CN110489917A - Emulation mode, device, model and the equipment of electric vehicle speed reducer - Google Patents
Emulation mode, device, model and the equipment of electric vehicle speed reducer Download PDFInfo
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- CN110489917A CN110489917A CN201910800230.9A CN201910800230A CN110489917A CN 110489917 A CN110489917 A CN 110489917A CN 201910800230 A CN201910800230 A CN 201910800230A CN 110489917 A CN110489917 A CN 110489917A
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- retarder
- input
- rotary inertia
- reducer
- output
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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
Abstract
The invention discloses a kind of emulation mode of electric vehicle speed reducer, device, model and equipment, wherein method includes: motor output torque, reducer input shaft rotary inertia and the retarder input speed for obtaining electric car；Retarder input torque is generated according to motor output torque, reducer input shaft rotary inertia and retarder input speed；Revolving speed is exported according to the retarder that retarder input speed and retarder gear ratios generate retarder；The retarder output torque that revolving speed generates retarder is exported according to retarder input torque, retarder gear ratios and retarder.This method is according to the input signal got, simulation generates the output signal of retarder in this state in practical application, it is advantageously implemented the analogue simulation to retarder, the step of carrying out verification experimental verification so as to avoid trial-production retarder exemplar and to exemplar, the development cost for reducing retarder shortens the development time of retarder.
Description
Technical field
The present invention relates to technical field of vehicle, in particular to a kind of emulation mode of electric vehicle speed reducer, device, model
And equipment.
Background technique
Currently, the popularity rate of electric car is higher and higher, wherein important portion of the retarder as transmission system of electric automobile
Part, thus it is possible to vary the transmission ratio of transmission system reduces the revolving speed of driving motor and increases torque to adapt to different operating conditions.And make
With the vehicle of single reduction gear, when running at high speed, the revolving speed of driving motor is still too fast, therefore two grades of retarders are by bigger
Gear range, utilization rate are gradually increased.
However, in the related technology, when developing two grades of retarders, needing first to determine the configuration of two grades of retarders, then trying
Make quick exemplar, then carry out the design verifications such as bench test and vehicle test, cause the development cycle of two grades of retarders it is longer, at
This is higher.
Summary of the invention
The present invention is directed to solve at least some of the technical problems in related technologies.For this purpose, of the invention
First purpose be to propose a kind of emulation mode of electric vehicle speed reducer, and this method is according to the input signal got, mould
It is quasi- to generate the output signal of retarder in this state in practical application, it is advantageously implemented the analogue simulation to retarder, thus
The step of avoiding trial-production retarder exemplar and carrying out verification experimental verification to exemplar, reduces the development cost of retarder, shortens
The development time of retarder.
Second object of the present invention is to propose a kind of simulator of electric vehicle speed reducer.
Third object of the present invention is to propose a kind of simulation model of electric vehicle speed reducer.
Fourth object of the present invention is to propose a kind of electronic equipment.
5th purpose of the invention is to propose a kind of computer readable storage medium.
In a first aspect, providing a kind of emulation mode of electric vehicle speed reducer, comprising: the motor for obtaining electric car is defeated
Torque, reducer input shaft rotary inertia and retarder input speed out；It is rotated according to motor output torque, reducer input shaft
Inertia and retarder input speed generate retarder input torque；It is generated according to retarder input speed and retarder gear ratios
The retarder of retarder exports revolving speed；Revolving speed is exported according to retarder input torque, retarder gear ratios and retarder to generate
The retarder output torque of retarder.
In addition, can also have following additional skill according to the emulation mode of the electric vehicle speed reducer of above-described embodiment
Art feature:
According to one embodiment of present invention, the emulation mode of electric vehicle speed reducer, further includes: obtain the retarder
Reducer input shaft rotary inertia and reducer output shaft rotary inertia；The retarder input rotation for obtaining the retarder is used
Amount；And rotary inertia, the reducer input shaft rotary inertia and the deceleration are inputted according to the retarder of the retarder
Device output shaft rotary inertia generates retarder and exports rotary inertia.
According to one embodiment of present invention, retarder is generated according to the following formula export revolving speed:
Wherein, ωtran_outRevolving speed, ω are exported for retardertran_inFor retarder input speed, igFor retarder gear speed
Than.
According to one embodiment of present invention, the retarder output torque is generated according to following formula:
Wherein, Ttran_outFor retarder output torque, Ttran_inFor retarder input torque, ηtranIt is driven and imitates for retarder
Rate, Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios, ωtran_outRevolving speed is exported for retarder.
According to one embodiment of present invention, the retarder output rotary inertia is generated according to the following formula:
Wherein, Jtran_outRotary inertia, J are exported for retardertran_inRotary inertia, J are inputted for retarderaxis_inTo subtract
Fast device input shaft rotary inertia, Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios.
According to one embodiment of present invention, the emulation mode of electric vehicle speed reducer, further includes: obtain motor output and turn round
Angular speed, Clutch input shaft damping ratio and clutch output shaft damping ratio and input rotation when square, clutched state
Inertia and output rotary inertia；According to angular speed, Clutch input shaft resistance when the motor output torque, clutched state
Buddhist nun's ratio and clutch output valve damping ratio and input rotary inertia and output rotary inertia generate moment of friction threshold value.
According to one embodiment of present invention, the moment of friction threshold value is generated according to the following formula:
Tfneed=(Tmotor-ω·be-ω·bv)×Iv/(Ie+Iv)+bv
Wherein, TfneedFor moment of friction threshold value, TmotorFor motor output torque, ω is clutched state hour angle speed
Degree, beFor Clutch input shaft damping ratio, bvFor clutch output shaft damping ratio, IeRotary inertia, I are inputted for clutchvFor from
Clutch exports rotary inertia.
According to one embodiment of present invention, the emulation mode of electric vehicle speed reducer further includes judging rubbing for clutch
Wipe whether torque is greater than or equal to moment of friction threshold value；If the moment of friction of clutch is greater than or equal to moment of friction threshold value,
Then determine that clutch is engagement state；If the moment of friction of clutch is less than moment of friction threshold value, it is determined that clutch is point
From state.
The emulation mode of the electric vehicle speed reducer of the embodiment of the present invention, according to the input signal got, simulation is generated
The output signal of retarder in this state in practical application, is advantageously implemented the analogue simulation to retarder, so as to avoid
The step of manufacturing experimently retarder exemplar and carrying out verification experimental verification to exemplar, reduces the development cost of retarder, shortens retarder
Development time.
Second aspect provides a kind of simulator of electric vehicle speed reducer, comprising: module is obtained, for obtaining electricity
The motor output torque of electrical automobile, reducer input shaft rotary inertia and retarder input speed；First generation module is used for root
According to the motor output torque, reducer input shaft rotary inertia and retarder input speed generate retarder input torque；The
Two generation modules, the retarder for generating the retarder according to the retarder input speed and retarder gear ratios are defeated
Revolving speed out；Third generation module, for being exported according to the retarder input torque, the retarder gear ratios and retarder
Revolving speed generates the retarder output torque of the retarder.
In addition, following additional skill can also be had by surveying device according to the emulation of the electric vehicle speed reducer of above-described embodiment
Art feature:
According to one embodiment of present invention, the acquisition module, is also used to: obtaining the retarder input of the retarder
Axis rotary inertia and reducer output shaft rotary inertia, and, obtain the retarder input rotary inertia of retarder；
According to one embodiment of present invention, the simulator of electric vehicle speed reducer further includes the 4th generation module, institute
The 4th generation module is stated, is specifically used for: rotary inertia being inputted according to the retarder of the retarder, the reducer input shaft turns
Dynamic inertia and the reducer output shaft rotary inertia generate retarder and export rotary inertia.
According to one embodiment of present invention, second generation module, is specifically used for: generating slow down according to the following formula
Device exports revolving speed:
Wherein, ωtran_outRevolving speed, ω are exported for retardertran_inFor retarder input speed, igFor retarder gear speed
Than.
According to one embodiment of present invention, the third generation module, is specifically used for: described in generating according to the following formula
Retarder output torque:
Wherein, Ttran_outFor retarder output torque, Ttran_inFor retarder input torque, ηtranIt is driven and imitates for retarder
Rate, Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios, ωtran_outRevolving speed is exported for retarder.
According to one embodiment of present invention, the 4th generation module, is specifically used for: described in generating according to the following formula
Retarder exports rotary inertia:
Wherein, Jtran_outRotary inertia, J are exported for retardertran_inRotary inertia, J are inputted for retarderaxis_inTo subtract
Fast device input shaft rotary inertia, Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios.
According to one embodiment of present invention, the acquisition module, is also used to: obtaining motor output torque, clutch connects
Angular speed, Clutch input shaft damping ratio and clutch output shaft damping ratio and input rotary inertia and output when conjunction state
Rotary inertia.
According to one embodiment of present invention, the simulator of electric vehicle speed reducer further includes the 5th generation module, institute
The 5th generation module is stated, is specifically used for: is defeated according to angular speed, clutch when the motor output torque, clutched state
Enter axis damping ratio and clutch output valve damping ratio and input rotary inertia and output rotary inertia generates moment of friction threshold
Value.
According to one embodiment of present invention, the 5th generation module, is specifically used for: according to following formula generate described in rub
Wipe torque threshold:
Tfneed=(Tmotor-ω·be-ω·bv)×Iv/(Ie+Iv)+bv
Wherein, TfneedFor moment of friction threshold value, TmotorFor motor output torque, ω is clutched state hour angle speed
Degree, beFor Clutch input shaft damping ratio, bvFor clutch output shaft damping ratio, IeRotary inertia, I are inputted for clutchvFor from
Clutch exports rotary inertia.
According to one embodiment of present invention, the 5th generation module, is also used to: judging the moment of friction of clutch is
It is no to be greater than or equal to moment of friction threshold value；If the moment of friction of clutch be greater than or equal to moment of friction threshold value, control from
Clutch remains engaged with state；If the moment of friction of clutch is less than moment of friction threshold value, controls clutch and remain engaged with
State.
The simulator of the electric vehicle speed reducer of the embodiment of the present invention, according to the input signal got, simulation is generated
The output signal of retarder in this state in practical application avoids trial-production to realize the analogue simulation to retarder
Retarder exemplar and to exemplar carry out verification experimental verification the step of, reduce the development cost of retarder, shorten opening for retarder
Send out the time.
The third aspect provides a kind of simulation model of electric vehicle speed reducer, which includes: the input of the first signal
End, reducer input shaft rotary inertia input terminal, second signal input terminal, third signal input part, the first differential process device,
One multiplier, retarder input torque arithmetic unit, friction-disc clutch model, retarder transmission efficiency input terminal, retarder
Output shaft rotary inertia input terminal, the second multiplier, retarder export revolving speed arithmetic unit, the second differential process device, the 4th multiplication
Device, retarder output torque arithmetic unit, the first change-over switch, the second change-over switch, the first signal output end and second signal are defeated
Outlet；
First signal input part is connect with the first end of the retarder input torque arithmetic unit；
The reducer input shaft rotary inertia input terminal is connect with the first end of first multiplier；
The first end and retarder output revolving speed fortune of the second signal input terminal and the first differential process device
Calculate the first end connection of device；
The first end of the third signal input part and the friction-disc clutch model, first change-over switch
The connection of second input terminal of the second input terminal and the second change-over switch；
The second end of the first differential process device is connect with the first end of first multiplier；
The second end of first multiplier is connect with the first end of the retarder input torque arithmetic unit；
The second end of the retarder input torque arithmetic unit is connect with the first end of second multiplier；
The second end of the friction-disc clutch model and the first end of second multiplier and the retarder are defeated
The first end connection of revolving speed arithmetic unit out,
The retarder transmission efficiency input terminal is connect with the first end of second multiplier；
The reducer output shaft rotary inertia input terminal is connect with the first end of the 4th multiplier；
The second end of second multiplier is connect with the first end of the retarder output torque arithmetic unit；
The second end of retarder output revolving speed arithmetic unit and the first end of the second differential process device and described the
The first input end of one change-over switch connects；
The second end of the second differential process device is connect with the first end of the 4th multiplier；
The second end of 4th multiplier is connect with the first end of the retarder output torque arithmetic unit；
The second end of the retarder output torque arithmetic unit is connect with the first input end of second change-over switch；
The output end of first change-over switch is connect with first signal output end；
The output end of second change-over switch is connect with the second signal output end.
Fourth aspect provides a kind of electronic equipment, including memory, processor；Wherein, the processor passes through reading
The executable program code stored in the memory runs program corresponding with the executable program code, for real
The emulation mode of existing above-mentioned electric vehicle speed reducer.
5th aspect, provides a kind of computer readable storage medium, the computer-readable recording medium storage has meter
Calculation machine program, the program realize the emulation mode of above-mentioned electric vehicle speed reducer when being executed by processor.
The additional aspect of the present invention and advantage will be set forth in part in the description, and will partially become from the following description
Obviously, or practice through the invention is recognized.
Detailed description of the invention
Fig. 1 is a kind of structural schematic diagram of the simulation model of electric vehicle speed reducer provided in an embodiment of the present invention；
Fig. 2 is a kind of flow diagram of the emulation mode of electric vehicle speed reducer provided in an embodiment of the present invention；
Fig. 3 is a kind of process signal of emulation mode of specific electric vehicle speed reducer provided in an embodiment of the present invention
Figure；
Fig. 4 is a kind of structural schematic diagram of the simulator of electric vehicle speed reducer provided in an embodiment of the present invention；
Fig. 5 is a kind of structural representation of the simulator of specific electric vehicle speed reducer provided in an embodiment of the present invention
Figure；
The structural schematic diagram of Fig. 6 a kind of electronic equipment provided in an embodiment of the present invention.
Specific embodiment
The embodiment of the present invention is described below in detail, examples of the embodiments are shown in the accompanying drawings, wherein from beginning to end
Same or similar label indicates same or similar element or element with the same or similar functions.Below with reference to attached
The embodiment of figure description is exemplary, it is intended to is used to explain the present invention, and is not considered as limiting the invention.
Describe with reference to the accompanying drawings the emulation mode of the electric vehicle speed reducer proposed according to embodiments of the present invention, device and
Equipment.
Wherein, the emulation mode of the electric vehicle speed reducer provided according to embodiments of the present invention can give birth in Simulation Application
At the simulation model of corresponding electric vehicle speed reducer, to after the simulation model input test signal of the electric vehicle speed reducer,
Analog goes out electric vehicle speed reducer corresponding output signal in the case where obtaining the input test signal state in practical application.
Fig. 1 is that a kind of electric car generated according to the emulation mode of the electric vehicle speed reducer of the embodiment of the present invention slows down
The structural schematic diagram of the simulation model of device.As shown in Figure 1, the simulation model of the electric vehicle speed reducer is inputted including the first signal
Hold (Tmotor_out), reducer input shaft rotary inertia input terminal (Jaxis_in), second signal input terminal (Wtran_in),
Third signal input part (Transmission Position), the first differential process device (Derivative1), the first multiplier
(Product1), retarder input torque arithmetic unit (Ttran_in), friction-disc clutch model (Transmission
Ig), retarder transmission efficiency input terminal (Transmission efficiency), reducer output shaft rotary inertia input terminal
(Jaxis_out), the second multiplier (Product2), retarder output revolving speed arithmetic unit (Wtran_out1), at the second differential
Manage device (Derivative2), the 4th multiplier (Product4) and retarder output torque arithmetic unit (Tran_out1), first
Signal output end (Wtran_out), second signal output end (Ttran_out) and the first change-over switch (Switch1), second
Change-over switch (Switch2).
Further, in an embodiment of the invention, when the simulation model of the electric vehicle speed reducer is for simulating life
When exporting rotary inertia signal at retarder, and determining the output signal of change-over switch according to retarder gear signal, also wrap
It includes: fourth signal input terminal (Jtran_in), the 5th signal input part (V), adder (Add), third multiplier
(Product3), retarder output rotary inertia arithmetic unit (Jtran_out1), third change-over switch (Switch3), third letter
Number output end (Jtran_out) and, the first converter 10, the second converter 20, radius of wheel input terminal (R_wheel),
Three converters 30, Driven Gear of Final Reduction Gear speed ratio input terminal (i0_maingear) and main reducing gear revolving speed arithmetic unit (Wmaingear_
in)。
Wherein, the first signal input part (Tmotor_out) and the first of retarder input torque arithmetic unit (Ttran_in)
End connection, for receiving externally input motor output torque signal.Reducer input shaft rotary inertia input terminal (Jaxis_
In it) is connect with the first end of the first end of the first multiplier (Product1) and adder (Add).Second signal input terminal
(Wtran_in) revolving speed arithmetic unit (Wtran_ is exported with the first end of the first differential process device (Derivative1) and retarder
Out1 first end connection), for receiving retarder input speed signal.Third signal input part (Transmission
Position) with the first end of friction-disc clutch model (Transmission ig), the first change-over switch (Switch1)
The second input terminal, the second change-over switch (Switch2) the second input terminal and third change-over switch (Switch3) it is second defeated
Enter end connection, for receiving retarder gear signal.The first end of fourth signal input terminal (Jtran_in) and adder (Add)
Connection, for receiving reducer input shaft rotary inertia signal.The first end of 5th signal input part (V) and the first converter 10
Connection, for receiving speed signal, the second end of the first converter 10 is connect with the first end of the second converter 20, radius of wheel
Input terminal (R_wheel) is connect with the first end of third converter 30, the second end of the second converter 20, third converter 30
Second end and Driven Gear of Final Reduction Gear speed ratio input terminal (i0_maingear) and main reducing gear revolving speed arithmetic unit (Wmaingear_in)
First end connection.The first of the second end of first differential process device (Derivative1) and the first multiplier (Product1)
End connection, the second end of the first multiplier (Product1) and the first end of retarder input torque arithmetic unit (Ttran_in) connect
It connects, the second end of retarder input torque arithmetic unit (Ttran_in) is connect with the first end of the second multiplier (Product2).
The first end of the second end of friction-disc clutch model (Transmission ig) and the second multiplier (Product2) subtracts
The first end of fast device output revolving speed arithmetic unit (Wtran_out1) is connected with the first end of third multiplier (Product3), is slowed down
Device transmission efficiency input terminal (Transmission efficiency) is connect with the first end of the second multiplier (Product2),
Reducer output shaft rotary inertia input terminal (Jaxis_out) and the first end of the 4th multiplier (Product4), retarder are defeated
The first end of shaft rotary inertia arithmetic unit (Jtran_out1) and the third input terminal of third change-over switch (Switch3) connect
It connects, the second end of adder (Add) is connect with the first end of third multiplier (Product3), the second multiplier (Product2)
Second end connect with the first end of retarder output torque arithmetic unit (Tran_out1), third multiplier (Product3)
Second end is connect with the first end of reducer output shaft rotary inertia arithmetic unit (Jtran_out1), and retarder exports revolving speed operation
The first end and the first change-over switch of the second end of device (Wtran_out1) and the second differential process device (Derivative2)
(Switch1) first input end connection, the second end and the 4th multiplier of the second differential process device (Derivative2)
(Product4) first end connection, the second end and retarder output torque arithmetic unit of the 4th multiplier (Product4)
(Tran_out1) first end connection, the second end and the second change-over switch of retarder output torque arithmetic unit (Tran_out1)
(Switch2) first input end connection, reducer output shaft rotary inertia arithmetic unit (Jtran_out1) are opened with third conversion
Close the first input end connection of (Switch3).First signal output end (Wtran_out) and the first change-over switch (Switch1)
Output end connection, for output decelerator export tach signal, second signal output end (Ttran_out) with second convert open
The output end connection for closing (Switch2), is used for output decelerator output torque signal, third signal output end (Jtran_out)
It is connect with the output end of third change-over switch (Switch3), exports rotary inertia for output decelerator.
The emulation mode of the electric vehicle speed reducer proposed first below to the embodiment of the present invention is described in detail, so as to
In the working principle for the simulation model for illustrating the electric vehicle speed reducer.
Fig. 2 is a kind of flow diagram of the emulation mode of electric vehicle speed reducer provided in an embodiment of the present invention.
Wherein, due to torque and revolving speed that retarder exports for changing driving motor, with increase driving wheel torque and
The transformation range of revolving speed, therefore the emulation mode of the electric vehicle speed reducer of the embodiment of the present invention is intended for emulating and generates electronic vapour
The output parameters such as output torque and output revolving speed of the vehicle retarder under different input parameters.
Specifically, as shown in Fig. 2, the emulation mode of the electric vehicle speed reducer the following steps are included:
Step 101, the motor output torque of electric car is obtained, reducer input shaft rotary inertia and retarder input turn
Speed.
Wherein, the emulation mode of the electric vehicle speed reducer of the embodiment of the present invention needs to obtain the defeated of electric vehicle speed reducer
Enter torque and input speed, convenient for being subsequently generated output torque of the electric vehicle speed reducer under the input torque and input speed
With the output parameters such as revolving speed.Wherein, one kind that the input torque of electric vehicle speed reducer can propose through the embodiment of the present invention
The calculation method of the input torque of retarder obtains, defeated by the motor output torque of electric car, retarder in the method
Enter axis rotary inertia and retarder input speed calculates the input torque of retarder, therefore, the electric car of the embodiment of the present invention
The emulation mode of retarder obtains the motor output torque of electric car first, and reducer input shaft rotary inertia and retarder are defeated
Enter revolving speed, convenient for calculating retarder input torque in next step.
When it is implemented, the motor output torque of electric car, reducer input shaft can be obtained by different modes
Rotary inertia and retarder input speed.For example, the test data that can receive user's input, in the data received
In filter out the motor output torque of electric car set by user, reducer input shaft rotary inertia and retarder input turn
Speed, alternatively, the pre-stored historical data got by vehicle test or bench test can also be read, with determination in the past
Above-mentioned input parameter.
Step 102, it generates and slows down according to motor output torque, reducer input shaft rotary inertia and retarder input speed
Device input torque.
Specifically, getting motor output torque, after reducer input shaft rotary inertia and retarder input speed, make
For a kind of possible implementation, retarder input torque can be calculated by following formula:
Wherein, Ttran_inFor retarder input torque, Tmot_outFor motor output torque, Jaxis_inFor reducer input shaft
Rotary inertia, ωtran_inFor retarder input speed.A kind of retarder input proposed through the embodiment of the present invention as a result, is turned round
Square calculation formula calculates the input torque of the retarder under above-mentioned input parameter.
Step 103, revolving speed is exported according to the retarder that retarder input speed and retarder gear ratios generate retarder.
Wherein, retarder gear ratios are the transmission ratios for having the retarder of multilevel structure under different stalls, due to more
Transmission ratio of the grade retarder under different stalls is different, in the identical situation of the input such as retarder input speed parameter, is in
The retarder output output parameters such as revolving speed of the retarder output of different stalls are not also identical, and therefore, the present invention is according to getting
Retarder input speed and retarder gear ratios generate retarder retarder export revolving speed.
Specifically, in an embodiment of the invention, shift gears by preset friction-disc clutch and true
Determine the current gear of retarder, and then determines the retarder gear ratios under current gear.The friction-disc clutch is being shifted gears
When be in discrete state, so as to disconnect retarder torque transmitting, make retarder shift when no longer carry out power transmitting,
It avoids reducing user since the transient changing of torque transmitting causes Vehicular vibration and makes a noise in shift and driving relaxing for vehicle
Adaptive.Therefore, under gearshift condition after power transmission terminal, the output torque and transmission ratio of retarder are zero, retarder output
Rotary inertia is reducer output shaft rotary inertia, and the input speed of retarder subtracts vehicle when retarder output revolving speed is shift
Acceleration multiplied by shift time product.
Further, after shift, friction-disc clutch is in engagement state, and retarder gear ratios become changing
The corresponding transmission ratio of gear after gear.
When it is implemented, can be rubbed by judging that friction-disc clutch is current as a kind of possible implementation
It wipes whether torque is greater than or equal to moment of friction threshold value, determines friction-disc clutch state in which, and then determine retarder
Whether shift gears.When calculating moment of friction threshold value, first acquisition motor output torque, clutched state when angular speed, from
Clutch input shaft damping ratio and clutch output shaft damping ratio and clutch input rotary inertia and clutch output rotation are used
Then amount exports angular speed, Clutch input shaft damping ratio and clutch when motor output torque, clutched state
It is worth damping ratio and clutch input rotary inertia and clutch output rotary inertia generation moment of friction threshold value substitution tripping in is public
Formula is to calculate the moment of friction threshold value of friction-disc clutch:
Tfneed=(Tmotor-ω·be-ω·bv)×Iv/(Ie+Iv)+bv
Wherein, TfneedFor moment of friction threshold value, TmotorFor motor output torque, when ω is that clutch is in engagement state
Angular speed, beFor Clutch input shaft damping ratio, bvFor clutch output shaft damping ratio, IeRotary inertia is inputted for clutch,
IvRotary inertia is exported for clutch.
Frictional disk is being obtained by modes such as the current moment of frictions of torque sensor measurement friction-disc clutch as a result,
After the current moment of friction of formula clutch, current moment of friction is compared with calculated moment of friction threshold value, if sentencing
The moment of friction of disconnected clutch out is greater than or equal to moment of friction threshold value, it is determined that clutch is in engagement state, if judging
The moment of friction of clutch is less than moment of friction threshold value, it is determined that clutch is in discrete state.In turn, if judging clutch
State changes, for example, becoming engagement state after becoming discrete state from engagement state again, it is determined that retarder has carried out
Shift.In turn, gear and speed after the gear that shift terminates and determining retarder is presently in, further according to preset retarder
The mapping relations of ratio determine the retarder gear ratios under current gear.
Further, it after determining retarder input speed and retarder gear ratios, can be calculated by following formula
Retarder exports revolving speed:
Wherein, ωtran_outRevolving speed, ω are exported for retardertran_inFor retarder input speed, igFor retarder gear speed
Than.
Step 104, revolving speed is exported according to retarder input torque, retarder gear ratios and retarder and generates retarder
Retarder output torque.
Specifically, after calculating and obtaining retarder input torque, retarder gear ratios and retarder output revolving speed, it can be with
In conjunction with car retarder transmission efficiency in practical application and reducer output shaft transmission inertia, retarder output torque is generated.
Wherein, retarder transmission efficiency and reducer output shaft transmission inertia are constant under normal conditions, therefore, as one
The possible implementation of kind, is getting the retarder transmission efficiency and reducer output shaft transmission inertia for being preset as fixed value
Afterwards, the retarder output torque of retarder can be calculated by following formula:
Wherein, Ttran_outFor retarder output torque, Ttran_inFor retarder input torque, ηtranIt is driven and imitates for retarder
Rate, Jaxis_outFor reducer output shaft rotary inertia.
The emulation mode of the electric vehicle speed reducer of the embodiment of the present invention as a result, according to the electricity of the electric car got
Machine output torque, reducer input shaft rotary inertia and retarder input speed etc. input parameter, and simulation generates retarder at this
Retarder output revolving speed and retarder output torque under state, realize output parameter of the retarder under different input states
Analogue simulation.
It should be noted that the emulation mode of the electric vehicle speed reducer of inventive embodiments according to the present invention, can also imitate
True other output parameters for generating electric vehicle speed reducer under different input parameters.
For example, a kind of emulation mode for the specific electric vehicle speed reducer that can be provided according to embodiments of the present invention
Emulation generates reducer output shaft rotary inertia.
Specifically, Fig. 3 is a kind of emulation mode of specific electric vehicle speed reducer provided in an embodiment of the present invention
Flow diagram, as shown in figure 3, method includes the following steps:
Step 201, the reducer input shaft rotary inertia and reducer output shaft rotary inertia of retarder are obtained.
Step 202, the retarder input rotary inertia of retarder is obtained.
Specifically, obtaining the reducer input shaft rotary inertia of retarder, reducer output shaft rotary inertia and retarder
The specific method of input rotary inertia can refer to the description of above-mentioned example, and details are not described herein again.
Step 203, defeated according to the retarder of retarder input rotary inertia, reducer input shaft rotary inertia and retarder
Shaft rotary inertia generates retarder and exports rotary inertia.
Specifically, can calculate retarder as a kind of possible implementation by following formula and export rotary inertia:
Wherein, Jtran_outRotary inertia, J are exported for retardertran_inRotary inertia, J are inputted for retarderaxis_inTo subtract
Fast device input shaft rotary inertia.
The emulation mode of the fourth signal input terminal third signal output end electric vehicle speed reducer of inventive embodiments as a result,
According to the input signal got, simulation generates the output signal of retarder in this state in practical application, wherein works as input
The output signal that simulation generates when signal changes changes accordingly, so as to according to defeated under different input states
Signal generates the parameter curve of output signal out, intuitively checks that retarder simulation model is defeated under different conditions convenient for user
Out, and then can also be reduced during developing retarder according to output modified result retarder simulation model to emulation
The number that device is verified.
In conclusion the emulation mode of the electric vehicle speed reducer of the embodiment of the present invention, obtains the electricity of electric car first
Machine output torque, reducer input shaft rotary inertia and retarder input speed, then according to motor output torque, retarder is defeated
Enter axis rotary inertia and retarder input speed generates retarder input torque, further according to retarder input speed and retarder shelves
The retarder that position speed ratio generates retarder exports revolving speed, finally according to retarder input torque, retarder gear ratios and deceleration
Device exports the retarder output torque that revolving speed generates retarder.This method is generated according to the input signal got, simulation as a result,
The output signal of retarder in this state in practical application, is advantageously implemented the analogue simulation to retarder, so as to avoid
The step of manufacturing experimently retarder exemplar and carrying out verification experimental verification to exemplar, reduces the development cost of retarder, shortens retarder
Development time.
It based on the above embodiment, can be in simulation software (for example, Matlab), according to above-mentioned electric vehicle speed reducer
Emulation mode selects corresponding component models, and carries out according to the order of operation in the emulation mode of above-mentioned electric vehicle speed reducer
Connection, to generate the simulation model such as electric vehicle speed reducer as indicated with 1, the knot of the simulation model of the electric vehicle speed reducer
Structure and wherein the connection relationship of each component is as described in above-described embodiment, details are not described herein again.
Wherein, friction-disc clutch model (Transmission ig) is used to switch the gear of retarder, keeps this electronic
The simulation model of car deceleration device can simulate output of the multi-stage speed reducer under different stalls.First change-over switch
(Switch1), there are three input terminal and one are defeated for the second change-over switch (Switch2) and third change-over switch (Switch3) tool
Outlet, when concrete application, change-over switch can judge output end output according to the retarder gear signal in the second input terminal
Signal, when determining that retarder is under shelves state, output signal is the signal of first input end, when determining retarder in gear shift shape
Output signal is the signal of third input terminal when under state.
Specifically, the 5th signal input part (V) speed signal passes through the first converter 10 and second turn under gearshift condition
Parallel operation 20 carries out Conversion of measurement unit, and the radius of wheel signal of radius of wheel input terminal (R_wheel) output passes through third converter 30
Wheel circumference signal, and then above two signal and Driven Gear of Final Reduction Gear speed ratio input terminal (i0_ are obtained after being converted
Maingear what is) inputted enters main reducing gear revolving speed arithmetic unit (Wmaingear_in) progress with Driven Gear of Final Reduction Gear speed ratio signal
Operation, main reducing gear tach signal when obtaining shift, so that the signal of the first change-over switch (Switch1) output is that third is defeated
Enter the main reducing gear tach signal at end；The signal of second change-over switch (Switch2) output is zero；Third change-over switch
(Switch3) signal exported is the reducer output shaft of reducer output shaft rotary inertia input terminal (Jaxis_out) output
Rotary inertia signal.
Further, for retarder under shelves state, the course of work of the simulation model of the electric vehicle speed reducer is as follows:
When the first signal input part obtains externally input motor output torque signal, second signal input terminal obtains external
After the retarder input speed signal of input, since reducer input shaft rotary inertia can be considered constant under normal conditions, second
The retarder input speed signal that signal input part is got carries out derivative operation by the first differential process device Derivative1
Afterwards, enter the first multiplier Product1 with the reducer input shaft rotary inertia signal for being preset as fixed value and carry out multiplication fortune
It calculates, retarder input torque arithmetic unit (Ttran_in) is then entered with motor output torque signal, after corresponding operation
Obtain the input torque signal of retarder.
Further, after third signal input part obtains externally input retarder gear signal, friction-disc clutch
Device model determines corresponding retarder gear ratios, and then retarder input speed signal and deceleration according to retarder gear signal
Device gear ratios signal enters retarder output revolving speed arithmetic unit (Wtran_out1) and carries out operation, after corresponding operation
Tach signal is exported to retarder, retarder output tach signal can export after the first change-over switch by the first signal
End output.
Further, retarder exports tach signal and carries out derivation into the second differential process device (Derivative2) is crossed
Reducer output shaft rotary inertia signal after operation, with reducer output shaft rotary inertia input terminal (Jaxis_out) output
Into the 4th multiplier (Product4) carry out multiplying, then with retarder input torque signal, retarder gear ratios
Signal and retarder transmission efficiency input terminal (Transmission efficiency) input retarder transmission efficiency signal into
Enter the signal that the second multiplier (Product2) is carried out after multiplying and enters retarder output torque arithmetic unit (Tran_ together
Out1), the retarder output torque signal of retarder is obtained after corresponding operation, retarder output torque signal is by the
It can be exported by second signal output end after two change-over switches.
It should be noted that the simulation model of the electric vehicle speed reducer can also emulate generate electric vehicle speed reducer it is defeated
Shaft rotary inertia.
Specifically, retarder input rotation is used after fourth signal input terminal receives retarder input rotary inertia signal
Amount signal and reducer input shaft rotary inertia signal enter adder (Add) and carry out summation operation, the signal after operation and two
A identical retarder gear ratios signal enters third multiplier (Product3) and carries out multiplying, exports into retarder
Axis rotary inertia arithmetic unit (Jtran_out1) obtains reducer output shaft rotary inertia letter after corresponding add operation
Number, reducer output shaft rotary inertia signal can be exported after third change-over switch by third signal output end.
The simulation model of the electric vehicle speed reducer as a result, the external input signal got according to signal input part lead to
The operation simulation for crossing each component models generates the output signal of retarder in this state in practical application, and is exported by signal
End output, to realize the analogue simulation to retarder, avoid trial-production retarder exemplar and carry out verification experimental verification to exemplar
The step of, the development cost of retarder is reduced, the development time of retarder is shortened.
In order to realize above-described embodiment, the embodiment of the present invention also proposes a kind of simulator of electric vehicle speed reducer.Fig. 4
For a kind of structural schematic diagram of the simulator of electric vehicle speed reducer provided in an embodiment of the present invention.
As shown in figure 4, the simulator of the electric vehicle speed reducer include: obtain module 100, the first generation module 200,
Second generation module 300 and third generation module 400.
Wherein, module 100 is obtained, for obtaining the motor output torque of electric car, reducer input shaft rotary inertia
With retarder input speed.
First generation module 200, for according to motor output torque, reducer input shaft rotary inertia and retarder input
Revolving speed generates retarder input torque.
Second generation module 300, for generating subtracting for retarder according to retarder input speed and retarder gear ratios
Fast device exports revolving speed.
Third generation module 400, for exporting revolving speed according to retarder input torque, retarder gear ratios and retarder
Generate the retarder output torque of retarder.
In a kind of possible implementation of the embodiment of the present application, module 100 is obtained, is also used to obtain the deceleration of retarder
Device input shaft rotary inertia, reducer output shaft rotary inertia obtain the retarder input rotary inertia of retarder, and, it obtains
Angular speed, Clutch input shaft damping ratio and clutch output shaft damping ratio when taking motor output torque, clutched state,
And input rotary inertia and output rotary inertia.
Further, in a kind of possible implementation of the embodiment of the present application, as shown in figure 5, electric vehicle speed reducer
Simulator further include the 4th generation module 500 and the 5th generation module 600.
Wherein, the 4th generation module 500 is specifically used for inputting rotary inertia, retarder input according to the retarder of retarder
Axis rotary inertia and reducer output shaft rotary inertia generate retarder and export rotary inertia.
Specifically, the 4th generation module 500 is specifically used for generating retarder output rotary inertia according to the following formula:
Wherein, Jtran_outRotary inertia, J are exported for retardertran_inRotary inertia, J are inputted for retarderaxis_inTo subtract
Fast device input shaft rotary inertia.
In a kind of possible implementation of the embodiment of the present application, the 5th generation module 600 is specifically used for defeated according to motor
Angular speed, Clutch input shaft damping ratio and clutch output valve damping ratio and input when torque, clutched state out
Rotary inertia and output rotary inertia generate moment of friction threshold value.
Specifically, the 5th generation module 600, specifically for generating the moment of friction threshold value according to the following formula:
Tfneed=(Tmotor-ω·be-ω·bv)×Iv/(Ie+Iv)+bv
Wherein, TfneedFor moment of friction threshold value, TmotorFor motor output torque, ω is clutched state hour angle speed
Degree, beFor Clutch input shaft damping ratio, bvFor clutch output shaft damping ratio, IeTo input rotary inertia, IvFor output rotation
Inertia.
Further, the 5th generation module 600 is also used to judge whether the moment of friction of clutch is greater than or equal to friction
Torque threshold；If the moment of friction of clutch is greater than or equal to moment of friction threshold value, controls clutch and remain engaged with state；
If the moment of friction of clutch is less than moment of friction threshold value, controls clutch and remain engaged with state.
In a kind of possible implementation of the embodiment of the present application, the second generation module 300 is specifically used for according to following public
Formula generates retarder and exports revolving speed:
Wherein, ωtran_outRevolving speed, ω are exported for retardertran_inFor retarder input speed, igFor retarder gear speed
Than.
In a kind of possible implementation of the embodiment of the present application, third generation module 400 is specifically used for according to following public
Formula generates retarder output torque:
Wherein, Ttran_outFor retarder output torque, Ttran_inFor retarder input torque, ηtranIt is driven and imitates for retarder
Rate, Jaxis_outFor reducer output shaft rotary inertia.
It should be noted that the explanation of the aforementioned emulation mode embodiment to electric vehicle speed reducer, is also applied for
The simulator of the electric vehicle speed reducer of the embodiment, therefore details are not described herein.
The simulator of the electric vehicle speed reducer of the embodiment of the present invention, according to the input signal got, simulation is generated
The output signal of retarder in this state in practical application avoids trial-production to realize the analogue simulation to retarder
Retarder exemplar and to exemplar carry out verification experimental verification the step of, reduce the development cost of retarder, shorten opening for retarder
Send out the time.
In order to realize above-described embodiment, the present invention also proposes a kind of electronic equipment.
Fig. 6 is the structural schematic diagram for a kind of electronic equipment that one embodiment of the application proposes.As shown in fig. 6, the electronics is set
Standby 120 include: processor 121 and memory 122；Memory 122 is for storing executable program code；Processor 121 passes through
The executable program code that stores is read in memory 122 to run program corresponding with executable program code, for realizing
The emulation mode of electric vehicle speed reducer as described in above-described embodiment.
In order to realize above-described embodiment, the embodiment of the present application also proposes a kind of computer readable storage medium, stores thereon
There is computer program, the emulation side of the electric vehicle speed reducer as described in above-described embodiment is realized when which is executed by processor
Method.
In the description of the present invention, it is to be understood that, term " center ", " longitudinal direction ", " transverse direction ", " length ", " width ",
" thickness ", "upper", "lower", "front", "rear", "left", "right", "vertical", "horizontal", "top", "bottom" "inner", "outside", " up time
The orientation or positional relationship of the instructions such as needle ", " counterclockwise ", " axial direction ", " radial direction ", " circumferential direction " be orientation based on the figure or
Positional relationship is merely for convenience of description of the present invention and simplification of the description, rather than the device or element of indication or suggestion meaning must
There must be specific orientation, be constructed and operated in a specific orientation, therefore be not considered as limiting the invention.
In addition, term " first ", " second " are used for descriptive purposes only and cannot be understood as indicating or suggesting relative importance
Or implicitly indicate the quantity of indicated technical characteristic.Define " first " as a result, the feature of " second " can be expressed or
Implicitly include at least one this feature.In the description of the present invention, the meaning of " plurality " is at least two, such as two, three
It is a etc., unless otherwise specifically defined.
In the present invention unless specifically defined or limited otherwise, term " installation ", " connected ", " connection ", " fixation " etc.
Term shall be understood in a broad sense, for example, it may be being fixedly connected, may be a detachable connection, or integral；It can be mechanical connect
It connects, is also possible to be electrically connected；It can be directly connected, can also can be in two elements indirectly connected through an intermediary
The interaction relationship of the connection in portion or two elements, unless otherwise restricted clearly.For those of ordinary skill in the art
For, the specific meanings of the above terms in the present invention can be understood according to specific conditions.
In the present invention unless specifically defined or limited otherwise, fisrt feature in the second feature " on " or " down " can be with
It is that the first and second features directly contact or the first and second features pass through intermediary mediate contact.Moreover, fisrt feature exists
Second feature " on ", " top " and " above " but fisrt feature be directly above or diagonally above the second feature, or be merely representative of
First feature horizontal height is higher than second feature.Fisrt feature can be under the second feature " below ", " below " and " below "
One feature is directly under or diagonally below the second feature, or is merely representative of first feature horizontal height less than second feature.
In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show
The description of example " or " some examples " etc. means specific features, structure, material or spy described in conjunction with this embodiment or example
Point is included at least one embodiment or example of the invention.In the present specification, schematic expression of the above terms are not
It must be directed to identical embodiment or example.Moreover, particular features, structures, materials, or characteristics described can be in office
It can be combined in any suitable manner in one or more embodiment or examples.In addition, without conflicting with each other, the skill of this field
Art personnel can tie the feature of different embodiments or examples described in this specification and different embodiments or examples
It closes and combines.
Although the embodiments of the present invention has been shown and described above, it is to be understood that above-described embodiment is example
Property, it is not considered as limiting the invention, those skilled in the art within the scope of the invention can be to above-mentioned
Embodiment is changed, modifies, replacement and variant.
Claims (12)
1. a kind of emulation mode of electric vehicle speed reducer characterized by comprising
Obtain motor output torque, reducer input shaft rotary inertia and the retarder input speed of electric car；
Retarder input is generated according to the motor output torque, reducer input shaft rotary inertia and retarder input speed to turn round
Square；
Revolving speed is exported according to the retarder that the retarder input speed and retarder gear ratios generate the retarder；And
Revolving speed, which is exported, according to the retarder input torque, the retarder gear ratios and the retarder generates the deceleration
The retarder output torque of device.
2. the emulation mode of electric vehicle speed reducer as described in claim 1, which is characterized in that further include:
Obtain the reducer input shaft rotary inertia and reducer output shaft rotary inertia of the retarder；
Obtain the retarder input rotary inertia of the retarder；And
It is defeated that rotary inertia, the reducer input shaft rotary inertia and the retarder are inputted according to the retarder of the retarder
Shaft rotary inertia generates retarder and exports rotary inertia.
3. the emulation mode of electric vehicle speed reducer as described in claim 1, which is characterized in that generate subtract according to the following formula
Fast device exports revolving speed:
Wherein, ωtran_outRevolving speed, ω are exported for retardertran_inFor retarder input speed, igFor retarder gear ratios.
4. the emulation mode of electric vehicle speed reducer as described in claim 1, which is characterized in that generate institute according to the following formula
State retarder output torque:
Wherein, Ttran_outFor retarder output torque, Ttran_inFor retarder input torque, ηtranFor retarder transmission efficiency,
Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios, ωtran_outRevolving speed is exported for retarder.
5. the emulation mode of electric vehicle speed reducer as claimed in claim 2, which is characterized in that generate institute according to the following formula
State retarder output rotary inertia:
Wherein, Jtran_outRotary inertia, J are exported for retardertran_inRotary inertia, J are inputted for retarderaxis_inFor retarder
Input shaft rotary inertia, Jaxis_outFor reducer output shaft rotary inertia, igFor retarder gear ratios.
6. the emulation mode of electric vehicle speed reducer as described in claim 1, which is characterized in that further include:
Angular speed, Clutch input shaft damping ratio and clutch output shaft when obtaining motor output torque, clutched state
Damping ratio and input rotary inertia and output rotary inertia；
It is defeated according to angular speed, Clutch input shaft damping ratio and clutch when the motor output torque, clutched state
It is worth damping ratio and input rotary inertia out and output rotary inertia generates moment of friction threshold value.
7. the emulation mode of electric vehicle speed reducer as claimed in claim 6, which is characterized in that generate institute according to the following formula
State moment of friction threshold value:
Tfneed=(Tmotor-ω·be-ω·bv)×Iv/(Ie+Iv)+bv
Wherein, TfneedFor moment of friction threshold value, TmotorFor motor output torque, angular speed when ω is clutched state, be
For Clutch input shaft damping ratio, bvFor clutch output shaft damping ratio, IeRotary inertia, I are inputted for clutchvFor clutch
Export rotary inertia.
8. the emulation mode of electric vehicle speed reducer as claimed in claim 7, which is characterized in that further include:
Judge whether the moment of friction of clutch is greater than or equal to moment of friction threshold value；
If the moment of friction of clutch is greater than or equal to moment of friction threshold value, it is determined that clutch is engagement state；
If the moment of friction of clutch is less than moment of friction threshold value, it is determined that clutch is discrete state.
9. a kind of simulator of electric vehicle speed reducer characterized by comprising
Module is obtained, for obtaining the motor output torque of electric car, reducer input shaft rotary inertia and retarder input
Revolving speed；
First generation module, for being turned according to the motor output torque, reducer input shaft rotary inertia and retarder input
Fast-growing is at retarder input torque；
Second generation module, for generating subtracting for the retarder according to the retarder input speed and retarder gear ratios
Fast device exports revolving speed；
Third generation module, for being turned according to the output of the retarder input torque, the retarder gear ratios and retarder
Fast-growing at the retarder retarder output torque.
10. a kind of simulation model of electric vehicle speed reducer characterized by comprising the first signal input part, retarder input
Axis rotary inertia input terminal, third signal input part, the first differential process device, the first multiplier, slows down at second signal input terminal
Device input torque arithmetic unit, friction-disc clutch model, retarder transmission efficiency input terminal, reducer output shaft rotary inertia
Input terminal, the second multiplier, retarder output revolving speed arithmetic unit, the second differential process device, the 4th multiplier, retarder output are turned round
Square arithmetic unit, the first change-over switch, the second change-over switch, the first signal output end and second signal output end；
First signal input part is connect with the first end of the retarder input torque arithmetic unit；
The reducer input shaft rotary inertia input terminal is connect with the first end of first multiplier；
The first end and the retarder of the second signal input terminal and the first differential process device export revolving speed arithmetic unit
First end connection；
The first end of the third signal input part and the friction-disc clutch model, the first change-over switch and the second conversion
Switch connection；
The second end of the first differential process device is connect with the first end of first multiplier；
The second end of first multiplier is connect with the first end of the retarder input torque arithmetic unit；
The second end of the retarder input torque arithmetic unit is connect with the first end of second multiplier；
The first end and retarder output of the second end of the friction-disc clutch model and second multiplier turn
The first end of fast arithmetic unit connects,
The retarder transmission efficiency input terminal is connect with the first end of second multiplier；
The reducer output shaft rotary inertia input terminal is connect with the first end of the 4th multiplier；
The second end of second multiplier is connect with the first end of the retarder output torque arithmetic unit；
The second end of the retarder output revolving speed arithmetic unit is opened with the first end of the second differential process device and the first conversion
Connection connects；
The second end of the second differential process device is connect with the first end of the 4th multiplier；
The second end of 4th multiplier is connect with the first end of the retarder output torque arithmetic unit；
The second end of the retarder output torque arithmetic unit is connect with second change-over switch；
First change-over switch is connect with first signal output end；
Second change-over switch is connect with the second signal output end.
11. a kind of electronic equipment, which is characterized in that including memory, processor；
Wherein, the processor is run by reading the executable program code stored in the memory can be performed with described
The corresponding program of program code, with the emulation side for realizing electric vehicle speed reducer such as described in any one of claims 1-8
Method.
12. a kind of computer readable storage medium, the computer-readable recording medium storage has computer program, and feature exists
In the emulation mode of realization such as electric vehicle speed reducer described in any one of claims 1-8 when the program is executed by processor.
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| CN113673121A (en) * | 2021-09-29 | 2021-11-19 | 中汽创智科技有限公司 | Method and device for determining relation between motor torque and motor rotating speed and storage medium |
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