CN110356248B - Motor torque control method and device, storage medium and vehicle - Google Patents
Motor torque control method and device, storage medium and vehicle Download PDFInfo
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- CN110356248B CN110356248B CN201910656669.9A CN201910656669A CN110356248B CN 110356248 B CN110356248 B CN 110356248B CN 201910656669 A CN201910656669 A CN 201910656669A CN 110356248 B CN110356248 B CN 110356248B
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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
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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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Abstract
The invention provides a motor torque control method, a motor torque control device, a storage medium and a vehicle. By acquiring the required torque and the actual torque of the motor, if the direction of the required torque is opposite to that of the actual torque, the actual torque of the motor is controlled to approach to 0, and when the actual torque of the motor reaches 0, the actual torque of the motor is controlled to approach to the required torque. Thereby avoided the moment of torsion of motor direct switching between positive torque and negative torque, eliminated the transmission shaft abnormal sound of motor, improved the driving comfort level, and then improved user experience.
Description
Technical Field
The invention relates to the field of automobiles, in particular to a method and a device for controlling motor torque, a storage medium and a vehicle.
Background
The hybrid electric vehicle is a new energy vehicle which is started in recent years, and is greatly concerned by the automobile industry due to the advantages of energy conservation, environmental protection, low emission and the like. The motor is an important power source of the hybrid electric vehicle, and the performance and the working characteristics of the motor seriously affect the performance of the hybrid electric vehicle. The torque is one of basic parameters of the motor, the motor is controlled by controlling the torque, and the whole vehicle performance is improved.
In the prior art, the current output torque of the motor is adjusted according to the target required torque of the motor by acquiring the current output torque of the motor and the target required torque of the motor, and the motor is controlled to output the adjusted torque.
However, in the prior art, when the driver switches between the accelerator and the brake back and forth under a relatively blocked road condition, abnormal sound is generated at the transmission shaft, so that the driving feeling is influenced.
Disclosure of Invention
The invention provides a motor torque control method, a motor torque control device, a storage medium and a vehicle, and aims to solve the problems that a transmission shaft is abnormal in sound and the driving comfort level is not high when a driver switches between an accelerator and a brake in the prior art.
In a first aspect, the present invention provides a method for controlling torque of a motor, comprising:
acquiring a required torque and an actual torque of a motor;
if the direction of the required torque is opposite to that of the actual torque, controlling the actual torque of the motor to approach to 0;
and when the actual torque of the motor reaches 0, controlling the actual torque of the motor to approach the required torque.
Optionally, the method further comprises:
if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque; the limited torque is the maximum torque allowed when the motor works normally.
Optionally, the controlling the actual torque of the electric machine to approach the required torque includes:
and in the process that the actual torque of the motor approaches to the required torque, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
Optionally, the controlling the actual torque of the electric machine to approach the required torque includes:
in the process that the actual torque of the motor approaches to the required torque, if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
In a second aspect, the present invention provides a control apparatus for motor torque, comprising:
the acquisition module is used for acquiring the required torque and the actual torque of the motor;
the processing module is used for controlling the actual torque of the motor to approach to 0 if the direction of the required torque is opposite to that of the actual torque;
the processing module is further used for controlling the actual torque of the motor to approach the required torque when the actual torque of the motor reaches 0.
Optionally, the processing module is further configured to:
if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque; the limited torque is the maximum torque allowed when the motor works normally.
Optionally, the processing module is specifically configured to:
and in the process that the actual torque of the motor approaches to the required torque, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
Optionally, the processing module is specifically configured to:
in the process that the actual torque of the motor approaches to the required torque, if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
In a third aspect, the present invention provides a storage medium having stored thereon a computer program which, when executed by a processor, implements a method of controlling motor torque as described above.
In a fourth aspect, the present invention provides a vehicle including the motor torque control device as described above.
The invention provides a method, a device and a system for controlling motor torque and a storage medium. By acquiring the required torque and the actual torque of the motor, if the direction of the required torque is opposite to that of the actual torque, the actual torque of the motor is controlled to approach to 0, and when the actual torque of the motor reaches 0, the actual torque of the motor is controlled to approach to the required torque. When the motor is controlled to switch the positive torque and the negative torque, the actual torque is controlled to be changed to 0 when being close to a zero point, and then the actual torque is increased along with the required torque from 0, so that the direct switching of the torque of the motor between the positive torque and the negative torque is avoided, the abnormal sound of a transmission shaft of the motor is eliminated, the driving comfort is improved, and the user experience is further improved.
Drawings
In order to more clearly illustrate the technical solutions of the present invention or the prior art, the following briefly introduces the drawings needed to be used in the description of the embodiments or the prior art, and obviously, the drawings in the following description are some embodiments of the present invention, and those skilled in the art can obtain other drawings according to the drawings without inventive labor.
Fig. 1 is a schematic flowchart of a first embodiment of a method for controlling a torque of a motor according to an embodiment of the present invention;
fig. 2 is a schematic flowchart of a second embodiment of a method for controlling motor torque according to an embodiment of the present invention;
fig. 3 is a schematic structural diagram of a first embodiment of a motor torque control device according to an embodiment of the present invention.
Detailed Description
In order to make the objects, technical solutions and advantages of the present invention clearer, the technical solutions of the present invention will be clearly and completely described below with reference to the accompanying drawings, and it is obvious that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
The terms "first," "second," "third," "fourth," and the like in the description and in the claims, as well as in the drawings, if any, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used is interchangeable under appropriate circumstances such that the embodiments of the invention described herein are, for example, capable of operation in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed, but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
The motor is a general name of electric energy and mechanical energy conversion equipment, and the reversible principle of the motor shows that the same motor can be used as a generator and a motor. Specifically, when the motor operates with a driving (positive) torque, it is equivalent to a motor that can convert electrical energy into mechanical energy to drive the vehicle to travel, and when the motor operates with a braking (negative) torque, it is equivalent to a generator that can convert mechanical energy into electrical energy to brake the vehicle.
When a hybrid electric vehicle (parallel or pure electric) runs at a low speed in a pure electric mode, and meets a relatively blocked road condition, a driver can switch back and forth between an accelerator and a brake, when the accelerator is stepped on, the motor can quickly respond to a driving torque, when the driver releases the accelerator, the driving torque is quickly reduced to 0, when the driver steps on the brake, the motor can quickly respond to a braking torque, and due to the assembly reason, the torque of the motor is switched between the driving torque and the braking torque, so that a transmission shaft can be loosened, under the condition, if the accelerator is stepped on again, the motor can quickly respond to the driving torque again, and abnormal sound of the transmission shaft can be caused.
In the method in the prior art, the target required torque of the motor is obtained, and the output torque of the motor is adjusted through the target required torque, so that the torque of the motor is controlled, but when the torque of the motor is repeatedly switched between the driving torque and the braking torque, the problem of abnormal sound of a transmission shaft still exists. The invention provides a control method of motor torque, which accurately controls the required torque and the actual torque of a motor, thereby avoiding the direct switching of the torque of the motor between positive torque and negative torque, eliminating the abnormal sound of a transmission shaft of the motor, improving the driving comfort and further improving the user experience.
In the embodiment of the invention, the required torque refers to a target required torque of a next operation period after the current operation period of the motor, the required torque is sent by a Hybrid Control Unit (HCU), and is a torque value determined according to a driving intention, and the motor can ensure normal operation of a vehicle in the next operation period under the required torque.
The actual torque refers to the actual output torque of the motor in the current operation period, namely the actual working torque of the motor, and is sent by the motor controller.
The motor limit torque refers to a maximum torque allowed when the motor normally works, and is limited by the charging and discharging capacity of a battery, the performance of a gearbox, the external characteristics of the motor, the requirement of a driver and the like, and usually, the minimum value of the limit values is taken as the motor limit torque to limit the torque of the motor within the capacity allowable range of the battery, and if the actual torque of the motor exceeds the limit torque, the output torque of the motor is too large, so that the motor, the gearbox and the like are easily damaged.
The HCU is a main controller of the entire hybrid system, and is responsible for energy distribution, torque management, error diagnosis, and the like of the entire hybrid system, and corresponds to the "brain" of the automobile. The motor is controlled by the HCU and can communicate with the HCU, and the HCU realizes information interaction with the motor through messages and controls the working state of the motor.
Fig. 1 is a schematic flowchart of a first embodiment of a method for controlling a motor torque according to an embodiment of the present invention. As shown in fig. 1, the main execution body of this embodiment is an HCU, and the method of this embodiment includes:
and S101, acquiring the required torque and the actual torque of the motor.
In this step, the HCU obtains the actual torque output by the motor in the current operation period, and determines the required torque of the motor in the next operation period according to the intention of the driver, such as the opening degree of an accelerator and the opening degree of a brake pedal.
The required torque is a torque value determined by the HCU according to the driving intention, is corresponding to the current vehicle speed, the accelerator opening degree, the brake pedal opening degree and the like, is corresponding to the required torque, the current vehicle speed, the accelerator opening degree, the brake pedal opening degree and the like, can be a parameter table calibrated by workers before the vehicle leaves a factory, can be required torques corresponding to different vehicle speeds, accelerator opening degrees or brake pedal opening degrees by inquiring the parameter table through the HCU, can also be a mathematical model trained in advance, and can be required torques corresponding to different vehicle speeds, accelerator opening degrees or brake pedal opening degrees through data model operation, and the inventor does not limit the required torques.
The HCU obtains the actual torque output by the motor in the current operation period sent by the motor controller through the message.
And S102, if the direction of the required torque is opposite to that of the actual torque, controlling the actual torque of the motor to approach 0.
In this step, after acquiring the required torque and the actual torque of the motor, the HCU determines whether the directions of the acquired required torque and the actual torque are the same, and generates a corresponding operation instruction according to the determination result, the HCU sends the operation instruction to the microcontroller through a message, and the microcontroller controls the motor according to the received message. And if the required torque is opposite to the actual torque direction, controlling the actual torque of the motor to approach 0.
It will be appreciated that controlling the actual torque of the motor towards 0 involves two steps: step a, the HCU sends a required torque of 0; and b, controlling the actual torque of the motor to approach the required torque.
The required torque is opposite to the actual torque in two cases: one case is where the requested torque is the braking torque (negative torque) and the actual torque is the driving torque (positive torque), and one possible corresponding actual case is where the vehicle is currently in a forward state and the driver is applying the brake. Another situation is that the demanded torque is the driving torque (positive torque) and the actual torque is the braking torque (negative torque), and a possible corresponding actual situation is that the vehicle is currently in a braking state and the driver steps on the throttle.
In both cases, there is a zero crossing problem, whether from positive to negative torque or from negative to positive torque.
The actual torque of the motor is controlled to approach 0, the actual torque of the motor can be controlled to approach 0 according to the limit regulation of the torque change of the motor, the actual torque of the motor can also be controlled to approach 0 in preset steps, and the inventor does not limit the actual torque of the motor. In order to respond quickly to the driver's operation, it is common to control the actual torque of the motor to approach 0 at the fastest speed.
And S103, controlling the actual torque of the motor to approach the required torque when the actual torque of the motor reaches 0.
In this step, after S102 is executed, the HCU controls the actual torque of the motor to approach the required torque when the actual torque of the motor reaches 0.
The method is characterized in that the change of the required torque is controlled to realize that the actual torque of the motor is controlled to change according to the principle of fast slow increase, the actual torque of the motor is controlled to approach to 0 at the fastest speed before 0 point, and the actual torque of the motor is controlled to slowly increase after the actual torque reaches the zero point, and the method has the following two possible implementation modes:
in one possible implementation manner, during the process that the actual torque of the motor approaches the required torque, the required torque is filtered through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
The delay characteristic of the filter is utilized, and the filter is used for filtering the signal of the required torque, so that the signal of the required torque is sent out in several times, the required torque of the motor is changed according to a certain step length, and the aim of controlling the slow change of the actual torque of the motor is fulfilled.
The principle of filter delay is that the convolution results are inaccurate before the data reach the length of the filter, that is, the data reaching the specified length starts to be output with truly meaningful data after passing through the filter, thereby realizing the delay of the data. The higher the order of the filter, the larger the delay.
In this embodiment, the required torque may be filtered through a first-order low-pass filter, or may be filtered through other filters, which may be specifically selected according to actual requirements, and the inventor does not limit this.
In the implementation mode, before the point 0 is passed, the actual torque is controlled to approach to 0 at the fastest speed, after the point 0 is passed, the required torque is subjected to delay processing through a first-order low-pass filter, and the actual torque is controlled to change along with the required torque output by the first-order low-pass filter, so that the control of the actual torque is realized through the control of the required torque, the actual torque is slowly increased after the zero crossing point, and the effect of eliminating abnormal sound of the transmission shaft is achieved.
In another possible implementation manner, in the process that the actual torque of the motor approaches to the required torque, if a difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
The method comprises the steps of carrying out sectional control on the required torque, obtaining the actual torque and the required torque in real time by the HCU, comparing the actual torque and the required torque, carrying out filtering processing on the required torque through a first-order low-pass filter if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, and controlling the actual torque of the motor to change according to the fixed step length of the motor if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value.
The torque limit rule of the motor itself means the torque variation characteristic inherent to the motor, which is determined when the motor is shipped from the factory and is determined by the performance of the motor itself.
The change speed of the required torque in a range (the range limited by the second threshold value) near the zero point is reduced by setting the second threshold value, and in the region outside the range, the required torque is not subjected to filtering processing, and is changed according to the inherent characteristics of the torque of the motor, so that the actual torque is ensured to be slowly changed near the zero point, and the rest part is close to the required torque at the fastest speed, and the effect of eliminating abnormal sound of the transmission shaft is achieved.
In the implementation mode, before the point 0 is passed, the actual torque is controlled to approach to 0 at the fastest speed, after the point 0 is passed, the required torque is controlled in a segmented mode by setting a second threshold value, if the difference value between the actual torque and the required torque of the motor is smaller than the preset second threshold value, the required torque is subjected to delay processing through a first-order low-pass filter, the actual torque of the motor is controlled to change along with the required torque output by the first-order low-pass filter, if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, the actual torque of the motor is controlled to change according to the torque limiting rule of the motor, namely, the actual torque of the motor is controlled to approach to the required torque at the fastest speed, so that the control of the actual torque is realized by controlling the required torque, and the actual torque is slowly increased after the zero crossing point, thereby achieving the effect of eliminating abnormal sound of the transmission shaft.
In this embodiment, by obtaining a required torque and an actual torque of the motor, if the required torque is opposite to the actual torque, the actual torque of the motor is controlled to approach to 0, and when the actual torque of the motor reaches 0, the actual torque of the motor is controlled to approach to the required torque. When the motor is controlled to switch the positive torque and the negative torque, the actual torque is controlled to be changed to 0 when being close to a zero point, and then the actual torque is increased along with the required torque from 0, so that the direct switching of the torque of the motor between the positive torque and the negative torque is avoided, the abnormal sound of a transmission shaft of the motor is eliminated, the driving comfort is improved, and the user experience is further improved.
Fig. 2 is a flowchart illustrating a second method for controlling motor torque according to an embodiment of the present invention. On the basis of the first embodiment, as shown in fig. 2, the method of this embodiment further includes:
s201, if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque.
Wherein, the limited torque is the maximum torque allowed when the motor works normally.
In this step, the HCU compares the acquired required torque with the limit torque of the motor, and sets the required torque as the limit torque if the absolute value of the difference between the required torque and the limit torque of the motor is smaller than a preset first threshold, that is, the required torque and the limit torque are substantially equal to each other.
In one possible implementation, the required torque is set as the limit torque as long as an absolute value of a difference between the required torque and the limit torque of the motor is smaller than a preset first threshold.
In another possible implementation manner, when the required torque is greater than the limit torque and the absolute value of the difference between the required torque and the limit torque of the motor is smaller than a preset first threshold, the required torque is set as the limit torque; when the required torque is smaller than the limit torque and the absolute value of the difference between the required torque and the limit torque of the motor is smaller than a preset first threshold, the original required torque may not be changed.
The specific setting may be according to the actual driving situation of the vehicle and the performance condition of the vehicle, and the inventor does not limit this.
In this embodiment, if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, the required torque is set as the limiting torque, and the limiting torque is the maximum torque allowed when the motor normally works, so that the required torque of the motor is limited within the range of the limiting torque, the availability of the required torque is ensured, and the control accuracy of the HCU is improved.
Fig. 3 is a schematic structural diagram of a first embodiment of a motor torque control device according to an embodiment of the present invention. As shown in fig. 3, the apparatus of the present embodiment includes:
an acquisition module 301 and a processing module 302.
The obtaining module 301 is configured to obtain a required torque and an actual torque of a motor;
the processing module 302 is configured to control the actual torque of the motor to approach to 0 if the direction of the required torque is opposite to the direction of the actual torque;
the processing module 302 is further configured to control the actual torque of the electric machine to approach the required torque when the actual torque of the electric machine reaches 0.
Optionally, the processing module 302 is further configured to:
if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque; the limited torque is the maximum torque allowed when the motor works normally.
Optionally, the processing module 302 is specifically configured to:
and in the process that the actual torque of the motor approaches to the required torque, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
Optionally, the processing module 302 is specifically configured to:
in the process that the actual torque of the motor approaches to the required torque, if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
The control device for motor torque of the present embodiment can be used for implementing the technical solutions in any of the foregoing method embodiments, and the implementation principle and technical effects are similar, and are not described herein again.
In this embodiment, an obtaining module 301 obtains a required torque and an actual torque of a motor, and a processing module 302 controls the actual torque of the motor to approach to 0 if the required torque is opposite to the actual torque, and controls the actual torque of the motor to approach to the required torque when the actual torque of the motor reaches 0. When the motor is controlled to switch the positive torque and the negative torque, the actual torque is controlled to be changed to 0 when being close to a zero point, and then the actual torque is increased along with the required torque from 0, so that the direct switching of the torque of the motor between the positive torque and the negative torque is avoided, the abnormal sound of a transmission shaft of the motor is eliminated, the driving comfort is improved, and the user experience is further improved.
An embodiment of the present invention provides a storage medium, where a computer program is stored, and when the computer program is executed by a processor, the computer program implements a technical solution of the method for controlling the motor torque according to the embodiment shown in fig. 1 or fig. 2.
An embodiment of the invention provides a vehicle including a motor torque control apparatus of the embodiment shown in fig. 3.
Those of ordinary skill in the art will understand that: all or a portion of the steps of implementing the above-described method embodiments may be performed by hardware associated with program instructions. The program may be stored in a computer-readable storage medium. When executed, the program performs steps comprising the method embodiments described above; and the aforementioned storage medium includes: various media that can store program codes, such as ROM, RAM, magnetic or optical disks.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (8)
1. A method of controlling torque of an electric motor, comprising:
acquiring a required torque and an actual torque of a motor;
if the direction of the required torque is opposite to that of the actual torque, controlling the actual torque of the motor to approach to 0;
when the actual torque of the motor reaches 0, controlling the actual torque of the motor to approach the required torque;
wherein the controlling of the actual torque of the motor toward the required torque includes:
in the process that the actual torque of the motor approaches to the required torque, if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
2. The method of claim 1, further comprising:
if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque; the limited torque is the maximum torque allowed when the motor works normally.
3. The method according to claim 1 or 2, wherein the controlling the actual torque of the electric machine closer to the required torque comprises:
and in the process that the actual torque of the motor approaches to the required torque, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
4. A control device of motor torque, characterized by comprising:
the acquisition module is used for acquiring the required torque and the actual torque of the motor;
the processing module is used for controlling the actual torque of the motor to approach to 0 if the direction of the required torque is opposite to that of the actual torque;
the processing module is further used for controlling the actual torque of the motor to approach the required torque when the actual torque of the motor reaches 0;
the processing module is specifically configured to: in the process that the actual torque of the motor approaches to the required torque, if the difference value between the actual torque and the required torque of the motor is smaller than a preset second threshold value, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter;
and if the difference value between the actual torque and the required torque of the motor is larger than or equal to the second threshold value, controlling the actual torque of the motor to change according to the torque limiting rule of the motor.
5. The apparatus of claim 4, wherein the processing module is further configured to:
if the absolute value of the difference between the required torque and the limiting torque of the motor is smaller than a preset first threshold, setting the required torque as the limiting torque; the limited torque is the maximum torque allowed when the motor works normally.
6. The apparatus according to claim 4 or 5, wherein the processing module is specifically configured to:
and in the process that the actual torque of the motor approaches to the required torque, filtering the required torque through a first-order low-pass filter, so that the actual torque of the motor changes along with the required torque output by the first-order low-pass filter.
7. A storage medium, characterized in that a computer program is stored thereon, which program, when being executed by a processor, implements a method of controlling a torque of a motor according to any one of claims 1 to 3.
8. A vehicle characterized by comprising the control device of motor torque according to any one of claims 4 to 6.
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| CN111319475B (en) * | 2020-02-14 | 2020-12-01 | 北京理工大学 | Motor torque control method and device, vehicle and readable storage medium |
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| CN110254250B (en) * | 2019-06-26 | 2021-03-09 | 四川阿尔特新能源汽车有限公司 | Motor torque zero-crossing control method, device, controller, vehicle and storage medium |
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