CN109849692A - A kind of switching method, device and the terminal device of electric vehicle control model - Google Patents
A kind of switching method, device and the terminal device of electric vehicle control model Download PDFInfo
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Abstract
The invention belongs to fields of automation technology, switching method, device and the terminal device of a kind of electric vehicle control model are provided, this method comprises: obtaining the output electric current of the input current and motor of throttle under revolving speed mode when detecting the operating mode switching command of motor；Wherein, the operating mode of motor includes revolving speed mode and torque mode；According to the weight coefficient of output electric current and distribution under the input current of vehicle accelerator, revolving speed mode, the output quadrature axis current switched between revolving speed mode and the torque mode is calculated；The switching that the motor carries out the revolving speed mode and torque mode is controlled according to output quadrature axis current.The embodiment of the present invention, the electric vehicle, which is controlled, according to calculated output quadrature axis current carries out the switching of torque mode to revolving speed mode, electric current in handoff procedure will not generate mutation, switching undisturbed between the mode of can be achieved, to reduce the various devices generation damage to electric vehicle, safety and driving comfort are improved.
Description
Technical field
The invention belongs to field of automation technology more particularly to a kind of switching method, the devices of electric vehicle control model
And terminal device.
Background technique
Brshless DC motor has good control performance, and is applied in the control of various electric vehicles, rubs electronic
In the control of motorcycle brshless DC motor, Field orientable control (Field-Oriented Control, FOC) is applied more wide
It is general.Battery-operated motor cycle will work under different control models (revolving speed mode and torque mode) according to actual needs, revolving speed mode
Refer to for the purpose of the revolving speed for controlling motor, makes motor that certain revolving speed be kept to run；Torque mode refers to control motor
For the purpose of output torque, velocity magnitude is related with external loading, unrelated with torque.
When battery-operated motor cycle needs to switch between revolving speed mode and torque mode in the process of running, and switch
In the process, to cause the mutation of motor control torque, damage can be generated to the various devices of vehicle along with the mutation of electric current
Evil, safety is low and driving comfort is low.
Summary of the invention
In view of this, the embodiment of the invention provides switching method, device and the terminals of a kind of electric vehicle control model
Equipment, it is intended to when solving existing electric vehicle and switching between revolving speed mode and torque mode matter, cause motor control torque
Mutation can generate damage, the problem that safety is low and driving comfort is low to the various devices of vehicle.
The first aspect of the embodiment of the present application provides a kind of switching method of vehicle control scheme, and the electric vehicle includes
Motor and throttle, the switching method include:
When detecting the operating mode switching command of the motor, the input current and the motor of the throttle are obtained
Output electric current under revolving speed mode；Wherein, the operating mode of the motor includes revolving speed mode and torque mode；
According under the input current of the vehicle accelerator, the revolving speed mode output electric current and distribution weight coefficient,
Calculate the output quadrature axis current switched between the revolving speed mode and the torque mode；
The switching that the motor carries out the revolving speed mode and torque mode is controlled according to the output quadrature axis current.
In one embodiment, when detecting the operating mode switching command of the motor, the defeated of the throttle is obtained
Enter the output electric current of electric current and the motor under revolving speed mode, comprising:
When detect the operating mode of the motor is switched to the switching command of revolving speed mode by torque mode when, obtain
The input current of the throttle, and the electric machine controller for controlling the vehicle starts to execute speed closed loop mode；
When the electric machine controller executes the speed closed loop mode, the motor is obtained under the revolving speed mode
Export electric current.
In one embodiment, when detecting the operating mode switching command of the motor, the defeated of the throttle is obtained
Enter the output electric current of electric current and the motor under revolving speed mode, comprising:
When detect by the operating mode of the motor by revolving speed pattern switching be torque mode switching command when, obtain
Output electric current of the motor under revolving speed mode, and obtain the input current of the throttle.
In one embodiment, the input current according to the vehicle accelerator, the output electricity under the revolving speed mode
The weight coefficient of stream and distribution, calculates the output quadrature axis current switched between the revolving speed mode and the torque mode, comprising:
The weight coefficient is distributed according to first order inertial loop transmission function；
According to the weight system of output electric current and the distribution under the input current of the vehicle accelerator, the revolving speed mode
Number calculates the output quadrature axis current switched between revolving speed mode and torque mode.
In one embodiment, the calculation formula that the weight coefficient is distributed according to first order inertial loop transmission function
Are as follows:
Wherein, the α is the weight coefficient, and the τ is the default inertial element time, and the s is the transmission function
In differential operator.
In one embodiment, according under the input current of the vehicle accelerator, the revolving speed mode output electric current and
The weight coefficient of distribution calculates the calculation formula of the output quadrature axis current switched between the revolving speed mode and the torque mode
Are as follows:
Wherein, the Iq_refIt is described for the output quadrature axis currentFor the output electric current under the revolving speed mode, institute
State forThe input current of the vehicle accelerator, the α are the weight coefficient.
The second aspect of the embodiment of the present application provides a kind of switching device of electric vehicle control model, the electric vehicle
Including motor and throttle, the switching device includes:
Module is obtained, for obtaining the input of the throttle when detecting the operating mode switching command of the motor
The output electric current of electric current and the motor under revolving speed mode；Wherein, the operating mode of the motor includes revolving speed mode and turns
Square mode；
Computing module, for according under the input current of the vehicle accelerator, the revolving speed mode output electric current and point
The weight coefficient matched calculates the output quadrature axis current switched between the revolving speed mode and the torque mode；
Control module carries out the revolving speed mode and torque mould for controlling the motor according to the output quadrature axis current
The switching of formula.
In one embodiment, the acquisition module includes:
The operating mode of the motor is switched to cutting for revolving speed mode by torque mode for that ought detect by control unit
When changing instruction, the electric machine controller for obtaining the input current of the throttle, and controlling the vehicle starts to execute speed closed loop mould
Formula；
First acquisition unit, for obtaining the motor when the electric machine controller executes the speed closed loop mode
Output electric current under the revolving speed mode.
The third aspect of the embodiment of the present invention provides a kind of terminal device, including memory, processor and is stored in institute
The computer program that can be run in memory and on the processor is stated, the processor executes real when the computer program
The step of existing above method.
The fourth aspect of the embodiment of the present invention provides a kind of computer readable storage medium, computer readable storage medium
The step of being stored with computer program, the above method realized when above-mentioned computer program is executed by processor.
In embodiments of the present invention, when detecting the operating mode switching command of the motor, the throttle is obtained
The output electric current of input current and the motor under revolving speed mode；Wherein, the operating mode of the motor includes revolving speed mode
And torque mode；According to the weight system of output electric current and distribution under the input current of the vehicle accelerator, the revolving speed mode
Number, calculates the output quadrature axis current switched between the revolving speed mode and the torque mode；According to the output quadrature axis current control
Make the switching that the motor carries out the revolving speed mode and torque mode.Due to the handoff procedure of torque mode and revolving speed mode
In, according to the weight coefficient of output electric current and distribution under the input current of the vehicle accelerator, the revolving speed mode, calculate institute
The output quadrature axis current switched between revolving speed mode and the torque mode is stated, according to the control of calculated output quadrature axis current
Electric vehicle carries out the switching of torque mode to revolving speed mode, and the electric current in handoff procedure will not generate mutation, it can be achieved that mode
Between switching undisturbed, damage is generated to the various devices of electric vehicle to reduce, improves safety and driving comfort.
Detailed description of the invention
It to describe the technical solutions in the embodiments of the present invention more clearly, below will be to embodiment or description of the prior art
Needed in attached drawing be briefly described, it should be apparent that, the accompanying drawings in the following description is only of the invention some
Embodiment for those of ordinary skill in the art without any creative labor, can also be according to these
Attached drawing obtains other attached drawings.
Fig. 1 is the flow diagram of the switching method for the electric vehicle control model that the embodiment of the present invention one provides；
Fig. 1-1 is the schematic diagram of the switching method for the electric vehicle control model that the embodiment of the present invention one provides；
Fig. 2 is the flow diagram of the switching method of electric vehicle control model provided by Embodiment 2 of the present invention；
Fig. 3 is the structural schematic diagram of the switching device for the electric vehicle control model that the embodiment of the present invention three provides
Fig. 4 is the structural schematic diagram for the terminal device that the embodiment of the present invention four provides.
Specific embodiment
In being described below, for illustration and not for limitation, the tool of such as particular system structure, technology etc is proposed
Body details, to understand thoroughly the embodiment of the present invention.However, it will be clear to one skilled in the art that there is no these specific
The present invention also may be implemented in the other embodiments of details.In other situations, it omits to well-known system, device, electricity
The detailed description of road and method, in case unnecessary details interferes description of the invention.
It should be understood that the size of the serial number of each step is not meant that the order of the execution order in following methods embodiment, respectively
The execution sequence of process should be determined by its function and internal logic, and the implementation process without coping with each embodiment constitutes any limit
It is fixed.
In order to illustrate technical solutions according to the invention, the following is a description of specific embodiments.
Embodiment one
The switching method of electric vehicle control model provided in an embodiment of the present invention, the electric vehicles such as battery-operated motor cycle, such as
Shown in Fig. 1, the switching method of the electric vehicle control model includes:
Step S101 obtains the input current of the throttle when detecting the operating mode switching command of the motor
With output electric current of the motor under revolving speed mode；Wherein, the operating mode of the motor includes revolving speed mode and torque mould
Formula；
In embodiments of the present invention, the operating mode switching command can be issued or in spy by the driver of electric vehicle
It is issued automatically in fixed operating status, when detecting the operating mode switching command of the motor, obtains the defeated of the throttle
Enter the output electric current of electric current and the motor under revolving speed mode；Wherein, the operating mode of the motor include revolving speed mode and
Torque mode.The revolving speed mode refers to for the purpose of the revolving speed for controlling motor, makes motor that certain revolving speed be kept to run；It is described
Torque mode refers to that for the purpose of the output torque for controlling motor, velocity magnitude is related with external loading.
In one embodiment, when detecting the operating mode switching command of the motor, the defeated of the throttle is obtained
Enter the output electric current of electric current and the motor under revolving speed mode, comprising: when detect by the operating mode of the motor by turn
When square pattern switching is the switching command of revolving speed mode, the input current of the throttle is obtained, and control the motor of the vehicle
Controller starts to execute speed closed loop mode；When the electric machine controller executes the speed closed loop mode, the electricity is obtained
Output electric current of the machine under the revolving speed mode.When detecting that the operating mode by the motor is switched to revolving speed by torque mode
When the switching command of mode, what the motor control in electric vehicle executed at this time is torque closed loop mode, obtains the throttle
Input current, the electric machine controller for controlling the vehicle start to execute speed closed loop mode.
In one embodiment, when detecting the operating mode switching command of the motor, the defeated of the throttle is obtained
Enter the output electric current of electric current and the motor under revolving speed mode, comprising: when detect by the operating mode of the motor by turn
When fast mode is switched to the switching command of torque mode, output electric current of the motor under revolving speed mode is obtained, and obtain institute
State the input current of throttle.The operating mode of the motor is referred to by the switching that revolving speed pattern switching is torque mode when detecting
When enabling, what the motor control in electric vehicle executed at this time is speed closed loop mode, obtains the motor under revolving speed mode
Electric current is exported, and controls the electric machine controller in the electric vehicle and starts to execute torque closed loop mode, obtains the throttle
Input current can obtain torque closed loop mode input torque.
Step S102, according under the input current of the vehicle accelerator, the revolving speed mode output electric current and distribution
Weight coefficient calculates the output quadrature axis current switched between the revolving speed mode and the torque mode；
In embodiments of the present invention, according to the output electric current under the input current of the vehicle accelerator, the revolving speed mode
With the weight coefficient of distribution, the output quadrature axis current switched between the revolving speed mode and the torque mode, the output are calculated
Quadrature axis current can be used as the input current of motor quadrature axis.The output electric current of speed closed loop mode can indicate defeated under revolving speed mode
Electric current out, the input current of electric vehicle throttle can indicate the output electric current under torque mode, to the defeated of speed closed loop mode
The input current of electric current and electric vehicle throttle distribution weight coefficient can calculate the output quadrature axis current of pattern switching out.
In one embodiment, according under the input current of the vehicle accelerator, the revolving speed mode output electric current and
The weight coefficient of distribution calculates the calculation formula of the output quadrature axis current switched between the revolving speed mode and the torque mode
Are as follows:
Wherein, the Iq_refIt is described for the output quadrature axis currentFor the output electric current under the revolving speed mode, institute
State forThe input current of the vehicle accelerator, the α are the weight coefficient.
In a particular application, speed/torque pattern switching as Figure 1-1 control, will export electric currentInput electricity
StreamWeight coefficient α calculates output quadrature axis current Iq_ref, i.e. drive command becomes during 1 from 0, it will be appreciated that drive
Mode is sailed to be switched to during revolving speed mode is switched to torque mode again by torque mode, τ can preferably take 0.1s and
0.2s, certain τ can take other numerical value according to practical application, herein without limitation, corresponding when taking 0.1s and 0.2s using τ
The electric current that weight coefficient is calculated in mode handover procedure after mode switches will not suddenly change, but can go out
A transient process is showed, to slow down the mutation of electric current, has realized switching undisturbed, wherein the K value in Fig. 1-1 is 1.
Step S103 controls the motor according to the output quadrature axis current and carries out the revolving speed mode and torque mode
Switching.
In embodiments of the present invention, the output quadrature axis current can be used as the input current of motor quadrature axis, be handed over according to motor
The input current of axis controls the switching that the motor carries out the revolving speed mode and torque mode.
It can be seen that in embodiments of the present invention, due in torque mode and the handoff procedure of revolving speed mode, according to described
The weight coefficient of output electric current and distribution under the input current of vehicle accelerator, the revolving speed mode, calculates the revolving speed mode
The output quadrature axis current switched between the torque mode, according to calculated output quadrature axis current control the electric vehicle into
Row torque mode is to the switching of revolving speed mode, and the electric current in handoff procedure will not generate mutation, it can be achieved that undisturbed between mode
Switching generates damage to the various devices of electric vehicle to reduce, improves safety and driving comfort.
Embodiment two
The present embodiment is the further explanation to embodiment one, and the present embodiment is the same as example 1 or similar place tool
Body can be found in the associated description of embodiment one, and details are not described herein again, as shown in Fig. 2, above-mentioned S102 further include:
Step S201 distributes the weight coefficient according to first order inertial loop transmission function.
In embodiments of the present invention, when switching between torque closed loop mode and speed closed loop mode, meeting is directly switched over
Lead to the mutation of electric current, this mutation is all harmful to the electronic device in driving experience and electric vehicle, therefore can be passed through
First order inertial loop transmission function calculates weight coefficient, is gone to calculate the quadrature axis for needing to export in switching according to the weight coefficient of distribution
Electric current, and then make in handoff procedure, electric current will not generate mutation.
In one embodiment, the calculation formula that the weight coefficient is distributed according to first order inertial loop transmission function
Are as follows:
Wherein, the α is the weight coefficient, and the τ is the default inertial element time, and the s is the transmission function
In differential operator.The value of above-mentioned τ influences whether transit time.
Step S202, according under the input current of the vehicle accelerator, the revolving speed mode output electric current and described point
The weight coefficient matched calculates the output quadrature axis current switched between revolving speed mode and torque mode.
In embodiments of the present invention, according to speed closed loop mode output electric current, electric vehicle throttle input current and
The weight coefficient calculates output quadrature axis current, and the output quadrature axis current can be used as the input current of motor quadrature axis.Revolving speed closes
The output electric current of ring mode can indicate that the output electric current under revolving speed mode, the input current of electric vehicle throttle can indicate turning
The input current of output electric current under square mode, output electric current and the electric vehicle throttle to speed closed loop mode distributes power
Weight coefficient can calculate the output quadrature axis current of pattern switching.
It can be seen that in embodiments of the present invention, due in torque mode and the handoff procedure of revolving speed mode, according to described
The weight coefficient of output electric current and distribution under the input current of vehicle accelerator, the revolving speed mode, calculates the revolving speed mode
The output quadrature axis current switched between the torque mode, according to calculated output quadrature axis current control the electric vehicle into
Row torque mode is to the switching of revolving speed mode, and the electric current in handoff procedure will not generate mutation, it can be achieved that undisturbed between mode
Switching generates damage to the various devices of electric vehicle to reduce, improves safety and driving comfort.
Embodiment three
The embodiment of the present invention provides the switching device of electric vehicle control model, can be integrated in the electric vehicles such as battery-operated motor cycle
, for executing the method and step in embodiment one and/or embodiment two, for ease of description, only it is illustrated in correlation of the invention
Part, as shown in figure 3, the switching device 300 of electric vehicle control model includes:
Module 301 is obtained, for obtaining the defeated of the throttle when detecting the operating mode switching command of the motor
Enter the output electric current of electric current and the motor under revolving speed mode；Wherein, the operating mode of the motor include revolving speed mode and
Torque mode；
In one embodiment, the acquisition module 301 includes:
The operating mode of the motor is switched to cutting for revolving speed mode by torque mode for that ought detect by control unit
When changing instruction, the electric machine controller for obtaining the input current of the throttle, and controlling the vehicle starts to execute speed closed loop mould
Formula；
First acquisition unit, for obtaining the motor when the electric machine controller executes the speed closed loop mode
Output electric current under the revolving speed mode.
In one embodiment, the acquisition module 301 includes:
Second acquisition unit detects that by the operating mode of the motor be torque mode by revolving speed pattern switching for working as
Switching command when, obtain output electric current of the motor under revolving speed mode, and obtain the input current of the throttle.
Computing module 302, for according under the input current of the vehicle accelerator, the revolving speed mode output electric current and
The weight coefficient of distribution calculates the output quadrature axis current switched between the revolving speed mode and the torque mode；
In one embodiment, the computing module 302 includes:
Allocation unit, for distributing the weight coefficient according to first order inertial loop transmission function；
Computing unit, for according under the input current of the vehicle accelerator, the revolving speed mode output electric current and institute
The weight coefficient for stating distribution calculates the output quadrature axis current switched between revolving speed mode and torque mode.
In one embodiment, the calculation formula of the allocation unit are as follows:
Wherein, the α is the weight coefficient, and the τ is the default inertial element time, and the s is the transmission function
In differential operator.
In one embodiment, the calculation formula of computing module 302 are as follows:
Wherein, the Iq_refIt is described for the output quadrature axis currentFor the output electric current under the revolving speed mode, institute
State forThe input current of the vehicle accelerator, the α are the weight coefficient.
Control module 303 carries out the revolving speed mode and turns for controlling the motor according to the output quadrature axis current
The switching of square mode.
It can be seen that in embodiments of the present invention, due in torque mode and the handoff procedure of revolving speed mode, according to described
The weight coefficient of output electric current and distribution under the input current of vehicle accelerator, the revolving speed mode, calculates the revolving speed mode
The output quadrature axis current switched between the torque mode, according to calculated output quadrature axis current control the electric vehicle into
Row torque mode is to the switching of revolving speed mode, and the electric current in handoff procedure will not generate mutation, it can be achieved that undisturbed between mode
Switching generates damage to the various devices of electric vehicle to reduce, improves safety and driving comfort.
Example IV
As shown in figure 4, being the structural schematic diagram of terminal device provided in an embodiment of the present invention.The terminal device 400 wraps
It includes: processor 401, memory 402 and being stored in the meter that can be run in above-mentioned memory 402 and on above-mentioned processor 401
Calculation machine program 403.Above-mentioned processor 401 realizes cutting for above-mentioned electric vehicle control model when executing above-mentioned computer program 403
Change the method and step in the step in method embodiment of the method, such as embodiment one and/or the method and step in embodiment two.
Illustratively, above-mentioned computer program 403 can be divided into one or more units/modules, said one or
The multiple units/modules of person are stored in above-mentioned memory 402, and are executed by above-mentioned processor 401, to complete the present invention.On
Stating one or more units/modules can be the series of computation machine program instruction section that can complete specific function, the instruction segment
For describing implementation procedure of the above-mentioned computer program 403 in above-mentioned terminal device 400.For example, above-mentioned computer program 403
Can be divided into acquisition module, computing module, the modules such as control module, each module concrete function in above-described embodiment three
It is described, details are not described herein again.
Above-mentioned terminal device 400 can be integrated in the calculating equipment in the electric vehicles such as battery-operated motor cycle.Above-mentioned terminal
Equipment 400 may include, but be not limited only to, processor 401, memory 402.It will be understood by those skilled in the art that Fig. 4 is only
The example of terminal device 400 does not constitute the restriction to terminal device 400, may include components more more or fewer than diagram,
Perhaps certain components or different components are combined, such as above-mentioned terminal device 400 can also include input-output equipment, net
Network access device, bus etc..
Alleged processor 401 can be central processing unit (Central Processing Unit, CPU), can also be
Other general processors, digital signal processor (Digital Signal Processor, DSP), specific integrated circuit
(Application Specific Integrated Circuit, ASIC), ready-made programmable gate array (Field-
Programmable Gate Array, FPGA) either other programmable logic device, discrete gate or transistor logic,
Discrete hardware components etc..General processor can be microprocessor or the processor is also possible to any conventional processor
Deng.
Above-mentioned memory 402 can be the internal storage unit of terminal device 400, for example, terminal device 400 hard disk or
Memory.Above-mentioned memory 402 is also possible to the External memory equipment of above-mentioned terminal device 400, such as on above-mentioned terminal device 400
The plug-in type hard disk of outfit, intelligent memory card (Smart Media Card, SMC), secure digital (Secure Digital, SD)
Card, flash card (Flash Card) etc..Further, above-mentioned memory 402 can also be both interior including above-mentioned terminal device 400
Portion's storage unit also includes External memory equipment.Above-mentioned memory 402 is for storing above-mentioned computer program and above-mentioned terminal
Other programs and data needed for equipment 400.Above-mentioned memory 402, which can be also used for temporarily storing, have been exported or will
The data of output.
It is apparent to those skilled in the art that for convenience of description and succinctly, only with above-mentioned each function
Can unit, module division progress for example, in practical application, can according to need and by above-mentioned function distribution by different
Functional unit, module are completed, i.e., the internal structure of above-mentioned apparatus is divided into different functional unit or module, more than completing
The all or part of function of description.Each functional unit in embodiment, module can integrate in one processing unit, can also
To be that each unit physically exists alone, can also be integrated in one unit with two or more units, it is above-mentioned integrated
Unit both can take the form of hardware realization, can also realize in the form of software functional units.In addition, each function list
Member, the specific name of module are also only for convenience of distinguishing each other, the protection scope being not intended to limit this application.Above-mentioned terminal
The specific work process of unit in equipment, module, can refer to corresponding processes in the foregoing method embodiment, no longer superfluous herein
It states.
In the above-described embodiments, it all emphasizes particularly on different fields to the description of each embodiment, is not described in detail or remembers in some embodiment
The part of load may refer to the associated description of other embodiments.
Those of ordinary skill in the art may be aware that list described in conjunction with the examples disclosed in the embodiments of the present disclosure
Member and algorithm steps can be realized with the combination of electronic hardware or computer software and electronic hardware.These functions are actually
It is implemented in hardware or software, the specific application and design constraint depending on technical solution.Professional technician
Each specific application can be used different methods to achieve the described function, but this realization is it is not considered that exceed
The scope of the present invention.
In embodiment provided by the present invention, it should be understood that disclosed device and method can pass through others
Mode is realized.For example, the apparatus embodiments described above are merely exemplary, for example, the division of above-mentioned module or unit,
Only a kind of logical function partition, there may be another division manner in actual implementation, such as multiple units or components can be with
In conjunction with or be desirably integrated into another system, or some features can be ignored or not executed.Another point, it is shown or discussed
Mutual coupling or direct-coupling or communication connection can be through some interfaces, the INDIRECT COUPLING of device or unit or
Communication connection can be electrical property, mechanical or other forms.
Above-mentioned unit as illustrated by the separation member may or may not be physically separated, aobvious as unit
The component shown may or may not be physical unit, it can and it is in one place, or may be distributed over multiple
In network unit.Some or all of unit therein can be selected to realize the embodiment of the present invention according to the actual needs
Purpose.
It, can also be in addition, the functional units in various embodiments of the present invention may be integrated into one processing unit
It is that each unit physically exists alone, can also be integrated in one unit with two or more units.Above-mentioned integrated list
Member both can take the form of hardware realization, can also realize in the form of software functional units.
If above-mentioned integrated unit is realized in the form of SFU software functional unit and sells or use as independent product
When, it can store in a computer readable storage medium.Based on this understanding, the present invention realizes above-described embodiment side
All or part of the process in method can also instruct relevant hardware to complete, above-mentioned computer by computer program
Program can be stored in a computer readable storage medium, and the computer program is when being executed by processor, it can be achieved that above-mentioned each
The step of a embodiment of the method.Wherein, above-mentioned computer program includes computer program code, and above-mentioned computer program code can
Think source code form, object identification code form, executable file or certain intermediate forms etc..Above-mentioned computer-readable medium can be with
It include: any entity or device, recording medium, USB flash disk, mobile hard disk, magnetic disk, light that can carry above-mentioned computer program code
Disk, computer storage, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random
Access Memory), electric carrier signal, telecommunication signal and software distribution medium etc..It should be noted that above-mentioned computer
The content that readable medium includes can carry out increase and decrease appropriate according to the requirement made laws in jurisdiction with patent practice, such as
In certain jurisdictions, according to legislation and patent practice, computer-readable medium do not include be electric carrier signal and telecommunications letter
Number.
Embodiment described above is merely illustrative of the technical solution of the present invention, rather than its limitations；Although referring to aforementioned reality
Applying example, invention is explained in detail, those skilled in the art should understand that: it still can be to aforementioned each
Technical solution documented by embodiment is modified or equivalent replacement of some of the technical features；And these are modified
Or replacement, the spirit and scope for technical solution of various embodiments of the present invention that it does not separate the essence of the corresponding technical solution should all
It is included within protection scope of the present invention.
Claims (10)
1. a kind of switching method of electric vehicle control model, which is characterized in that the electric vehicle includes motor and throttle, institute
Stating switching method includes:
When detecting the operating mode switching command of the motor, the input current and the motor for obtaining the throttle are turning
Output electric current under fast mode；Wherein, the operating mode of the motor includes revolving speed mode and torque mode；
According to the weight coefficient of output electric current and distribution under the input current of the vehicle accelerator, the revolving speed mode, calculate
The output quadrature axis current switched between the revolving speed mode and the torque mode；
The switching that the motor carries out the revolving speed mode and torque mode is controlled according to the output quadrature axis current.
2. switching method according to claim 1, which is characterized in that refer to when the operating mode for detecting the motor switches
When enabling, the output electric current of the input current and the motor of the throttle under revolving speed mode is obtained, comprising:
When detect the operating mode of the motor is switched to the switching command of revolving speed mode by torque mode when, described in acquisition
The input current of throttle, and the electric machine controller for controlling the vehicle starts to execute speed closed loop mode；
When the electric machine controller executes the speed closed loop mode, output of the motor under the revolving speed mode is obtained
Electric current.
3. switching method according to claim 1, which is characterized in that refer to when the operating mode for detecting the motor switches
When enabling, the output electric current of the input current and the motor of the throttle under revolving speed mode is obtained, comprising:
When detecting the operating mode of the motor by switching command that revolving speed pattern switching is torque mode, described in acquisition
Output electric current of the motor under revolving speed mode, and obtain the input current of the throttle.
4. switching method according to claim 1, which is characterized in that the input current according to the vehicle accelerator,
The weight coefficient of output electric current and distribution under the revolving speed mode, calculates and switches between the revolving speed mode and the torque mode
Output quadrature axis current, comprising:
The weight coefficient is distributed according to first order inertial loop transmission function；
According to the weight coefficient meter of output electric current and the distribution under the input current of the vehicle accelerator, the revolving speed mode
Calculate the output quadrature axis current switched between revolving speed mode and torque mode.
5. switching method according to claim 4, which is characterized in that described to be distributed according to first order inertial loop transmission function
The calculation formula of the weight coefficient are as follows:
Wherein, the α is the weight coefficient, and the τ is the default inertial element time, and the s is in the transmission function
Differential operator.
6. switching method according to claim 4, which is characterized in that according to the input current of the vehicle accelerator, described
Under revolving speed mode output electric current and distribution weight coefficient, calculate switch between the revolving speed mode and the torque mode it is defeated
The calculation formula of quadrature axis current out are as follows:
Wherein, the Iq_refIt is described for the output quadrature axis currentIt is described to be for the output electric current under the revolving speed modeThe input current of the vehicle accelerator, the α are the weight coefficient.
7. a kind of switching device of electric vehicle control model, which is characterized in that the electric vehicle includes motor and throttle, institute
Stating switching device includes:
Module is obtained, for obtaining the input current of the throttle when detecting the operating mode switching command of the motor
With output electric current of the motor under revolving speed mode；Wherein, the operating mode of the motor includes revolving speed mode and torque mould
Formula；
Computing module, for according under the input current of the vehicle accelerator, the revolving speed mode output electric current and distribution
Weight coefficient calculates the output quadrature axis current switched between the revolving speed mode and the torque mode；
Control module carries out the revolving speed mode and torque mode for controlling the motor according to the output quadrature axis current
Switching.
8. switching device according to claim 7, which is characterized in that the acquisition module includes:
Control unit is referred to the operating mode of the motor by the switching that torque mode is switched to revolving speed mode for that ought detect
When enabling, the electric machine controller for obtaining the input current of the throttle, and controlling the vehicle starts to execute speed closed loop mode；
First acquisition unit, for obtaining the motor in institute when the electric machine controller executes the speed closed loop mode
State the output electric current under revolving speed mode.
9. a kind of terminal device, including memory, processor and storage are in the memory and can be on the processor
The computer program of operation, which is characterized in that the processor realizes such as claim 1 to 6 when executing the computer program
The step of any one the method.
10. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In when the computer program is executed by processor the step of any one of such as claim 1 to 6 of realization the method.
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