the method includes:
s501, calculating the slip ratio of the driving wheel according to the current rotating speed of the driving wheel driven by the motor system;
in an embodiment of the present application, calculating a slip ratio of a drive wheel based on a current rotational speed for the drive wheel driven by a motor system includes: calculating the slip ratio of the driving wheel according to the current rotating speed of the driving wheel driven by the motor system and a preset slip ratio calculation formula; the slip ratio calculation formula includes:
Figure BDA0001817607980000091
nwhl≥nbasicwherein n iswhlIs the current rotating speed of the driving wheel; n isrefSpeed equivalent, n, for the wheel edge of the drive wheel with reference to the vehicle speedwhlThe minimum value is limited to nbasic，nbasicA rotation speed value greater than zero.
Based on the slip ratio calculation formula, it can be known that: when calculating the slip ratio of a driving wheel, the current rotation speed of the driving wheel can be used as n in the slip ratio calculation formulawhlTaking the equivalent of the rotational speed of the wheel edge reference vehicle speed of the driving wheel as n in the slip ratio calculation formularefAnd obtaining the slip ratio of the driving wheel.
In the embodiment of the application, when the slip ratio of a wheel is calculated, the current rotating speed of the driving wheel can be used as n in the slip ratio calculation formulawhlParameter value of (2), non-of the same side of the driving wheelCalculating formula taking current rotating speed of driving wheel as slip ratiorefAnd obtaining the slip ratio of the driving wheel.
The above is only a preferred way of calculating the slip ratio provided in the embodiment of the present application, and the inventor may set the slip ratio according to his own needs, which is not limited herein.
S502, searching a preset corresponding relation between the slip ratio and the slip correction coefficient, and determining the slip correction coefficient corresponding to the slip ratio of the driving wheel as the slip correction coefficient of the driving wheel;
in the embodiment of the application, the slip correction coefficient of the driving wheel is inversely related to the slip rate of the driving wheel, and the larger the slip rate of the driving wheel is, the smaller the slip correction coefficient of the driving wheel is; conversely, the smaller the slip ratio of the driving wheel, the larger the slip correction factor of the driving wheel.
The corresponding relationship between the slip ratio and the slip correction coefficient may be preset, and after the slip ratio of the driving wheel is determined, the preset corresponding relationship between the slip ratio and the slip correction coefficient may be queried to obtain the slip correction coefficient corresponding to the slip ratio of the driving wheel, and the obtained slip correction coefficient may be used as the slip correction coefficient of the driving wheel.
S503, correcting the torque basic value of the motor in the motor system by using the slip correction coefficient of the driving wheel to obtain the torque correction value of the motor in the motor system.
In this embodiment of the present application, the method for correcting a torque basic value of a motor in a motor system by using a slip correction coefficient of a driving wheel to obtain a torque correction value of the motor in the motor system includes: and calculating the product of the torque basic value of the motor in the motor system and the slip correction coefficient of the driving wheel driven by the motor system, and taking the product as the torque correction value of the motor in the motor system.
The embodiment of the present application provides a flowchart of a method for obtaining a torque limit value of a motor in a motor system by limiting a torque correction value of the motor in the motor system by using a current vehicle speed of a vehicle and a motor torque that is recently sent to another motor system by a vehicle control unit history, and specifically please refer to fig. 6, as shown in fig. 6, the method includes:
s601, acquiring the current speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
in the embodiment of the application, the vehicle control unit simultaneously executes a motor torque control process on each of two motor systems in the wheel-side motor distributed drive system, and simultaneously sends the motor torques corresponding to the motor torques to the two motor systems after respectively determining the motor torques of each motor system in the process of simultaneously executing the motor torque control on each of the two motor systems in the wheel-side motor distributed drive system; therefore, in the process that the whole vehicle control unit executes the motor torque control on each of the two motor systems at the same time, and in the process that the whole vehicle control unit executes the motor torque control on each of the two motor systems at the same time in the last time, the motor torque sent to the motor systems by the whole vehicle control unit is just the motor torque which is sent to the motor systems by the whole vehicle control unit at the latest time.
S602, searching a preset corresponding relation among the vehicle speed, the motor torque and a torque deviation limiting value, and determining a torque deviation limiting value corresponding to the current vehicle speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
in the embodiment of the application, the corresponding relation among the vehicle speed, the motor torque and the torque deviation limiting value is preset, the corresponding relation among the vehicle speed, the motor torque and the torque deviation limiting value which are preset is searched, the torque deviation limiting value when the vehicle speed is the current vehicle speed of the vehicle and the motor torque is the motor torque which is sent to another motor system by the whole vehicle control unit last time is determined, and the torque deviation limiting value is used as the torque deviation limiting value corresponding to the current vehicle speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit last time.
And S603, limiting the torque correction value of the motor in the motor system by using the determined torque deviation limiting value to obtain the torque limiting value of the motor in the motor system.
In this embodiment of the present application, the limiting a torque correction value of a motor in a motor system by using the determined torque deviation limiting value to obtain a torque limiting value of the motor in the motor system includes: and calculating the sum of the determined torque deviation limit value and the torque correction value of the motor in the motor system, and taking the calculation result as the torque limit value of the motor in the motor system.
Further, the embodiment of the present application further provides a wheel-side motor distributed driving system, where the wheel-side motor distributed driving system includes a vehicle control unit and two motor systems connected to the vehicle control unit, where one motor system is used to drive a driving wheel on a vehicle, and the motor system includes a motor.
The application provides a motor torque control method and a wheel-side motor distributed driving system, wherein the method is based on a whole vehicle control unit in the wheel-side motor distributed driving system to simultaneously control two motor systems in the wheel-side distributed driving system to drive different driving wheels in a vehicle; in the process that the motor system drives the driving wheel in the vehicle, the determination of the rotating speed of the motor for outputting to the motor system is realized according to the current rotating speed of the motor in the motor system, so that the closed-loop control of the rotating speed of the motor can be realized, and the excessive slip of the wheel is avoided; in addition, in the process of driving the driving wheel in the vehicle by the motor system, the basic torque value of the motor in the motor system is corrected by using the current rotating speed of the driving wheel driven by the motor system, so that the wheel can be controlled to be in a good lateral adhesion state, and the tire wear is reduced; and in the process of driving the driving wheels in the vehicle by the motor system, the torque correction value of the motor in the motor system is limited by using the motor torque which is recently received by another motor system, so that high-speed safety and low-speed dynamic property can be considered. Based on the method and the device, the occurrence of the vehicle body yaw condition in the driving process of the vehicle can be effectively reduced, and the driving safety is improved.
The motor torque control method and the wheel-side motor distributed driving system provided by the invention are described in detail above, and specific examples are applied in the text to explain the principle and the implementation of the invention, and the description of the above embodiments is only used to help understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
It should be noted that, in the present specification, the embodiments are all described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments may be referred to each other. The device disclosed by the embodiment corresponds to the method disclosed by the embodiment, so that the description is simple, and the relevant points can be referred to the method part for description.
It is further noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include or include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The previous description of the disclosed embodiments is provided to enable any person skilled in the art to make or use the present invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the generic principles defined herein may be applied to other embodiments without departing from the spirit or scope of the invention. Thus, the present invention is not intended to be limited to the embodiments shown herein but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims (10)

1. The motor torque control method is characterized by being applied to a whole vehicle control unit in a wheel-side motor distributed driving system, wherein the wheel-side motor distributed driving system further comprises two motor systems connected with the whole vehicle control unit, the two motor systems are used for respectively driving a driving wheel on a vehicle, each motor system comprises a motor, and the method comprises the following motor torque control processes of simultaneously executing to each motor system in the two motor systems:
calculating a torque basic value of a motor in the motor system based on a current accelerator pedal signal and a current rotating speed of the motor in the motor system;
correcting a torque basic value of a motor in the motor system according to the current rotating speed of a driving wheel driven by the motor system to obtain a torque correction value of the motor in the motor system;
limiting a torque correction value of a motor in the motor system by using the current speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit recently to obtain a torque limit value of the motor in the motor system;
and determining a motor torque from the torque limit value and the torque correction value of the motor in the motor system, and inputting the motor torque into the motor system to control the motor in the motor system to drive a driving wheel on the vehicle for being driven by the motor system in response to the motor torque.
2. The method of claim 1, wherein calculating a torque base value for a motor in the motor system based on the current accelerator pedal signal and a current speed of the motor in the motor system comprises:
acquiring a current accelerator pedal signal and the current rotating speed of a motor in the motor system;
and inquiring the preset corresponding relation among the accelerator pedal signal, the motor rotating speed and the torque basic value, and acquiring the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system.
3. The method according to claim 2, wherein a plurality of curves are preset, different curves correspond to different accelerator pedal signals, the abscissa of the curve is the motor rotation speed, the ordinate is the torque basic value,
the inquiring of the corresponding relation among the preset accelerator pedal signal, the motor rotating speed and the torque basic value, and the obtaining of the torque basic value corresponding to the current accelerator pedal signal and the current rotating speed as the torque basic value of the motor in the motor system comprise:
determining a target curve corresponding to a current accelerator pedal signal from the plurality of curves;
and when the motor rotating speed in the target curve is determined to be the current rotating speed, determining a torque basic value in the target curve, and taking the determined torque basic value as the torque basic value of the motor in the motor system.
4. The method of claim 1, wherein the modifying the base torque value for the electric machine of the electric machine system based on the current speed of rotation for the drive wheel driven by the electric machine system to obtain the modified torque value for the electric machine of the electric machine system comprises:
calculating a slip rate of a drive wheel driven by the motor system from a current rotational speed of the drive wheel;
searching a preset corresponding relation between the slip ratio and the slip correction coefficient, and determining the slip correction coefficient corresponding to the slip ratio of the driving wheel as the slip correction coefficient of the driving wheel;
and correcting the torque basic value of the motor in the motor system by using the slip correction coefficient of the driving wheel to obtain the torque correction value of the motor in the motor system.
5. The method of claim 4, wherein calculating the slip rate of the drive wheel based on the current rotational speed for the drive wheel driven by the motor system comprises:
calculating the slip ratio of the driving wheel according to the current rotating speed of the driving wheel driven by the motor system and a preset slip ratio calculation formula; the slip ratio calculation formula includes:
Figure DEST_PATH_IMAGE002
wherein n iswhlIs the current rotating speed of the driving wheel; n isrefSpeed equivalent, n, for the wheel edge of the drive wheel with reference to the vehicle speedwhlThe minimum value is limited to nbasic，nbasicA rotation speed value greater than zero.
6. The method of claim 4, wherein the correcting the base torque value of the motor in the motor system using the slip correction factor of the driving wheel to obtain the corrected torque value of the motor in the motor system comprises:
and calculating the product of the torque basic value of the motor in the motor system and the slip correction coefficient of the driving wheel driven by the motor system, and taking the product as the torque correction value of the motor in the motor system.
7. The method of claim 1, wherein the step of limiting the torque correction value of the motor in the motor system by using the current vehicle speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit in the past to obtain the torque limit value of the motor in the motor system comprises:
acquiring the current speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
searching a preset corresponding relation among the vehicle speed, the motor torque and a torque deviation limiting value, and determining a torque deviation limiting value corresponding to the current vehicle speed of the vehicle and the motor torque which is sent to another motor system by the whole vehicle control unit at the latest time;
and limiting the torque correction value of the motor in the motor system by using the determined torque deviation limiting value to obtain the torque limiting value of the motor in the motor system.
8. The method of claim 7, wherein limiting the torque correction of the motor in the motor system using the determined torque deviation limit value to obtain a torque limit value for the motor in the motor system comprises:
and calculating the sum of the determined torque deviation limit value and the torque correction value of the motor in the motor system, and taking the calculation result as the torque limit value of the motor in the motor system.
9. The method of claim 1, wherein determining the motor torque from the torque limit and the torque correction for the motor in the motor system comprises:
and comparing the torque limit value and the torque correction value of the motor in the motor system, and determining the smaller value of the torque limit value and the torque correction value as the motor torque of the motor in the motor system.
10. A distributed wheel-edge motor drive system, using the method of any of claims 1-9, comprising: the vehicle control unit comprises a whole vehicle control unit and two motor systems connected with the whole vehicle control unit, wherein the two motor systems are used for respectively driving a driving wheel on a vehicle, and each motor system comprises a motor.
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