CN109606131A - A kind of torque control method and device - Google Patents
A kind of torque control method and device Download PDFInfo
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- CN109606131A CN109606131A CN201811466410.XA CN201811466410A CN109606131A CN 109606131 A CN109606131 A CN 109606131A CN 201811466410 A CN201811466410 A CN 201811466410A CN 109606131 A CN109606131 A CN 109606131A
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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
- 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
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- 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)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention provides a kind of torque control method and devices, by in the case where motor is in non-shift, determine whether the current motor torque value of the motor needs to correct, if, obtain the current motor torque demand value of the motor, and the difference of the Motor torque requirements of the current motor torque demand value and the previous step of motor length, Motor torque based on the motor under the different operating conditions pre-established corrects restrictive curve, the current motor torque demand value and the difference, determine the extent of amendment of the current motor torque value, and motor current torque value is modified by extent of amendment.Amendment by torque control method disclosed in aforementioned present invention to motor torque values, the comfort when power and passenger for being able to ascend the motor of automobile ride in an automobile.
Description
Technical field
The present invention relates to power technology field, specially a kind of torque control method and device.
Background technique
Motor refers to that a kind of calutron that electric energy conversion or transmitting are realized according to the law of electromagnetic induction, main function are to produce
Raw driving torque, as electrical appliance or the power source of various machinery.The driving motor effect of electric car is by the electric energy of power supply
It is converted into mechanical energy, the conversion of mechanical energy is carried out by transmission device or direct drive of wheel and equipment, compared to transmission
For power vehicle, due to electric car no pollution to the environment, many advantages, such as noise is low, and energy efficiency is high, therefore electronic vapour
Vehicle is liked by everybody.
But as one of the big core component of new-energy automobile three driving motor, in forward and reverse change procedure, i.e.,
In positive-torque and negative torque change procedure, it since there are gaps for transmission system, will appear noise and impact, seriously affect whole
The comfort that vehicle power and passenger take.
Summary of the invention
In view of this, the embodiment of the invention provides a kind of torque control method and device, by non-shift process
Torque be modified, to achieve the purpose that promote vehicle power and passenger comfort.
To achieve the above object, the embodiment of the present invention provides the following technical solutions:
First aspect discloses a kind of torque control method, comprising:
In the case where motor is in non-shift, determine whether the current motor torque value of the motor needs to correct；
If so, obtaining current motor torque demand value and the current motor torque demand value and the institute of the motor
State the difference of the Motor torque requirements of the previous step length of motor；
Motor torque amendment restrictive curve based on the motor under the different operating conditions pre-established, the previous step are long
Motor torque requirements and the difference, determine the extent of amendment of the current motor torque value.
Preferably, whether the current motor torque value for determining the motor needs to correct, comprising:
Determine whether torque gradient corresponding to the current motor torque value of the motor is greater than threshold value；
If so, determining that the current motor torque value of the motor needs to correct；
If it is not, then determining that the current motor torque value of the motor does not need to correct.
Preferably, the Motor torque of the motor under the different operating conditions pre-established corrects restrictive curve, comprising:
Motor motor under different operating conditions is generated to the demand of Motor torque under different operating conditions according to the motor
The corresponding motor torque values correction value of torque；
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero passage
Point range propradation, Motor torque decline original state, and the full torque range of motor declines under state and motor zero passage point range
Drop state；
Based on the Motor torque correction value, the Motor torque for generating corresponding different operating conditions corrects restrictive curve；
Wherein, the Motor torque amendment restrictive curve includes: that Motor torque rises initial restrictive curve, the full torque of motor
Range rises restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, motor is turned round entirely
Square range declines restrictive curve and motor zero passage point range declines restrictive curve.
Preferably, it is described based on the motor under the different operating conditions pre-established Motor torque amendment restrictive curve,
The long Motor torque requirements of the previous step and the difference determine the extent of amendment of the motor torque values of the motor, packet
It includes:
Current motor torque demand value to the motor Motor torque requirements long with the motor previous step make the difference
Value calculates, and obtains difference；
Judge whether the difference is positive value；
If positive value, it is determined that the motor torque values of the motor rise, and it is bent to rise initial limitation in the Motor torque
The full torque range of line, the motor, which rises in restrictive curve and motor zero passage point range rising restrictive curve, obtains the electricity
The corresponding limits value of the motor torque values of machine generates limitation value set；
Limitation minimum value is obtained in the limitation value set, is turned round using the limitation minimum value as the motor of the motor
The maximum value of square value extent of amendment；
If non-positive value, it is determined that the motor torque values of the motor are reduced, then decline initial limit in the Motor torque
Institute is obtained in the full torque range decline restrictive curve of koji-making line, the motor and motor zero passage point range decline restrictive curve
The corresponding limits value of motor torque values of motor is stated, limitation value set is generated；
Limitation maximum value is obtained in the limitation value set, is turned round using the limitation maximum value as the motor of the motor
The minimum value of the extent of amendment of square.
Preferably, further includes:
The extent of amendment of current torque value based on the motor corrects the motor current torque value.
Second aspect discloses a kind of torque control device, comprising:
Judging unit, for determining that the current motor torque value of the motor is in the case where motor is in non-shift
It is no to need to correct, if so, executing acquiring unit；
Acquiring unit, current motor torque demand value and the current motor torque for obtaining the motor need
The difference of the long Motor torque requirements of the previous step of evaluation and the motor；
Determination unit, for the Motor torque expurgated bound koji-making based on the motor under the different operating conditions pre-established
The long Motor torque requirements of line, the previous step and the difference, determine the extent of amendment of the current motor torque value.
Preferably, the judging unit, comprising:
Subelement is determined, for determining whether torque gradient corresponding to the current motor torque value of the motor is greater than
Threshold value executes acquiring unit, if it is not, determining the electricity if so, determining that the current motor torque value of the motor needs to correct
The current torque value of machine does not need to correct.
Preferably, the torque of the Motor torque amendment restrictive curve of the motor under the different operating conditions pre-established
Control device, comprising:
Numerical generation unit, for according to the motor under different operating conditions to the demand of Motor torque, generate the electricity
The corresponding motor torque values correction value of machine Motor torque under different operating conditions；
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero passage
Point range propradation, Motor torque decline original state, and the full torque range of motor declines under state and motor zero passage point range
Drop state；
Curve generation unit, for being based on the Motor torque correction value, the Motor torque for generating corresponding different operating conditions is repaired
Positive restrictive curve；
Wherein, the Motor torque amendment restrictive curve of the motor includes: that Motor torque rises initial restrictive curve, motor
Full torque range rises restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, electricity
The full torque range decline restrictive curve of machine and motor zero passage point range decline restrictive curve.
Preferably, the curve generation unit, comprising:
Computation subunit, the Motor torque for Motor torque requirements and motor previous step length to the motor
Requirements do difference calculating, obtain difference；
Judgment sub-unit if positive value, then executes the first range and determines that son is single for judging whether the difference is positive value
Member then executes the second range and determines subelement if negative value；
Maximum value determines subelement, for determining that the motor torque values of the motor rise, rises in the Motor torque
Initial restrictive curve, the full torque range of the motor rise restrictive curve and the motor zero passage point range rises in restrictive curve
The corresponding limits value of motor torque values of the motor is obtained, limitation value set is generated, limit is obtained in the limitation value set
Minimum value processed, using the limitation minimum value as the maximum value of the motor torque values extent of amendment of the motor；
Minimum value determines subelement, for determining that the motor torque values of the motor are reduced, then under the Motor torque
The full torque range decline restrictive curve of initial restrictive curve, the motor and motor zero passage point range decline restrictive curve drop
The middle corresponding limits value of motor torque values for obtaining the motor generates limitation value set, obtains in the limitation value set
Maximum value is limited, using the limitation maximum value as the minimum value of the extent of amendment of the Motor torque of the motor.
Preferably, further includes:
Amending unit, the extent of amendment for the current torque value based on the motor correct the motor current torque
Value.
As shown in the above, the present invention is by determining the current of the motor in the case where motor is in non-shift
Whether motor torque values, which need, is corrected, if so, obtain the motor current motor torque demand value and the current motor
The difference of the Motor torque requirements of torque demand value and the previous step of motor length, based under the different operating conditions pre-established
The Motor torque amendment restrictive curve of the motor, the current motor torque demand value and the difference, determine described in work as
The extent of amendment of front motor torque value, and motor current torque value is modified by extent of amendment.Pass through aforementioned present invention
Amendment of the disclosed torque control method to motor torque values, the power and passenger for being able to ascend the motor of automobile are taken comfortable
Property.
Detailed description of the invention
In order to more clearly explain the embodiment of the invention or the technical proposal in the existing technology, to embodiment or will show below
There is attached drawing needed in technical description to be briefly described, it should be apparent that, the accompanying drawings in the following description is only this
The embodiment of invention for those of ordinary skill in the art without creative efforts, can also basis
The attached drawing of offer obtains other attached drawings.
Fig. 1 is a kind of torque control method flow chart provided in an embodiment of the present invention；
Fig. 1 a is Motor torque extent of amendment band figure provided in an embodiment of the present invention；
Fig. 2 is a kind of torque control method flow chart provided in an embodiment of the present invention；
Fig. 3 is another torque control method flow chart provided in an embodiment of the present invention；
Fig. 4 is another torque control method flow chart provided in an embodiment of the present invention；
Fig. 5 is another torque control method flow chart provided in an embodiment of the present invention；
Fig. 5 a is that Motor torque provided in an embodiment of the present invention corrects realization principle figure；
Fig. 6 is a kind of torque control device structural schematic diagram provided in an embodiment of the present invention；
Fig. 7 is another torque control device structural schematic diagram provided in an embodiment of the present invention；
Fig. 8 is another torque control device structural schematic diagram provided in an embodiment of the present invention.
Specific embodiment
Following will be combined with the drawings in the embodiments of the present invention, and technical solution in the embodiment of the present invention carries out clear, complete
Site preparation description, it is clear that described embodiments are only a part of the embodiments of the present invention, instead of all the embodiments.It is based on
Embodiment in the present invention, it is obtained by those of ordinary skill in the art without making creative efforts every other
Embodiment shall fall within the protection scope of the present invention.
In this application, the terms "include", "comprise" or any other variant thereof is intended to cover non-exclusive inclusion,
So that the process, method, article or equipment for including a series of elements not only includes those elements, but also including not having
The other element being expressly recited, or further include for elements inherent to such a process, method, article, or device.Do not having
There is the element limited in the case where more limiting by sentence "including a ...", it is not excluded that in the mistake including the element
There is also other identical elements in journey, method, article or equipment.
The embodiment of the present invention provides a kind of torque control method, and referring to Fig. 1, the above method includes at least following steps:
Step S101: in the case where motor is in non-shift, determine whether the current motor torque value of the motor needs
It corrects, if so, S103 is thened follow the steps, if it is not, thening follow the steps S102.
It should be noted that motor refers to a kind of electromagnetic installing for realizing electric energy conversion or transmitting according to electromagnetic induction rule
It sets.Torque is a kind of special torque for instigating object to send rotation, equal to the product of power and torque.Motor is in the process of running
In two states, one is gearshift conditions, another is non-gearshift condition, are to be in non-shift to motor in the present embodiment
The demand torque value range of motor is determined in the process.
As shown in Figure 1a, it can determine that current motor is turned round by the long torque value of current motor torque demand value and previous step
Whether square value is in correction tape, if illustrating to need to be modified current motor torque value in correction tape.
During executing step S101, as shown in Fig. 2, specific implementation procedure the following steps are included:
Step S201: determining whether torque gradient corresponding to the current motor torque value of the motor is greater than threshold value,
If so, S202 is thened follow the steps, if it is not, thening follow the steps S203.
It should be noted that the torque gradient of motor is true by the current motor torque value torque value long with previous step
Fixed, and the threshold value of Motor torque change rate, then it is the limit obtained according to the historical data of the motor in dynamic property and comfort
Value processed, the threshold value can be by artificially being set.
Step S202: determine that the current motor torque value of the motor needs to correct；
Step S203: determine that the current motor torque value of the motor does not need to correct.
It should be noted that can determine whether current motor torque is in pre-set by Motor torque change rate
In torque extent of amendment.
Step S102: it exits and motor torque values is corrected.
Step S103: the current motor torque demand value and the current motor torque demand value of the motor are obtained
The difference of long Motor torque requirements with the previous step of the motor.
It should be noted that Motor torque requirements be according under current working, it is by historical data it can be concluded that current
The requirements of Motor torque.The long Motor torque requirements of previous step refer to the last moment motor of current motor torque demand value
Torque demand value.
Step S104: the Motor torque based on the motor under the different operating conditions pre-established corrects restrictive curve, institute
The long Motor torque requirements of previous step and the difference are stated, determines the extent of amendment of the current motor torque value.
It should be noted that the Motor torque amendment restrictive curve of the motor of the different operating conditions pre-established is specific
Realization process, as shown in Figure 3, comprising the following steps:
Step S301: the motor is generated in difference to the demand of Motor torque under different operating conditions according to the motor
The corresponding motor torque values correction value of Motor torque under operating condition.
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero passage
Point range propradation, Motor torque decline original state, and the full torque range of motor declines under state and motor zero passage point range
Drop state.
Step S302: being based on the Motor torque correction value, generates the Motor torque expurgated bound koji-making of corresponding different operating conditions
Line.
Wherein, the Motor torque amendment restrictive curve includes: that Motor torque rises initial restrictive curve, the full torque of motor
Range rises restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, motor is turned round entirely
Square range declines restrictive curve and motor zero passage point range declines restrictive curve.
It should be noted that in order to more preferably illustrate to realize Motor torque correction logic figure and above-mentioned electricity under different operating conditions
Machine torque corrects restrictive curve, below by illustration.
For example, table 1 is that Motor torque rises initial restrictive curve, table 2 is electricity such as table 1, table 2, table 3, table 4, table 5, table 6
The full torque range of machine rises restrictive curve, table 3 is that motor zero passage point range rises restrictive curve, table 4 is that Motor torque decline is first
Beginning restrictive curve, table 5 are the full torque range decline restrictive curve of motor, table 6 is motor zero passage point range decline restrictive curve.
Table 1
Table 2
Table 3
Table 4
Table 5
Table 6
When executing step S104, as shown in figure 4, specific implementation procedure includes:
Step S401: the Motor torque of current motor torque demand value and motor previous step length to the motor needs
Evaluation does difference calculating, obtains difference.
Step S402: judging whether the difference is positive value, if positive value, thens follow the steps S403 and S step S404,
If negative value, S405 and step S406 are thened follow the steps.
Step S403: determining that the motor torque values of the motor rise, the Motor torque rise initial restrictive curve,
The full torque range of motor, which rises in restrictive curve and motor zero passage point range rising restrictive curve, obtains the motor
The corresponding limits value of motor torque values, generate limitation value set.
It should be noted that the Motor torque requirements of previous step length may rise restrictive curve in motor zero passage point range
In can not find corresponding value, if more than motor zero passage point range rise restrictive curve in value, then take motor zero passage point range
Rise the corresponding value of Motor torque maximum value that previous step is long in restrictive curve, if it is bent to rise limitation lower than motor zero passage point range
Value in line then takes motor zero passage point range to rise the corresponding value of Motor torque minimum value that previous step is long in restrictive curve.
In order to be more clearly understood that above-mentioned steps, it is illustrated here based on table 3.
Such as: the motor torque values of the motor are in rising, if the motor requirements of previous step length are 1000, in table 3
Corresponding value can not be found, the maximum value of the Motor torque requirements of previous step length is at this moment taken in table 3, the maximum value is corresponding
It is limits value that value, which is 5000,.
If the long motor requirements of previous step are -1000, corresponding value can not be found in table 3, is at this moment taken in table 3
The minimum value of the Motor torque requirements of one step-length is -200, and the corresponding value 960 of the minimum value is then limits value.
Step S404: limitation minimum value is obtained in the limitation value set, using the limitation minimum value as the electricity
The maximum value of the motor torque values extent of amendment of machine.
Step S405: determining that the motor torque values of the motor are reduced, then it is bent to decline initial limitation in the Motor torque
The electricity is obtained in the full torque range decline restrictive curve of line, the motor and motor zero passage point range decline restrictive curve
The corresponding limits value of the motor torque values of machine generates limitation value set.
It should be noted that the Motor torque requirements of previous step length may decline restrictive curve in motor zero passage point range
In can not find corresponding value, if more than motor zero passage point range decline restrictive curve in value, then take motor zero passage point range
Decline the corresponding value of Motor torque maximum value that previous step is long in restrictive curve, if bent lower than the decline limitation of motor zero passage point range
Value in line then takes the corresponding value of Motor torque minimum value that previous step is long in motor zero passage point range decline restrictive curve.
In order to be more clearly understood that above-mentioned steps, it is illustrated here based on table 6,
Such as: the motor torque values of the motor on the decrease, if the long motor requirements of previous step are 500, the nothing in table 6
Method finds corresponding value, the maximum value for the Motor torque requirements at this moment taking previous step long in table 6, the corresponding value of the maximum value
It is limits value for 5000.
If the long motor requirements of previous step are -500, corresponding value can not be found in table 6, is at this moment taken in table 6
The minimum value -200 of the Motor torque requirements of one step-length, it is limits value that the corresponding value of the minimum value, which is -2000,.
Step S406: limitation maximum value is obtained in the limitation value set, using the limitation maximum value as the electricity
The minimum value of the extent of amendment of the Motor torque of machine.
In order to be more clearly understood that the above-mentioned steps of the embodiment of the present invention, it is exemplified below.
For example, first determine whether the torque value of the motor needs to be modified, if the motor torque values need to correct, if
The motor current torque requirements are 1000, and the long Motor torque requirements of previous step are 500, by current torque requirements and upper one
Step-length Motor torque requirements carry out difference calculating, and obtaining the difference is 500, pass through the difference and current motor torque demand
Value finds respective value in the Motor torque amendment restrictive curve pre-established, is repaired with table 1, table 2, table 3, table 4, table 5, table 6
For positive curve, it can be determined that the motor at this time by comparing current torque requirements and the long Motor torque requirements of previous step
Torque, which is in, to be risen, then the long Motor torque requirements of difference and previous step are found Motor torque in table 1, table 2, table 3 needs
The corresponding correction value range of evaluation, the corresponding numerical value in table 1 of difference 500 is 2500, and the long torque demand value of previous step is 500,
Corresponding numerical value is 1500 in table 2, in table 3, does not find the corresponding value of the long reality output motor torque values of previous step, because
This, chooses the corresponding value 5000 of maximum value 200 here, generates a set for 500,1500,5000, the minimum value in the set
The 500 maximum modified value as current motor torque value, so that it is determined that the motor current torque extent of amendment is 0 to 500.
The embodiment of the present invention is by determining the current motor torque value of the motor in the case where motor is in non-shift
Whether need to correct, if so, obtaining the current motor torque demand value and the current motor torque demand value of the motor
The difference of long Motor torque requirements with the previous step of the motor, based on the motor under the different operating conditions pre-established
Motor torque amendment restrictive curve, the current motor torque demand value and the difference, determine the current motor torque
The extent of amendment of value.By torque control method disclosed in the embodiments of the present invention, it is able to ascend the power of the motor of automobile
The comfort taken with passenger.
As shown in figure 5, this method specifically includes the embodiment of the invention also provides another torque control method:
Step S501: in the case where motor is in non-shift, determine whether the current motor torque value of the motor needs
It corrects, if it is not, S502 is thened follow the steps, if so, thening follow the steps S503.
Step S502: it exits and motor torque values is corrected.
Step S503: the current motor torque demand value and the current motor torque demand value of the motor are obtained
The difference of long Motor torque requirements with the previous step of the motor.
Step S504: the Motor torque based on the motor under the different operating conditions pre-established corrects restrictive curve, institute
It states when the long Motor torque requirements of previous step and the difference, determines the extent of amendment of the current motor torque value.
It should be noted that step S101 is to step in the implementation principle and above-described embodiment of step S501- step S504
The implementation principle of S104 is identical, here with regard to no longer being repeated.
Step S505: the extent of amendment of the current torque value based on the motor corrects the motor current torque value.
It should be noted that as shown in Figure 5 a, in conjunction with table 1, table 2, the Motor torque curve minimum of table 3 and table 4, table 5,
The Motor torque curve maximum of table 6 guarantees that the step-length jump of motor cannot be excessive, then according to current in non-shift process
The difference of Motor torque requirements and the Motor torque requirements of previous step length is selected, and sentencing a section motor demand torque is to rise also
It is to reduce, if risen, selects table 1, table 2 minimum value corresponding with 3 Motor torque of table as the limits value for rising step-length, if
Decline then selects table 4, table 5 maximum value corresponding with 6 Motor torque of table as the limitation of decline step-length.The limits value that will be obtained
In addition the Motor torque requirements that previous step is long, can obtain current motor demand torque value, that is, complete the torsion to the motor
The amendment of square value.
The embodiment of the present invention is by determining the current motor torque value of the motor in the case where motor is in non-shift
Whether need to correct, if so, obtaining the current motor torque demand value and the current motor torque demand value of the motor
The difference of long Motor torque requirements with the previous step of the motor, based on the motor under the different operating conditions pre-established
Motor torque amendment restrictive curve, the current motor torque demand value and the difference, determine the current motor torque
The extent of amendment of value, and motor current torque value is modified by extent of amendment.It is disclosed by the embodiments of the present invention
Amendment of the torque control method to motor torque values, the comfort that the power and passenger for being able to ascend the motor of automobile are taken.
Corresponding with above-mentioned torque control method provided by the embodiments of the present application, the embodiment of the present application also provides corresponding
Torque control device, as shown in fig. 6, for a kind of torque control device disclosed in the embodiment of the present application, the torque control device packet
It includes:
Judging unit 601, for determining the current motor torque value of the motor in the case where motor is in non-shift
Whether need to correct, if so, executing acquiring unit.
Acquiring unit 602, for obtain the motor current motor torque demand value and the current motor torque
The difference of the long Motor torque requirements of the previous step of requirements and the motor.
Determination unit 603 corrects limitation for the Motor torque based on the motor under the different operating conditions pre-established
The long Motor torque requirements of curve, the previous step and the difference, determine the extent of amendment of the current motor torque value.
Preferably, judging unit 601, comprising:
Subelement is determined, for determining whether torque gradient corresponding to the current motor torque value of the motor is greater than
Threshold value executes acquiring unit, if it is not, determining the electricity if so, determining that the current motor torque value of the motor needs to correct
The current torque value of machine does not need to correct.
Preferably, as shown in fig. 7, the Motor torque of the motor under the different operating conditions pre-established corrects restrictive curve
Torque control device, comprising:
Numerical generation unit 701, for according to the motor under different operating conditions to the demand of Motor torque, described in generation
The corresponding motor torque values correction value of motor Motor torque under different operating conditions.
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero passage
Point range propradation, Motor torque decline original state, and the full torque range of motor declines under state and motor zero passage point range
Drop state.
Curve generation unit 702 generates the Motor torque of corresponding different operating conditions for being based on the Motor torque correction value
Correct restrictive curve.
Wherein, the Motor torque amendment restrictive curve of the motor includes: that Motor torque rises initial restrictive curve, motor
Full torque range rises restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, electricity
The full torque range decline restrictive curve of machine and motor zero passage point range decline restrictive curve.
Preferably, curve generation unit 702, as shown in Figure 8, comprising:
Computation subunit 801, for the current motor torque demand value and motor previous step length to the motor
Motor torque requirements do difference calculating, obtain difference.
Judgment sub-unit 802 if positive value, then executes the first range and determines for judging whether the difference is positive value
Subelement 803 then executes the second range and determines subelement 804 if negative value.
Maximum value determines subelement 803, for determining that the motor torque values of the motor rise, on the Motor torque
It rises the full torque range of initial restrictive curve, the motor and rises restrictive curve and motor zero passage point range rising restrictive curve
The middle corresponding limits value of motor torque values for obtaining the motor generates limitation value set, obtains in the limitation value set
Minimum value is limited, using the limitation minimum value as the maximum value of the motor torque values extent of amendment of the motor.
Minimum value determines subelement 804, for determining that the motor torque values of the motor are reduced, then in the Motor torque
Decline the full torque range decline restrictive curve of initial restrictive curve, the motor and motor zero passage point range decline limitation is bent
The corresponding limits value of motor torque values of the motor is obtained in line, is generated limitation value set, is obtained in the limitation value set
Limitation maximum value is taken, using the limitation maximum value as the minimum value of the extent of amendment of the Motor torque of the motor.
Preferably, further includes:
Amending unit, the extent of amendment for the current torque value based on the motor correct the motor current torque
Value.
The specific implementation procedure of modules unit in a kind of above torque control device disclosed by the embodiments of the present invention with
And implementation principle, reference can be made to the corresponding portion in torque control method disclosed in embodiment in relation to data processing is sent in the present invention,
Here with regard to no longer being repeated.
The embodiment of the present application, in the case where motor is in non-shift, determines the current electricity of the motor by judging unit
Whether machine torque value, which needs, is corrected, if so, executing acquiring unit, the current motor torque that acquiring unit obtains the motor is needed
The difference of the Motor torque requirements of evaluation and the current motor torque demand value and the previous step of motor length, really
Order member is grown based on the Motor torque amendment restrictive curve of the motor under the different operating conditions pre-established, the previous step
Motor torque requirements and the difference, determine the extent of amendment of the current motor torque value.Implemented by aforementioned present invention
Amendment of the torque control device to motor torque values disclosed in example, what the power and passenger for being able to ascend the motor of automobile were taken relaxes
Adaptive.
All the embodiments in this specification are described in a progressive manner, same and similar portion between each embodiment
Dividing may refer to each other, and each embodiment focuses on the differences from other embodiments.Especially for system or
For system embodiment, since it is substantially similar to the method embodiment, so describing fairly simple, related place is referring to method
The part of embodiment illustrates.System and system embodiment described above is only schematical, wherein the conduct
The unit of separate part description may or may not be physically separated, component shown as a unit can be or
Person may not be physical unit, it can and it is in one place, or may be distributed over multiple network units.It can root
According to actual need that some or all of the modules therein is selected to achieve the purpose of the solution of this embodiment.Ordinary skill
Personnel can understand and implement without creative efforts.
Professional further appreciates that, unit described in conjunction with the examples disclosed in the embodiments of the present disclosure
And algorithm steps, can be realized with electronic hardware, computer software, or a combination of the two, in order to clearly demonstrate hardware and
The interchangeability of software generally describes each exemplary composition and step according to function in the above description.These
Function is implemented in hardware or software actually, the specific application and design constraint depending on technical solution.Profession
Technical staff can use different methods to achieve the described function each specific application, but this realization is not answered
Think beyond the scope of this invention.
The foregoing description of the disclosed embodiments enables those skilled in the art to implement or use the present invention.
Various modifications to these embodiments will be readily apparent to those skilled in the art, as defined herein
General Principle can without departing from the spirit or scope of the present invention+, realize in other embodiments.Therefore, this hair
It is bright to be not intended to be limited to the embodiments shown herein, and be to fit to and the principles and novel features disclosed herein phase
Consistent widest scope.
Claims (10)
1. a kind of torque control method characterized by comprising
In the case where motor is in non-shift, determine whether the current motor torque value of the motor needs to correct；
If so, obtaining the current motor torque demand value and the current motor torque demand value and the electricity of the motor
The difference of the long Motor torque requirements of the previous step of machine；
The long electricity of Motor torque amendment restrictive curve based on the motor under the different operating conditions pre-established, the previous step
Machine torque demand value and the difference, determine the extent of amendment of the current motor torque value.
2. the method according to claim 1, wherein the current motor torque value for determining the motor whether
It needs to correct, comprising:
Determine whether torque gradient corresponding to the current motor torque value of the motor is greater than threshold value；
If so, determining that the current motor torque value of the motor needs to correct；
If it is not, then determining that the current motor torque value of the motor does not need to correct.
3. the method according to claim 1, wherein the motor under the different operating conditions pre-established
Motor torque corrects restrictive curve, comprising:
Motor Motor torque under different operating conditions is generated to the demand of Motor torque under different operating conditions according to the motor
Corresponding motor torque values correction value；
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero crossing model
Propradation is enclosed, Motor torque declines original state, and the full torque range decline state of motor and motor zero passage point range decline shape
State；
Based on the Motor torque correction value, the Motor torque for generating corresponding different operating conditions corrects restrictive curve；
Wherein, the Motor torque amendment restrictive curve includes: that Motor torque rises initial restrictive curve, the full torque range of motor
Rise restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, the full torque model of motor
Enclose decline restrictive curve and motor zero passage point range decline restrictive curve.
4. according to the method described in claim 3, it is characterized in that, the electricity based under the different operating conditions pre-established
Motor torque amendment restrictive curve, the long Motor torque requirements of the previous step and the difference of machine determine the motor
The extent of amendment of motor torque values, comprising:
The Motor torque requirements of current motor torque demand value and motor previous step length to the motor make difference meter
It calculates, obtains difference；
Judge whether the difference is positive value；
If positive value, it is determined that the motor torque values of the motor rise, and rise initial restrictive curve, institute in the Motor torque
It states in the full torque range rising restrictive curve of motor and motor zero passage point range rising restrictive curve and obtains the motor
The corresponding limits value of motor torque values generates limitation value set；
Limitation minimum value is obtained in the limitation value set, using the limitation minimum value as the motor torque values of the motor
The maximum value of extent of amendment；
If non-positive value, it is determined that the motor torque values of the motor are reduced, then it is bent to decline initial limitation in the Motor torque
The electricity is obtained in the full torque range decline restrictive curve of line, the motor and motor zero passage point range decline restrictive curve
The corresponding limits value of the motor torque values of machine generates limitation value set；
Limitation maximum value is obtained in the limitation value set, using the limitation maximum value as the Motor torque of the motor
The minimum value of extent of amendment.
5. method according to any of claims 1-4, which is characterized in that further include:
The extent of amendment of current torque value based on the motor corrects the motor current torque value.
6. a kind of torque control device characterized by comprising
Judging unit, for determining whether the current motor torque value of the motor needs in the case where motor is in non-shift
It corrects, if so, executing acquiring unit；
Acquiring unit, for obtaining the current motor torque demand value and the current motor torque demand value of the motor
The difference of long Motor torque requirements with the previous step of the motor；
Determination unit corrects restrictive curve, institute for the Motor torque based on the motor under the different operating conditions pre-established
The long Motor torque requirements of previous step and the difference are stated, determines the extent of amendment of the current motor torque value.
7. device according to claim 6, which is characterized in that the judging unit, comprising:
Subelement is determined, for determining whether torque gradient corresponding to the current motor torque value of the motor is greater than threshold
Value executes acquiring unit, if it is not, determining the motor if so, determining that the current motor torque value of the motor needs to correct
Current torque value do not need to correct.
8. device according to claim 6, which is characterized in that the motor under the different operating conditions pre-established
The torque control device of Motor torque amendment restrictive curve, comprising:
Numerical generation unit, for according to the motor under different operating conditions to the demand of Motor torque, generate the motor and exist
The corresponding motor torque values correction value of Motor torque under different operating conditions；
Wherein, the operating condition includes that Motor torque rises original state, the full torque range propradation of motor, motor zero crossing model
Propradation is enclosed, Motor torque declines original state, and the full torque range decline state of motor and motor zero passage point range decline shape
State；
Curve generation unit generates the Motor torque expurgated bound of corresponding different operating conditions for being based on the Motor torque correction value
Koji-making line；
Wherein, the Motor torque amendment restrictive curve of the motor includes: that Motor torque rises initial restrictive curve, motor is turned round entirely
It is complete that square range rises restrictive curve, motor zero passage point range rises restrictive curve, Motor torque declines initial restrictive curve, motor
Torque range declines restrictive curve and motor zero passage point range declines restrictive curve.
9. device according to claim 8, which is characterized in that the curve generation unit, comprising:
Computation subunit, the Motor torque demand for Motor torque requirements and motor previous step length to the motor
Value does difference calculating, obtains difference；
Judgment sub-unit if positive value, then executes the first range and determines subelement for judging whether the difference is positive value,
If negative value, then executes the second range and determine subelement；
Maximum value determines subelement, for determining that the motor torque values of the motor rise, rises in the Motor torque initial
The full torque range of restrictive curve, the motor, which rises in restrictive curve and motor zero passage point range rising restrictive curve, to be obtained
The corresponding limits value of the motor torque values of the motor generates limitation value set, obtains limitation most in the limitation value set
Small value, using the limitation minimum value as the maximum value of the motor torque values extent of amendment of the motor；
Minimum value determines subelement, for determining that the motor torque values of the motor are reduced, then first in Motor torque decline
It is obtained in the full torque range decline restrictive curve of beginning restrictive curve, the motor and motor zero passage point range decline restrictive curve
The corresponding limits value of the motor torque values of the motor is taken, limitation value set is generated, limitation is obtained in the limitation value set
Maximum value, using the limitation maximum value as the minimum value of the extent of amendment of the Motor torque of the motor.
10. according to device described in claim 6-9, which is characterized in that further include:
Amending unit, the extent of amendment for the current torque value based on the motor correct the motor current torque value.
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| CN201811466410.XA CN109606131B (en) | 2018-12-03 | 2018-12-03 | Torque control method and device |
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| CN112440971A (en) * | 2019-09-05 | 2021-03-05 | 长城汽车股份有限公司 | Torque control method and device and vehicle |
| CN113858973A (en) * | 2021-10-29 | 2021-12-31 | 上海拿森汽车电子有限公司 | Torque correction method, vehicle, and computer-readable storage medium |
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| CN109606131B (en) | 2021-04-16 |
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