CN112332727A - Motor control method, vehicle and vehicle-mounted electronic equipment - Google Patents

Motor control method, vehicle and vehicle-mounted electronic equipment Download PDF

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Publication number
CN112332727A
CN112332727A CN202011165793.4A CN202011165793A CN112332727A CN 112332727 A CN112332727 A CN 112332727A CN 202011165793 A CN202011165793 A CN 202011165793A CN 112332727 A CN112332727 A CN 112332727A
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China
Prior art keywords
rotating speed
motor
vehicle
speed
motor according
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CN202011165793.4A
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Chinese (zh)
Inventor
范泽义
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Priority to CN202011165793.4A priority Critical patent/CN112332727A/en
Publication of CN112332727A publication Critical patent/CN112332727A/en
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    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/0003—Control strategies in general, e.g. linear type, e.g. P, PI, PID, using robust control
    • 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
    • H02P21/22—Current control, e.g. using a current control loop
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P6/00—Arrangements for controlling synchronous motors or other dynamo-electric motors using electronic commutation dependent on the rotor position; Electronic commutators therefor
    • H02P6/14—Electronic commutators
    • H02P6/16—Circuit arrangements for detecting position
    • H02P6/18—Circuit arrangements for detecting position without separate position detecting elements
    • H02P6/182—Circuit arrangements for detecting position without separate position detecting elements using back-emf in windings
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/427—Voltage
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/429—Current
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/48—Drive Train control parameters related to transmissions
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
    • H02P2203/05—Determination of the rotor position by using two different methods and/or motor models
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/01—Current loop, i.e. comparison of the motor current with a current reference
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P2205/00—Indexing scheme relating to controlling arrangements characterised by the control loops
    • H02P2205/07—Speed loop, i.e. comparison of the motor speed with a speed reference
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Control Of Electric Motors In General (AREA)

Abstract

The application discloses a motor control method, a vehicle and vehicle-mounted electronic equipment, and relates to the technical field of vehicles. The motor control method includes: acquiring a first output rotating speed of a speed reducer through a rotating speed acquisition device arranged on the speed reducer; comparing the first output rotating speed with a preset output rotating speed; and controlling the input quantity of the motor according to the comparison result, wherein the input quantity comprises control voltage and/or control current.

Description

Motor control method, vehicle and vehicle-mounted electronic equipment
Technical Field
The application relates to the technical field of vehicles, in particular to a motor control method, a vehicle and vehicle-mounted electronic equipment.
Background
In the related art of new energy vehicles, the rotation speed detection related to the electric drive assembly mainly detects the rotation speed and the rotation position of the motor through a rotary transformer arranged on a motor shaft, and then performs closed-loop control on the rotation speed of the motor based on the detection result.
However, the motor control scheme has a problem of low motor control accuracy.
Disclosure of Invention
The embodiment of the application provides a motor control method, a vehicle and vehicle-mounted electronic equipment, and the motor control precision can be effectively improved.
In order to solve the above problems, the present application is implemented as follows:
in a first aspect, an embodiment of the present application provides a motor control method, which is applied to a vehicle, and includes: comparing the first output rotating speed with a preset output rotating speed; and controlling the input quantity of the motor according to the comparison result, wherein the input quantity comprises control voltage and/or control current.
In a second aspect, an embodiment of the present application provides a vehicle, where the vehicle includes a motor, a PID controller, a speed reducer, and a rotation speed acquisition device disposed on the speed reducer; the rotating speed acquisition device is used for acquiring a first output rotating speed of the speed reducer; the PID controller is used for comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result, wherein the input quantity comprises control voltage and/or control current.
In a third aspect, an embodiment of the present application further provides an on-vehicle electronic device, including: at least one processor, and a memory communicatively coupled to the at least one processor; wherein the memory has stored therein instructions executable by the at least one processor, which when executed by the at least one processor, are capable of implementing the method of the first aspect.
In a fourth aspect, embodiments of the present application further provide a computer storage medium, on which a computer program is stored, and the computer program, when executed by a processor, implements the method according to the first aspect.
The embodiment of the application adopts at least one technical scheme which can achieve the following beneficial effects:
in the control method, the vehicle and the vehicle-mounted electronic equipment, a first output rotating speed of an output shaft of a speed reducer is acquired through a rotating speed acquisition device arranged on the speed reducer, and then the first output rotating speed is compared with a preset output rotating speed; and finally, controlling the input quantity of the motor according to the comparison result, wherein the input quantity comprises control voltage and/or control current, so that the control precision of the motor can be effectively improved.
The foregoing description is only an overview of the claimed subject matter, and embodiments of the claimed subject matter are described below in order to provide a more clear understanding of the claimed subject matter, which can be implemented in accordance with the present disclosure, and to provide a more readily appreciated understanding of the foregoing and other objects, features, and advantages of the claimed subject matter.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
FIG. 1 is a flow chart of a motor control method provided in accordance with an exemplary embodiment.
FIG. 2 is a schematic diagram of a portion of a drive chain provided in accordance with an exemplary embodiment.
FIG. 3 is a flow chart of a motor control method provided in accordance with yet another exemplary embodiment.
FIG. 4 is a flow chart of a motor control method provided in accordance with yet another exemplary embodiment.
FIG. 5 is a schematic diagram of a motor closed-loop control logic provided in accordance with an exemplary embodiment.
FIG. 6 is a block diagram of an in-vehicle electronic device provided in accordance with an exemplary embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the technical solutions of the present application will be described in detail and completely with reference to the following specific embodiments of the present application and the accompanying drawings. It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
The technical solutions provided by the embodiments of the present application are described in detail below with reference to the accompanying drawings.
As shown in fig. 1, a flow chart of a motor control method provided for an exemplary embodiment of the present application is applicable to, but not limited to, a vehicle, and may be implemented by software and/or hardware installed in the vehicle. The motor control method provided by the embodiment at least comprises the following steps.
And S110, acquiring a first output rotating speed of the speed reducer through a rotating speed acquisition device arranged on the speed reducer.
Referring to fig. 2, in the present embodiment, the rotating speed collecting device 12 is disposed on the output shaft of the speed reducer 11 to collect the first output rotating speed of the speed reducer 11, so as to effectively consider a rotating speed error generated by a gear transmission error related to a transmission chain, a rotation error caused by a structure of the speed reducer, and a rotating speed jitter error of the transmission chain, and thus, when the input amount of the motor is subsequently controlled according to the first output rotating speed, the control precision of the motor can be effectively improved. It is understood that "13" is a motor and "14" is a motor controller as shown in fig. 2.
Alternatively, the rotational speed acquisition device may be, but is not limited to, a rotary transmission (i.e., a rotary transformer) or the like.
And S120, comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result.
The preset output rotation speed may be pre-configured according to an actual state of a vehicle using the motor, and a value of the preset output rotation speed is not limited herein. In addition, the input quantity may include a control voltage and/or a control current.
If the comparison result shows that the first output rotating speed is greater than the preset output rotating speed and the difference between the first output rotating speed and the preset output rotating speed is greater than the threshold, the input quantity of the motor can be reduced, such as the reduction of control current/voltage and the like, until the difference between the collected first output rotating speed and the preset output rotating speed is not greater than the threshold, so that the motor can be accurately controlled. It can be understood that by controlling the input amount of the motor, a closed-loop control of the output rotation speed of the motor can be achieved.
In another implementation, in a case where the vehicle includes a PID controller (i.e., a proportional-integral-derivative controller), the foregoing implementation of S120 may include: inputting the first input rotating speed and the preset output rotating speed into a PID controller; and comparing the first input rotating speed with the preset output rotating speed through the PID controller, and adjusting the input quantity of the motor according to a comparison result.
In the motor control method 100 provided in this embodiment, by acquiring the first output rotation speed of the speed reducer, a rotation error, a jitter error, and the like are effectively considered, so that when the motor is subjected to closed-loop control according to the first output rotation speed, the input quantity of the motor can be more accurately controlled, correspondingly, the output rotation speed of the motor can also be more accurately controlled, the control precision of the motor is improved, and the reliability of the motor in the operation process is ensured.
As shown in fig. 3, a flow chart of a motor control method 300 provided for an exemplary embodiment of the present application may be applied to, but not limited to, a vehicle, and may be implemented by software and/or hardware installed in the vehicle. The motor control method of the present embodiment may include at least the following steps.
S310, collecting a first output rotating speed of the speed reducer through a rotating speed collecting device arranged on the speed reducer.
S320, comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result.
For the related descriptions of S310 and S320, reference may be made to the detailed descriptions of the foregoing method embodiments, and for avoiding repetition, the description is not repeated here.
And S330, analyzing the rotating speed fluctuation value.
The rotation speed fluctuation value refers to a fluctuation value of an output rotation speed of the speed reducer within a preset time period (such as 1 day, two days and the like), and can be used for reflecting a fault condition of a transmission chain, for example, whether a gear fracture, a bearing fracture and other damage conditions occur on the transmission chain.
And S340, performing fault early warning under the condition that the rotating speed fluctuation value is greater than the fluctuation threshold value.
The fluctuation threshold may be set according to the actual situation, which is not limited in this embodiment. In addition, when the rotating speed fluctuation value is larger than a fluctuation threshold value, the existence of faults on the transmission chain can be judged, and when the rotating speed fluctuation value is not larger than the fluctuation threshold value, the normal operation of the transmission chain can be judged. Correspondingly, in order to repair the fault or the damaged part in time, fault early warning can be performed through modes of voice early warning, acousto-optic early warning and the like.
For example, assuming that the output rotation speed of the speed reducer is a1 in the absence of a fault, if the output rotation speeds acquired at preset time intervals (one day) for a preset time period (one week) are a2, A3, a4, a2, … …, and the like, and at least one of the differences between a2, A3, a4, a2, … … and a1 is greater than a fluctuation threshold B, it may be determined that the rotation speed fluctuation value is greater than the fluctuation threshold, and a fault warning is required.
In the motor control method provided by this embodiment, while the motor is controlled in a closed-loop manner according to the first output rotation speed, whether a fault exists on the transmission chain can be judged according to the fluctuation condition of the first output rotation speed acquired within a preset time period, and fault early warning is performed when the fault occurs, so that the fault can be timely discovered and repaired, and the stability and reliability of the motor in the operation process can be ensured.
As shown in fig. 4, a flow chart of a motor control method 400 provided for an exemplary embodiment of the present application is applicable to, but not limited to, an in-vehicle electronic device, and may be implemented by software or hardware installed in the in-vehicle electronic device. Alternatively, the in-vehicle electronic device may be a motor controller or the like. The motor control method of the present embodiment may include the following steps.
S410, collecting a first output rotating speed of the speed reducer through a rotating speed collecting device arranged on the speed reducer.
And S420, comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result.
For the related descriptions of S410 and S420, reference may be made to the detailed descriptions of the foregoing method embodiments, and for avoiding repetition, the description is not repeated here.
And S430, calculating the back electromotive force of the motor.
The back electromotive force can be calculated according to parameters such as the collected input voltage and the collected phase current of the motor, and details are not repeated in this embodiment.
And S440, calculating the angle position of the output shaft of the motor according to the back electromotive force.
And S450, controlling the input quantity of the motor according to the angle position.
The input quantity of the motor can be controlled again according to the comparison result between the angle position and the expected rotation position, so that the control precision of the motor is further improved.
Besides the foregoing implementation manner, the angular position may also be acquired by an angle acquisition device (such as a rotary transmission) disposed on the motor shaft, which is not limited in this embodiment.
In the motor control method provided by this embodiment, the motor may be closed-loop controlled according to the first output rotation speed, and the input amount of the motor may be controlled again according to the angular position, so as to further improve the accuracy of controlling the motor.
Based on the motor control method provided by the foregoing method embodiments, the motor control flow provided by the present application is further described below with reference to fig. 5.
As shown in fig. 5, a schematic diagram of a motor closed-loop control logic is shown, wherein the present embodiment adds a motor control logic other than the dashed-line box a to the existing motor closed-loop control logic. It should be understood that Position _ Ref shown in fig. 5 is a preset angular Position reference value, Speed _ Ref is a preset output rotation Speed reference value, Iq _ Ref and Id _ Ref are preset current reference values, respectively, Vd and Vq are motor control voltages obtained through proportional-integral control, and Vα、VβThe intermediate quantity of the motor control voltage is obtained after the processing of a Park inverse conversion algorithm (namely Revpark), and Va, Vb and Vc are Vα、VβAfter being processed by SVPWM (can be used for coordinate conversion)Obtaining control voltage, Ia, Ib and Ib are motor feedback current, Iα、IβThe current transformation intermediate quantity is obtained by Clark conversion of Ia, Ib and Ic, Id and Iq are currents used for feedback control after inverse transformation, PI is proportional-integral control, P is proportional control, and algonthm represents a motor control method given by S430-450.
The motor closed-loop logic shown in fig. 5 is described by taking the output rotation Speed control as an example, wherein it is assumed that a first output rotation Speed of the Speed reducer is acquired by the rotation Speed acquisition device 12, then Speed is controlled proportionally to obtain an output rotation Speed ω for feedback control, the output rotation Speed ω is compared with Speed _ Ref, a rotation Speed deviation result obtained after comparison is used as an input of PI control to obtain a reference current Iq _ Ref for motor torque control, then Iq _ Ref is compared with a motor feedback current Iq, a current deviation result obtained by comparison is used as an input of PI control to obtain a control voltage Vq for motor control, and finally, voltages Va, svvb and Vc for motor control are obtained by combining and performing inverse transformation of parvd k and pwm processing, and the control of the motor is realized according to Va, Vb and Vc.
It will be appreciated that the control logic for closed-loop control of the motor using angular position is similar to that described above and will not be described in detail here.
An exemplary embodiment of the present application further provides a vehicle, which includes a motor, a PID controller, a speed reducer, and a rotational speed acquisition device disposed on the speed reducer; the rotating speed acquisition device is used for acquiring a first output rotating speed of the speed reducer; the PID controller is used for comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result, wherein the input quantity comprises control voltage and/or control current.
In one implementation, the PID controller is configured to compare the input first input rotation speed with the preset output rotation speed, and adjust the input amount of the motor according to a comparison result.
In another implementation manner, the vehicle further comprises a main control device, wherein the main control device is used for analyzing a rotation speed fluctuation value, and the rotation speed fluctuation value refers to a fluctuation value of an output rotation speed of the speed reducer within a preset time length; and carrying out fault early warning under the condition that the rotating speed fluctuation value is greater than the fluctuation threshold value.
In another implementation manner, the main control device is further configured to calculate a back electromotive force of the motor; calculating the angle position of the output shaft of the motor according to the back electromotive force; and controlling an input amount to the motor according to the angular position.
With regard to the vehicle in the present embodiment, the specific manner in which the respective modules perform the operations has been described in detail in the embodiment related to the method, and will not be elaborated upon here.
As shown in fig. 6, a schematic structural diagram of an in-vehicle electronic device 600 provided for an exemplary embodiment of the present application, the in-vehicle electronic device 600 may include at least a processor 610 and a memory 620 for storing instructions executable by the processor 610. Wherein the processor 610 is configured to execute instructions to implement all or part of the steps of the motor control method as in the above embodiments.
The processor 610 and the memory 620 are electrically connected directly or indirectly to achieve data transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines.
The processor 610 is used to read/write data or programs stored in the memory and perform corresponding functions, among others.
The memory 620 is used for storing programs or data, such as instructions executable by the processor 610. The Memory 620 may be, but is not limited to, a Random Access Memory (RAM), a Read Only Memory (ROM), a Programmable Read-Only Memory (PROM), an Erasable Read-Only Memory (EPROM), an electrically Erasable Read-Only Memory (EEPROM), and the like.
Further, as a possible implementation, the in-vehicle electronic device 600 may further include a power component, a multimedia component, an audio component, an input/output (I/O) interface, a sensor component, a communication component, and the like.
The power supply components provide power to the various components of the in-vehicle electronic device 600. The power components may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for in-vehicle electronic device 600.
The multimedia components include a screen providing an output interface between the in-vehicle electronic device 600 and the user. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive an input signal from a user. The touch panel includes one or more touch sensors to sense touch, slide, and gestures on the touch panel. The touch sensor may not only sense the boundary of a touch or slide action, but also detect the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component includes a front facing camera and/or a rear facing camera. When the in-vehicle electronic device 600 is in an operation mode, such as a shooting mode or a video mode, the front camera and/or the rear camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have a focal length and optical zoom capability.
The audio component is configured to output and/or input an audio signal. For example, the audio component includes a Microphone (MIC) configured to receive an external audio signal when the in-vehicle electronic device 600 is in an operation mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signal may further be stored in the memory 620 or transmitted via the communication component. In some embodiments, the audio assembly further comprises a speaker for outputting audio signals.
The I/O interface provides an interface between the processing component and a peripheral interface module, which may be a keyboard, click wheel, button, etc. These buttons may include, but are not limited to: a home button, a volume button, a start button, and a lock button.
The sensor assembly includes one or more sensors for providing various aspects of status assessment for the in-vehicle electronic device 600. For example, the sensor assembly may detect an open/closed state of the in-vehicle electronic device 600, a relative positioning of components, such as a display and a keypad of the in-vehicle electronic device 600, a change in position of the in-vehicle electronic device 600 or a component of the in-vehicle electronic device 600, an orientation or acceleration/deceleration of the in-vehicle electronic device 600 with or without user contact with the in-vehicle electronic device 600, and a change in temperature of the in-vehicle electronic device 600. The sensor assembly may include a proximity sensor configured to detect the presence of a nearby object in the absence of any physical contact. The sensor assembly may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly may further include an acceleration sensor, a gyroscope sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.
The communication component is configured to facilitate wired or wireless communication between the in-vehicle electronic device 600 and other devices. In-vehicle electronic device 600 may access a wireless network based on a communication standard, such as WiFi, a carrier network (such as 2G, 3G, 4G, or 5G), or a combination thereof. In an exemplary embodiment, the communication component receives a broadcast signal or broadcast related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, the communication component further includes a Near Field Communication (NFC) module to facilitate short-range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, Ultra Wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.
In an exemplary embodiment, the in-vehicle electronic device 600 may be implemented by one or more Application Specific Integrated Circuits (ASICs), Digital Signal Processors (DSPs), Digital Signal Processing Devices (DSPDs), Programmable Logic Devices (PLDs), Field Programmable Gate Arrays (FPGAs), controllers, micro-controllers, microprocessors, or other electronic components for performing the above-described methods.
It should be understood that the configuration shown in fig. 6 is merely a schematic configuration diagram of the in-vehicle electronic device 600, and that the in-vehicle electronic device 600 may include more or less components than those shown in fig. 6, or have a different configuration than that shown in fig. 6. The components shown in fig. 6 may be implemented in hardware, software, or a combination thereof.
In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions, such as a memory including instructions, executable by a processor of a network device to perform the above-described motor control method is also provided. For example, the non-transitory computer readable storage medium may be a ROM, a Random Access Memory (RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
It is to be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (9)

1. A motor control method, characterized by being applied to a vehicle, the method comprising:
acquiring a first output rotating speed of a speed reducer through a rotating speed acquisition device arranged on the speed reducer;
and comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result, wherein the input quantity comprises control voltage and/or control current.
2. The method of claim 1, wherein the vehicle includes a PID controller, the comparing the first output rotation speed with a preset output rotation speed, and the controlling the input amount of the motor according to the comparison result includes:
inputting the first input rotating speed and the preset output rotating speed into the PID controller;
and comparing the first input rotating speed with the preset output rotating speed through the PID controller, and adjusting the input quantity of the motor according to a comparison result.
3. The method of claim 1, wherein after controlling the input amount of the motor according to the comparison result, the method further comprises:
analyzing a rotating speed fluctuation value, wherein the rotating speed fluctuation value is the fluctuation value of the output rotating speed of the speed reducer within a preset time length;
and under the condition that the rotating speed fluctuation value is greater than the fluctuation threshold value, carrying out fault early warning.
4. The method of claim 1, wherein after controlling the input amount of the motor according to the comparison result, the method further comprises:
calculating a back electromotive force of the motor;
calculating the angle position of the output shaft of the motor according to the back electromotive force;
and controlling the input quantity of the motor according to the angle position.
5. The vehicle is characterized by comprising a motor, a PID controller, a speed reducer and a rotating speed acquisition device arranged on the speed reducer;
the rotating speed acquisition device is used for acquiring a first output rotating speed of the speed reducer;
the PID controller is used for comparing the first output rotating speed with a preset output rotating speed, and controlling the input quantity of the motor according to a comparison result, wherein the input quantity comprises control voltage and/or control current.
6. The vehicle of claim 5, further comprising a master control device for analyzing a fluctuation value of the rotation speed, the fluctuation value of the rotation speed being a fluctuation value of the output rotation speed of the decelerator within a preset time period; and carrying out fault early warning under the condition that the rotating speed fluctuation value is greater than the fluctuation threshold value.
7. The vehicle of claim 6, wherein the master control device is further configured to calculate a back electromotive force of the electric machine; calculating the angle position of the output shaft of the motor according to the back electromotive force; and controlling an input amount to the motor according to the angular position.
8. An in-vehicle electronic apparatus, characterized by comprising: at least one processor, and a memory communicatively coupled to the at least one processor;
wherein the memory has stored therein instructions executable by the at least one processor, which when executed by the at least one processor, are capable of implementing the method of any one of the preceding claims 1-4.
9. A computer storage medium on which a computer program is stored, which computer program, when being executed by a processor, carries out the method according to any one of claims 1-4.
CN202011165793.4A 2020-10-27 2020-10-27 Motor control method, vehicle and vehicle-mounted electronic equipment Pending CN112332727A (en)

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Application publication date: 20210205