CN113135095A - Motor control method, device, electronic equipment and storage medium - Google Patents

Motor control method, device, electronic equipment and storage medium Download PDF

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Publication number
CN113135095A
CN113135095A CN202010052353.1A CN202010052353A CN113135095A CN 113135095 A CN113135095 A CN 113135095A CN 202010052353 A CN202010052353 A CN 202010052353A CN 113135095 A CN113135095 A CN 113135095A
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China
Prior art keywords
mode
vehicle
state information
motor
determining
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Granted
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CN202010052353.1A
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Chinese (zh)
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CN113135095B (en
Inventor
韩维
龙成冰
陶晓
王坤
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Changsha Intelligent Driving Research Institute Co Ltd
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Changsha Intelligent Driving Research Institute Co Ltd
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Priority to CN202010052353.1A priority Critical patent/CN113135095B/en
Priority to PCT/CN2021/072499 priority patent/WO2021143903A1/en
Publication of CN113135095A publication Critical patent/CN113135095A/en
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Publication of CN113135095B publication Critical patent/CN113135095B/en
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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
    • B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60K—ARRANGEMENT OR MOUNTING OF PROPULSION UNITS OR OF TRANSMISSIONS IN VEHICLES; ARRANGEMENT OR MOUNTING OF PLURAL DIVERSE PRIME-MOVERS IN VEHICLES; AUXILIARY DRIVES FOR VEHICLES; INSTRUMENTATION OR DASHBOARDS FOR VEHICLES; ARRANGEMENTS IN CONNECTION WITH COOLING, AIR INTAKE, GAS EXHAUST OR FUEL SUPPLY OF PROPULSION UNITS IN VEHICLES
    • B60K1/00—Arrangement or mounting of electrical propulsion units
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
    • B62D—MOTOR VEHICLES; TRAILERS
    • B62D53/00—Tractor-trailer combinations; Road trains
    • B62D53/04—Tractor-trailer combinations; Road trains comprising a vehicle carrying an essential part of the other vehicle's load by having supporting means for the front or rear part of the other vehicle
    • B62D53/06—Semi-trailers
    • 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
    • B60L2240/10—Vehicle control parameters
    • B60L2240/12—Speed
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Power Engineering (AREA)
  • Chemical & Material Sciences (AREA)
  • Combustion & Propulsion (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application relates to a motor control method, a motor control device, an electronic device and a storage medium. The method comprises the following steps: acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the method comprises the following steps of (1) controlling the vehicle speed, the accelerator pedal opening and the brake pedal opening of a tractor and the battery capacity of a trailer; determining the running mode of the vehicle according to the running state information; when the running state information meets the motor control triggering condition corresponding to the running mode, determining the target output torque of the trailer motor in the running mode; and controlling the trailer motor to output the torque according to the target output torque. By adopting the method, the adaptability of the trailer and the tractor can be improved.

Description

Motor control method, device, electronic equipment and storage medium
Technical Field
The present application relates to the field of vehicle technologies, and in particular, to a motor control method and apparatus, an electronic device, and a storage medium.
Background
In the related art, the trailer vehicle comprises a tractor and a trailer connected to the tractor, the tractor comprises a tractor engine, an engine controller and a vehicle control unit, the trailer comprises a trailer motor and a motor controller, the vehicle control unit distributes power for the tractor engine and the trailer motor according to the running state of the vehicle, and sends the power distribution result to the engine controller and the motor controller respectively as a control signal so as to control the tractor engine and the trailer motor to output corresponding torque.
However, in the above-mentioned related art, because the output control of trailer motor and tractor engine is interrelated, when the tractor changes, the power distribution of the whole power system will be affected, which may result in the trailer motor not normally operating, and it is difficult to satisfy the application scenario that a single trailer and a plurality of tractors need to be used in combination in the transportation process, and the suitability is low.
Disclosure of Invention
In view of the above, it is necessary to provide a motor control method, a motor control apparatus, an electronic device, and a storage medium, which can improve adaptability to the above-mentioned technical problem.
A method of controlling a motor, the method comprising:
acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
determining the running mode of the vehicle according to the running state information;
when the running state information meets the motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode;
and controlling the trailer motor to output torque according to the target output torque.
A motor control apparatus, the apparatus comprising:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the running state information of a vehicle, and the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
the running mode determining module is used for determining the running mode of the vehicle according to the running state information;
the output torque determining module is used for determining the target output torque of the trailer motor in the running mode when the running state information meets the motor control triggering condition corresponding to the running mode;
and the control module is used for controlling the trailer motor to output torque according to the target output torque.
An electronic device comprising a memory and a processor, the memory storing a computer program, the processor implementing the following steps when executing the computer program:
acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
determining the running mode of the vehicle according to the running state information;
when the running state information meets the motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode;
and controlling the trailer motor to output torque according to the target output torque.
A computer-readable storage medium, on which a computer program is stored which, when executed by a processor, carries out the steps of:
acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
determining the running mode of the vehicle according to the running state information;
when the running state information meets the motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode;
and controlling the trailer motor to output torque according to the target output torque.
The motor control method, the device, the electronic equipment and the storage medium determine the running mode of the vehicle according to the running state information by acquiring the running state information of the vehicle, determine the target output torque of the trailer motor in the running mode and control the trailer motor to output the torque according to the target output torque when the motor control triggering condition corresponding to the running mode is met, wherein the running state information comprises the vehicle speed of the vehicle, the opening degree of an accelerator pedal and the opening degree of a brake pedal of the tractor and the battery capacity of the trailer, so that the trailer can realize the auxiliary driving or auxiliary braking function by acquiring the opening degree information of the pedal from the tractor without communicating and associating with the power system of the tractor through the control method, namely the power system of the trailer is relatively independent from the power system of the tractor, and different tractors can be easily adapted to the same trailer, the goods can be loaded and unloaded quickly in the transportation process.
Drawings
FIG. 1 is a diagram of an exemplary motor control method;
FIG. 2 is a schematic flow chart of a motor control method according to one embodiment;
FIG. 3 is a diagram illustrating a division of vehicle operating modes in one embodiment;
FIG. 4 is a schematic flow chart illustrating a motor control method in a start mode according to an embodiment;
FIG. 5 is a flow chart illustrating a method for controlling a motor in an acceleration mode according to an embodiment;
FIG. 6 is a schematic flow chart illustrating a motor control method in a high-speed overtaking mode according to an embodiment;
FIG. 7 is a flow chart illustrating a method for controlling a motor in a braking mode according to an embodiment;
FIG. 8 is a block diagram showing the structure of a motor control device according to an embodiment;
FIG. 9 is a diagram illustrating an internal structure of an electronic device in one embodiment.
Detailed Description
In order to make the objects, technical solutions and advantages of the present application more apparent, the present application is described in further detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the present application and are not intended to limit the present application.
The motor control method provided by the application can be applied to the application environment shown in fig. 1. The application environment relates to a motor controller, an electric drive axle, wheels, a power battery and a battery management system of a vehicle control unit and a trailer. The vehicle control unit acquires the running state information of the vehicle through the CAN bus, and when the running state information meets the corresponding motor control triggering condition, the vehicle control unit requests the motor controller to output corresponding torque. The motor controller enables driving force to be transmitted to the wheels through the electric drive axle by controlling the motor, so that the vehicle is driven to move forward, or enables braking force on the wheels to be transmitted to the motor through the electric drive axle, and braking energy recovery is achieved. The power battery provides high-voltage electric energy for the motor controller, and when the vehicle is driven, the motor controller converts direct current into three-phase alternating current to provide electric energy for the motor; when the vehicle brakes, the motor controller converts the three-phase alternating current of the motor into direct current to charge the battery. The battery management system is used for controlling the charging and discharging process of the power battery.
The motor controller also monitors the running state of the motor system and protects the motor system while supplying energy to the motor. The battery management system monitors the residual electric quantity of the battery system while controlling the power supply of the battery, and protects the battery system; the vehicle control unit coordinates the requirements and the output of the vehicle while ensuring the safety of the battery system and the motor system, and protects the safety of the vehicle and each key part.
In one embodiment, as shown in fig. 2, a motor control method is provided, which is described by taking the method as an example for being applied to the vehicle control unit in fig. 1, and includes the following steps S202 to S208.
S202, acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, and the battery level of the trailer.
In the implementation, the speed of the trailer is substantially consistent with the speed of the tractor, and the speed of the vehicle can also be directly obtained through the speed of the tractor. The opening degree of the accelerator pedal is an opening degree signal converted according to the position of the accelerator pedal, the opening degree of the brake pedal is an opening degree signal converted according to the position of the brake pedal, and the opening degrees of the accelerator pedal and the brake pedal can be expressed by percentage (0-100%). The battery capacity of the trailer can be represented by a state of charge (SOC) which is used for reflecting the residual capacity of the battery, the SOC is represented by the ratio of the residual capacity to the total capacity of the battery in terms of value, the value range is 0-100%, when the SOC is 0, the battery is completely discharged, and when the SOC is 100%, the battery is completely fully charged.
And S204, determining the running mode of the vehicle according to the running state information.
Specifically, the driving state of the vehicle may be divided into a plurality of corresponding operation modes according to a plurality of preset conditions, and when the driving state information of the vehicle meets one of the preset conditions, it is determined that the vehicle is in the operation mode corresponding to the preset condition.
As shown in fig. 3, a map of the vehicle operating modes in one embodiment is provided, including a launch mode, a drive mode, and a brake mode, wherein the drive mode includes an acceleration mode, a cruise mode, and a cut-in mode. For example, when the vehicle is initially in the in-situ parking state, the driver sets the tractor key switch to the ON position and the shift position to the D position, and then the vehicle is started and ready to run.
When the condition N1 is satisfied: when the vehicle speed is zero, the opening degree of a brake pedal is zero and the opening degree of an accelerator pedal is larger than zero, the vehicle enters a starting mode. After entering the starting mode, when a condition N2 is met: when the vehicle has an acceleration intention and the vehicle speed is greater than or equal to the idle speed (for example, 7km/h), the vehicle enters an acceleration mode.
After the vehicle enters the acceleration mode, when the condition N3 is satisfied: the vehicle does not have an acceleration intention, and the opening degree of an accelerator pedal is larger than zero, the vehicle enters a constant-speed cruise mode; when the condition N4 is satisfied: and when the vehicle speed is greater than or equal to a preset minimum vehicle speed (for example, 80km/h) of the high-speed overtaking mode and the accelerator pedal opening is greater than or equal to a preset minimum accelerator pedal opening (for example, 90%) for entering the high-speed overtaking mode, the vehicle enters the high-speed overtaking mode.
After the vehicle enters the constant speed cruise mode, when the condition N5 is met: when the vehicle has an acceleration intention and the vehicle speed is less than the preset minimum vehicle speed in the high-speed overtaking mode, the vehicle enters the acceleration mode again; when the condition N4 is satisfied, the vehicle enters a high-speed overtaking mode.
After the vehicle enters the high-speed overtaking mode, when the condition N6 is met: and when the opening degree of the accelerator pedal is less than or equal to the preset maximum opening degree (for example 80%) of the accelerator pedal for exiting the high-speed overtaking mode, the vehicle enters the constant-speed cruising mode again.
When the vehicle enters any one of an acceleration mode, a constant speed cruise mode and a high speed overtaking mode, when a condition N7 is met: the opening degree of an accelerator pedal is equal to zero, and the opening degree of a brake pedal is larger than zero, so that the vehicle enters a braking mode.
After the vehicle enters a braking mode, when the conditions N2, N3 and N4 are respectively met, the vehicle respectively enters an acceleration mode, a constant speed cruise mode and a high speed overtaking mode again; when the condition N8 is satisfied: when the opening degree of the accelerator pedal is equal to zero, the opening degree of the brake pedal is larger than zero and the vehicle speed is zero, the vehicle enters a parking state.
And S206, when the running state information meets the motor control trigger condition corresponding to the running mode, determining the target output torque of the trailer motor in the running mode.
The motor control triggering condition represents a condition which needs to be met by the triggering motor for providing auxiliary driving or auxiliary braking, and different running modes can correspond to different motor control triggering conditions. For example, when the vehicle is in a certain operation mode and the motor control trigger condition corresponding to the operation mode is met, the target output torque of the trailer motor in the operation mode is determined for providing auxiliary driving or auxiliary braking.
And S208, controlling the trailer motor to output torque according to the target output torque.
The target output torque represents the torque sent to the motor controller by the vehicle control unit, and the motor controller controls the torque output of the motor according to the target output torque. When the vehicle is in a driving mode, the target output torque is driving torque, and the motor controller controls the motor to output the driving torque so as to assist in driving the vehicle to move forwards. When the vehicle is in a braking mode, the target output torque is braking torque, and the motor controller controls the motor to output the braking torque so as to assist in preventing the vehicle from advancing and achieve recovery of braking energy.
In the motor control method, by acquiring the running state information of the vehicle, determining the running mode of the vehicle according to the running state information, and when the motor control triggering condition corresponding to the operation mode is met, determining the target output torque of the trailer motor in the operation mode, controlling the trailer motor to output the torque according to the target output torque, wherein the running state information comprises the speed of the vehicle, the opening degree of an accelerator pedal and a brake pedal of the tractor and the battery capacity of the trailer, therefore, through the control method, the trailer can realize the auxiliary driving or auxiliary braking function only by acquiring the pedal opening information from the tractor without communicating and associating with the power system of the tractor, the trailer power system is relatively independent of the tractor power system, so that different tractors matched with the same trailer can be easily realized, and goods can be quickly loaded and unloaded in the transportation process.
In addition, the decoupling control strategy that trailer power output and tractor power output are mutually matched is adopted in the related technology, the requirement on the degree of matching of the tractor and the trailer is very high, the structure and the control logic are complex, the risk of the breakdown of the power system of the whole vehicle can be brought by the fault of any power system in the two power systems, and the reliability is not high. The embodiment provides a non-decoupling control strategy, which also has the following advantages: the trailer power system and the tractor power system are two relatively independent power systems, when any one of the two power systems fails due to irresistible factors, the operation of the other power system is not influenced, and the reliability is high; the trailer can realize the auxiliary driving or auxiliary braking function only by acquiring the pedal opening information from the tractor, the structure and the control logic are relatively simple, and the modification cost is low; the running mode and the working condition change of the vehicle are identified through the running state information, auxiliary driving or auxiliary braking can be provided for the tractor at proper time, the control precision is high, and the robustness is good.
In one embodiment, the operating modes include a launch mode; determining the running mode of the vehicle according to the running state information, specifically comprising: and when the running state information meets the starting condition, determining the running mode of the vehicle as a starting mode. When the following conditions are simultaneously satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of an accelerator pedal is greater than zero; and when the vehicle speed is greater than or equal to zero and less than the idle speed, judging that the running state information meets the starting condition. When the vehicle is in a starting mode, the following conditions are met: and when the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity, judging that the running state information meets the motor control triggering condition corresponding to the starting mode.
The idle speed represents a speed corresponding to the idling of the tractor engine. The remaining capacity of the trailer battery can be discharged only when the remaining capacity of the trailer battery meets a certain range, and the minimum value of the range is the preset minimum value of the dischargeable capacity, and can be set to 30% for example.
In one embodiment, when the running state information meets a motor control trigger condition corresponding to a starting mode, a target output torque of a trailer motor in the starting mode is determined. The method for determining the target output torque of the trailer motor in the starting mode specifically comprises the following steps: according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed; and determining the target output torque of the trailer motor in a starting mode according to the external characteristic torque of the motor drive and the opening degree of an accelerator pedal.
The motor driving external characteristic torque can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the starting mode is the product of the motor driving external characteristic torque and the opening degree of an accelerator pedal at the current vehicle speed.
As shown in fig. 4, a motor control method in a start mode in one embodiment is provided, which includes the following steps S401 to S409.
S401, acquiring the running state information of the vehicle, wherein the running state information comprises: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, and the battery level of the trailer.
S402 determines whether the traveling state information satisfies the start condition, and if so, the process proceeds to step S403, and if not, the process proceeds to step S409.
And S403, determining that the vehicle is in a starting mode.
S404, judging whether the battery electric quantity is larger than or equal to the preset minimum value of the dischargeable electric quantity, if so, entering the step S405, and if not, entering the step S408.
S405, obtaining the motor driving external characteristic torque at the vehicle speed according to the vehicle speed;
s406, determining the product of the external characteristic torque of the motor drive and the percentage of the opening degree of the accelerator pedal as the target drive torque of the trailer motor;
and S407, controlling the trailer motor to output the target driving torque.
And S408, controlling the trailer motor not to output torque.
And S409, determining that the vehicle is not in a starting mode, and continuously judging whether the running state information meets the conditions required by other running modes.
In the embodiment, when the vehicle is in a starting mode, the engine load of the tractor is large, the fuel consumption rate is high, the emission performance is poor, and the vehicle can be assisted to be quickly separated from the working condition through the auxiliary driving of the trailer motor, so that the fuel consumption is reduced, and the emission performance is improved.
In one embodiment, the operating mode includes an acceleration mode; determining the running mode of the vehicle according to the running state information, specifically comprising: when the running state information satisfies the acceleration condition, the running mode of the vehicle is determined to be the acceleration mode. When the following conditions are simultaneously satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of an accelerator pedal is greater than zero; the vehicle has an intention to accelerate; and when the vehicle speed is greater than or equal to the idle vehicle speed, judging that the running state information meets the acceleration condition. When the vehicle is in an acceleration mode, the following conditions are met: the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity; and when the vehicle speed is less than or equal to the preset maximum value of the moppable vehicle speed, judging that the running state information meets the motor control triggering condition corresponding to the acceleration mode.
Determining that the vehicle has an acceleration intention that requires a certain condition to be satisfied may be: the change rate of the opening degree of the accelerator pedal is greater than or equal to a preset change rate; it can also be: the opening degree of the accelerator pedal is larger than or equal to a first preset opening degree, and the acceleration of the vehicle is larger than or equal to a preset acceleration.
Wherein the rate of change of the accelerator pedal opening may be obtained by differentiating the accelerator pedal opening, and the preset rate of change represents a minimum rate of change of the accelerator pedal opening with an intention of acceleration, for example, 12.5%/s. The first preset opening degree represents a minimum accelerator pedal opening degree with an intention of acceleration, for example, 10%. The acceleration of the vehicle may be obtained by differentiating the vehicle speed, and the preset acceleration represents a minimum acceleration with an intention of acceleration, for example, 0.3m/s2. It can be understood that the preset change rate, the first preset opening degree and the preset acceleration can be set according to actual conditions.
The preset maximum value of the mopable speed represents the maximum speed suitable for motor auxiliary driving in an acceleration mode, for example, 50km/h, and when the speed exceeds the maximum value of the mopable speed, the thrust generated by the motor driving torque can be greatly reduced, and meanwhile, the power consumption is high. Therefore, when the vehicle is in an acceleration mode, the electric quantity of the battery is larger than or equal to the preset minimum value of the dischargeable electric quantity, and meanwhile the vehicle speed is smaller than or equal to the preset maximum value of the boosting vehicle speed, the motor is controlled to carry out auxiliary driving.
In one embodiment, the target output torque of the trailer motor in the acceleration mode is determined when the driving state information meets a motor control trigger condition corresponding to the acceleration mode. The method for determining the target output torque of the trailer motor in the acceleration mode specifically comprises the following steps: according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed; and determining the target output torque of the trailer motor in the acceleration mode according to the external characteristic torque of the motor drive and the opening degree of an accelerator pedal.
The motor driving external characteristic torque can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the acceleration mode is the product of the motor driving external characteristic torque and the opening degree of an accelerator pedal at the current vehicle speed.
As shown in fig. 5, a motor control method in an acceleration mode in one embodiment is provided, which includes the following steps S501 to S510.
S501, acquiring running state information of the vehicle, wherein the running state information comprises: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, and the battery level of the trailer.
S502 determines whether the driving state information satisfies the acceleration condition, and if yes, the process proceeds to step S503, and if no, the process proceeds to step S510.
S503, determining that the vehicle is in an acceleration mode.
S504, determine whether the battery capacity is greater than or equal to the preset minimum value of dischargeable capacity, if yes, go to step S505, otherwise, go to step S509.
And S505, judging whether the vehicle speed is less than or equal to the preset maximum value of the mopable vehicle speed, if so, entering the step S506, and if not, entering the step S509.
S506, according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed;
s507, determining the product of the external characteristic torque of the motor drive and the percentage of the opening degree of an accelerator pedal as the target drive torque of the trailer motor;
and S508, controlling the trailer motor to output the target driving torque.
And S509, controlling the trailer motor not to output torque.
And S510, determining that the vehicle is not in the acceleration mode, and continuously judging whether the running state information meets the conditions required by other running modes.
In the above embodiment, when the vehicle is in the acceleration mode, the engine load of the tractor is large, the fuel consumption rate is high, the emission performance is poor, and the auxiliary drive through the trailer motor can help the vehicle to quickly break away from the working condition, so that the fuel consumption is reduced, and the emission performance is improved.
In one embodiment, the operation mode includes a high-speed overtaking mode, and the driving state information further includes a steering wheel angle of the tractor; determining the running mode of the vehicle according to the running state information, specifically comprising: and when the running state information meets the high-speed overtaking condition, determining that the running mode of the vehicle is a high-speed overtaking mode. When the following conditions are simultaneously satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of the accelerator pedal is greater than or equal to a second preset opening degree; and when the vehicle speed is greater than or equal to the preset high-speed vehicle speed minimum value, judging that the running state information meets the high-speed overtaking condition. When the vehicle is in a high-speed overtaking mode, the following conditions are met: the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity; and when the steering wheel rotation angle is smaller than or equal to the maximum value of the preset boosting rotation angle, judging that the running state information meets the motor control triggering condition corresponding to the high-speed overtaking mode.
Wherein the second preset opening degree represents a minimum accelerator pedal opening degree, for example, 90%, for entering the high speed overtaking mode. The preset high-speed vehicle speed minimum value represents a minimum vehicle speed of the high-speed overtaking mode, such as 80 km/h. The preset maximum value of the assistable steering angle indicates the maximum steering wheel angle for the motor-assisted drive in the high-speed overtaking mode, for example 10 °. It can be understood that the second preset opening degree, the preset minimum value of the high-speed vehicle speed and the preset maximum value of the power-assisted steering angle can be set according to actual conditions.
In one embodiment, when the driving state information meets a motor control triggering condition corresponding to the high-speed overtaking mode, the target output torque of the trailer motor in the high-speed overtaking mode is determined. The method for determining the target output torque of the trailer motor in the high-speed overtaking mode specifically comprises the following steps: according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed; and determining the motor driving external characteristic torque as a target output torque of the trailer motor in the high-speed overtaking mode.
The motor driving external characteristic torque can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the high-speed overtaking mode is the motor driving external characteristic torque value at the current vehicle speed.
As shown in fig. 6, a method for controlling a motor in a high-speed passing mode in one embodiment is provided, which includes the following steps S601 to S610.
S601, acquiring the running state information of the vehicle, wherein the running state information comprises: the vehicle speed, the accelerator pedal opening degree, the brake pedal opening degree and the steering wheel rotation angle of the tractor and the battery capacity of the trailer.
S602 determines whether the driving state information satisfies the high-speed overtaking condition, if yes, the process proceeds to step S603, and if no, the process proceeds to step S610.
And S603, determining that the vehicle is in a high-speed overtaking mode.
S604, judging whether the battery power is larger than or equal to the preset minimum value of the dischargeable power, if so, entering step S605, and if not, entering step S609.
And S605, judging whether the steering wheel steering angle is smaller than or equal to the maximum value of the preset boosting steering angle, if so, entering the step S606, and if not, entering the step S609.
S606, according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed;
s607, determining the external characteristic torque of the motor drive as the target drive torque of the trailer motor;
and S608, controlling the trailer motor to output the target driving torque.
And S609, controlling the trailer motor not to output torque.
S610, determining that the vehicle is not in the high-speed overtaking mode, and continuously judging whether the running state information meets the conditions required by other running modes.
In the above embodiment, when the vehicle is in high-speed overtaking mode, the power demand to the vehicle is great, and the operation process is dangerous relatively, can help the vehicle to break away from this operating mode fast through the auxiliary drive of trailer motor, and the time that reduces to be in dangerous operating mode when help the vehicle to accomplish quick overtaking.
In one embodiment, the operating mode includes a braking mode; determining the running mode of the vehicle according to the running state information, specifically comprising: and when the running state information meets the braking condition, determining the running mode of the vehicle as a braking mode. When the following conditions are simultaneously satisfied: the opening degree of a brake pedal is greater than zero; the opening degree of an accelerator pedal is equal to zero; and when the vehicle speed is greater than zero, judging that the running state information meets the braking condition. When the vehicle is in the braking mode, the following conditions are met: the electric quantity of the battery is less than or equal to the maximum value of the preset chargeable electric quantity; and when the vehicle speed is greater than or equal to the preset minimum value of the brakeable vehicle speed, judging that the running state information meets the motor control triggering condition corresponding to the braking mode.
The trailer battery can be charged when the remaining capacity of the trailer battery meets a certain range, and the maximum value of the range is the preset maximum value of the chargeable capacity, and can be set to 80% for example. The preset minimum value of the brakeable vehicle speed represents the minimum vehicle speed suitable for motor auxiliary braking in the braking mode, for example, 7km/h, and if the vehicle speed is less than the minimum value of the brakeable vehicle speed, the vehicle speed is already low at the moment, and the motor does not need to be controlled for auxiliary braking.
In one embodiment, the target output torque of the trailer motor in the braking mode is determined when the driving state information satisfies a motor control trigger condition corresponding to the braking mode. The method for determining the target output torque of the trailer motor in the braking mode specifically comprises the following steps: according to the vehicle speed, obtaining the external characteristic torque of the motor brake at the vehicle speed; and determining the target output torque of the trailer motor in the braking mode according to the external characteristic braking torque of the motor and the opening degree of a brake pedal.
The motor braking external characteristic torque can be obtained by looking up a table according to the current vehicle speed. The target output torque of the trailer motor in the braking mode is the product of the external characteristic braking torque of the motor and the opening degree of a brake pedal at the current vehicle speed.
As shown in fig. 7, there is provided a motor control method in a braking mode in one embodiment, including the following steps S701 to S710.
S701, acquiring the running state information of the vehicle, wherein the running state information comprises: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, and the battery level of the trailer.
S702 determines whether the driving state information satisfies the braking condition, if so, the process proceeds to step S703, and if not, the process proceeds to step S710.
And S703, determining that the vehicle is in a braking mode.
S704, determining whether the battery power is less than or equal to a maximum value of the predetermined chargeable power, if yes, proceeding to S705, otherwise, proceeding to S709.
S705, judging whether the vehicle speed is larger than or equal to the preset minimum value of the brakeable vehicle speed, if so, going to S706, and if not, going to S709.
S706, according to the vehicle speed, obtaining the external characteristic torque of the motor brake at the vehicle speed;
s707, determining the product of the external characteristic torque of the motor brake and the opening percentage of the brake pedal as the target brake torque of the trailer motor;
and S708, controlling the trailer motor to output the target braking torque.
And S709, controlling the trailer motor not to output torque.
And S710, determining that the vehicle is not in the braking mode, and continuously judging whether the running state information meets the requirements of other running modes.
In the above embodiment, when the vehicle is in the braking mode, kinetic energy dissipation is generated, and the auxiliary braking of the trailer motor can improve the braking performance of the vehicle and recover the braking energy to reduce energy dissipation.
In one embodiment, when the vehicle is not in the above-mentioned starting mode, acceleration mode, high-speed cruise mode and braking mode, for example, in other operation modes such as constant-speed cruise mode, coasting mode (both conditions are satisfied: the opening degree of the accelerator pedal and the opening degree of the brake pedal are equal to zero, and the vehicle speed is greater than zero), the engine load of the tractor is small, the whole tractor is in a relatively economic operation region, the fuel consumption rate and the emission index are low, and therefore the trailer motor does not output torque under the condition so as to maintain the electric quantity of the trailer battery.
It should be understood that although the various steps in the flow charts of fig. 2-7 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and described, and may be performed in other orders, unless explicitly stated otherwise. Moreover, at least some of the steps in fig. 2-7 may include multiple steps or multiple stages, which are not necessarily performed at the same time, but may be performed at different times, which are not necessarily performed in sequence, but may be performed in turn or alternately with other steps or at least some of the other steps.
It should be noted that the above embodiments are adapted to traction vehicles carrying various powers, such as a conventional diesel engine, a gasoline engine or a natural gas engine, and are also adapted to traction vehicles carrying pure electric power, oil-electric hybrid power and fuel cell power to some extent. The trailer type of each embodiment can be full trailer or semitrailer, and the semitrailer is not limited to self-discharging semitrailer, low flatbed semitrailer, storehouse bars semitrailer, container semitrailer, tank semitrailer, van semitrailer, oil transportation semitrailer, light semitrailer, vehicle transportation semitrailer, powder material transportation semitrailer, chemical liquid transportation semitrailer, breast board semitrailer, gooseneck semitrailer, skeleton container semitrailer, 17 m 5 low flatbed semitrailer, bulk cement tank transportation semitrailer and other multi-axle and single axle semitrailers.
In one embodiment, as shown in fig. 8, there is provided a motor control device including: an acquisition module 810, an operating mode determination module 820, an output torque determination module 830, and a control module 840, wherein:
an obtaining module 810, configured to obtain driving state information of a vehicle, where the vehicle includes a tractor and a trailer connected to the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor, and the battery level of the trailer.
And an operation mode determination module 820 for determining an operation mode of the vehicle according to the driving state information.
And the output torque determining module 830 is configured to determine a target output torque of the trailer motor in the operation mode when the driving state information meets the motor control trigger condition corresponding to the operation mode.
And the control module 840 is used for controlling the trailer motor to output torque according to the target output torque.
In one embodiment, the operating modes include a launch mode; the operation mode determination module 820 is specifically configured to determine that the operation mode of the vehicle is the starting mode when determining the operation mode of the vehicle according to the driving state information and when the driving state information meets the starting condition; the operation mode determination module 820 is further configured to determine whether the following conditions are satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of an accelerator pedal is greater than zero; when the vehicle speed is greater than or equal to zero and less than the idle speed, judging that the running state information meets the starting condition; the output torque determination module 830 is further configured to, when the vehicle is in a launch mode, satisfy the following condition: and when the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity, judging that the running state information meets the motor control triggering condition corresponding to the starting mode.
In one embodiment, the output torque determination module 830 determines the target output torque of the trailer motor in the running mode when the running state information satisfies the motor control trigger condition corresponding to the running mode, and is specifically configured to determine the target output torque of the trailer motor in the starting mode when the running state information satisfies the motor control trigger condition corresponding to the starting mode; the output torque determining module 830 is specifically configured to obtain the motor driving external characteristic torque at the vehicle speed according to the vehicle speed when determining the target output torque of the trailer motor in the starting mode; and determining the target output torque of the trailer motor in a starting mode according to the external characteristic torque of the motor drive and the opening degree of an accelerator pedal.
In one embodiment, the operating mode includes an acceleration mode; the operation mode determination module 820 is used for determining the operation mode of the vehicle as an acceleration mode when determining the operation mode of the vehicle according to the running state information, and specifically when the running state information meets the acceleration condition; the operation mode determination module 820 is further configured to determine whether the following conditions are satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of an accelerator pedal is greater than zero; the vehicle has an intention to accelerate; when the vehicle speed is greater than or equal to the idle speed, judging that the running state information meets the acceleration condition; wherein, when the following conditions are satisfied: the change rate of the opening degree of the accelerator pedal is greater than or equal to a preset change rate; when the opening degree of an accelerator pedal is larger than or equal to a first preset opening degree and the acceleration of the vehicle is larger than or equal to at least one item of preset acceleration, judging that the vehicle has an acceleration intention; the output torque determination module 830 is further configured to, when the vehicle is in the acceleration mode, simultaneously satisfy the following conditions: the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity; and when the vehicle speed is less than or equal to the preset maximum value of the moppable vehicle speed, judging that the running state information meets the motor control triggering condition corresponding to the acceleration mode.
In one embodiment, the output torque determination module 830 determines the target output torque of the trailer motor in the operation mode when the driving state information satisfies the motor control trigger condition corresponding to the operation mode, and is specifically configured to determine the target output torque of the trailer motor in the acceleration mode when the driving state information satisfies the motor control trigger condition corresponding to the acceleration mode; the output torque determining module 830 is specifically configured to obtain the motor driving external characteristic torque at the vehicle speed according to the vehicle speed when determining the target output torque of the trailer motor in the acceleration mode; and determining the target output torque of the trailer motor in the acceleration mode according to the external characteristic torque of the motor drive and the opening degree of an accelerator pedal.
In one embodiment, the operational modes include a high-speed overtaking mode; the operation mode determination module 820 is used for determining that the operation mode of the vehicle is the high-speed overtaking mode when determining the operation mode of the vehicle according to the running state information and specifically when the running state information meets the high-speed overtaking condition; the operation mode determination module 820 is further configured to determine whether the following conditions are satisfied: the opening degree of the brake pedal is equal to zero; the opening degree of the accelerator pedal is greater than or equal to a second preset opening degree; when the vehicle speed is greater than or equal to the preset high-speed vehicle speed minimum value, judging that the running state information meets a high-speed overtaking condition; the running state information further includes: steering wheel angle of the tractor; the output torque determination module 830 is further configured to, when the vehicle is in the high-speed overtaking mode, simultaneously satisfy the following conditions: the electric quantity of the battery is greater than or equal to the preset minimum value of the dischargeable electric quantity; and when the steering wheel rotation angle is smaller than or equal to the maximum value of the preset boosting rotation angle, judging that the running state information meets the motor control triggering condition corresponding to the high-speed overtaking mode.
In one embodiment, the output torque determination module 830 determines the target output torque of the trailer motor in the operation mode when the driving state information satisfies the motor control trigger condition corresponding to the operation mode, and is specifically configured to determine the target output torque of the trailer motor in the high-speed overtaking mode when the driving state information satisfies the motor control trigger condition corresponding to the high-speed overtaking mode; the output torque determining module 830 is specifically configured to obtain the motor driving external characteristic torque at the vehicle speed according to the vehicle speed when determining the target output torque of the trailer motor in the high-speed overtaking mode; and determining the motor driving external characteristic torque as a target output torque of the trailer motor in the high-speed overtaking mode.
In one embodiment, the operating mode includes a braking mode; the operation mode determination module 820 is used for determining the operation mode of the vehicle as a braking mode when determining the operation mode of the vehicle according to the running state information, specifically when the running state information meets the braking condition; the operation mode determination module 820 is further configured to determine whether the following conditions are satisfied: the opening degree of a brake pedal is greater than zero; the opening degree of an accelerator pedal is equal to zero; when the vehicle speed is greater than zero, judging that the running state information meets the braking condition; the output torque determination module 830 is further configured to, when the vehicle is in the braking mode, simultaneously satisfy the following conditions: the electric quantity of the battery is less than or equal to the maximum value of the preset chargeable electric quantity; and when the vehicle speed is greater than or equal to the preset minimum value of the brakeable vehicle speed, judging that the running state information meets the motor control triggering condition corresponding to the braking mode.
In one embodiment, the output torque determination module 830 determines the target output torque of the trailer motor in the operation mode when the driving state information satisfies the motor control trigger condition corresponding to the operation mode, and is specifically configured to determine the target output torque of the trailer motor in the braking mode when the driving state information satisfies the motor control trigger condition corresponding to the braking mode; the output torque determining module 830 is specifically configured to obtain a motor braking external characteristic torque at a vehicle speed according to the vehicle speed when determining a target output torque of a trailer motor in a braking mode; and determining the target output torque of the trailer motor in the braking mode according to the external characteristic braking torque of the motor and the opening degree of a brake pedal.
For specific limitations of the motor control device, reference may be made to the above limitations of the motor control method, which are not described herein again. The respective modules in the above-described motor control apparatus may be entirely or partially implemented by software, hardware, and a combination thereof. The modules can be embedded in a hardware form or independent from a processor in the computer device, and can also be stored in a memory in the computer device in a software form, so that the processor can call and execute operations corresponding to the modules.
In one embodiment, an electronic device is provided, which may be a server, and its internal structure diagram may be as shown in fig. 9. The electronic device includes a processor, a memory, and a network interface connected by a system bus. Wherein the processor of the electronic device is configured to provide computing and control capabilities. The memory of the electronic equipment comprises a nonvolatile storage medium and an internal memory. The non-volatile storage medium stores an operating system and a computer program. The internal memory provides an environment for the operation of an operating system and computer programs in the non-volatile storage medium. The network interface of the electronic device is used for connecting and communicating with an external terminal through a network. The computer program is executed by a processor to implement a motor control method.
Those skilled in the art will appreciate that the architecture shown in fig. 9 is merely a block diagram of some of the structures associated with the disclosed aspects and is not intended to limit the computing devices to which the disclosed aspects apply, as particular computing devices may include more or less components than those shown, or may combine certain components, or have a different arrangement of components.
In one embodiment, an electronic device is provided, which includes a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of the above method embodiments when executing the computer program.
In an embodiment, a computer-readable storage medium is provided, on which a computer program is stored, which computer program, when being executed by a processor, carries out the steps of the respective method embodiment as described above.
It should be understood that the terms "first", "second", etc. in the above-described embodiments are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implying any number of technical features indicated.
It will be understood by those skilled in the art that all or part of the processes of the methods of the embodiments described above can be implemented by hardware instructions of a computer program, which can be stored in a non-volatile computer-readable storage medium, and when executed, can include the processes of the embodiments of the methods described above. Any reference to memory, storage, database or other medium used in the embodiments provided herein can include at least one of non-volatile and volatile memory. Non-volatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical storage, or the like. Volatile Memory can include Random Access Memory (RAM) or external cache Memory. By way of illustration and not limitation, RAM can take many forms, such as Static Random Access Memory (SRAM) or Dynamic Random Access Memory (DRAM), among others.
The technical features of the above embodiments can be arbitrarily combined, and for the sake of brevity, all possible combinations of the technical features in the above embodiments are not described, but should be considered as the scope of the present specification as long as there is no contradiction between the combinations of the technical features.
The above-mentioned embodiments only express several embodiments of the present application, and the description thereof is more specific and detailed, but not construed as limiting the scope of the invention. It should be noted that, for a person skilled in the art, several variations and modifications can be made without departing from the concept of the present application, which falls within the scope of protection of the present application. Therefore, the protection scope of the present patent shall be subject to the appended claims.

Claims (11)

1. A method of controlling a motor, the method comprising:
acquiring running state information of a vehicle, wherein the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
determining the running mode of the vehicle according to the running state information;
when the running state information meets the motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode;
and controlling the trailer motor to output torque according to the target output torque.
2. The method of claim 1, wherein the operating mode comprises a launch mode; determining an operation mode of the vehicle according to the driving state information, comprising: when the running state information meets a starting condition, determining that the running mode of the vehicle is a starting mode;
when the following conditions are simultaneously met, judging that the running state information meets the starting condition:
the first item: the brake pedal opening is equal to zero;
the second term is: the opening degree of the accelerator pedal is greater than zero;
the third item: the vehicle speed is greater than or equal to zero and less than the idle speed;
when the vehicle is in the starting mode and the following conditions are met, judging that the running state information meets the motor control triggering conditions corresponding to the starting mode:
the battery electric quantity is greater than or equal to a preset minimum value of dischargeable electric quantity.
3. The method of claim 1, wherein the operating mode comprises an acceleration mode; determining an operation mode of the vehicle according to the driving state information, comprising: when the running state information meets an acceleration condition, determining that the running mode of the vehicle is an acceleration mode;
determining that the travel state information satisfies the acceleration condition when the following conditions are simultaneously satisfied:
the first item: the brake pedal opening is equal to zero;
the second term is: the opening degree of the accelerator pedal is greater than zero;
the third item: the vehicle has an intention to accelerate;
the fourth item: the vehicle speed is greater than or equal to the idle vehicle speed;
wherein it is determined that the vehicle has the intention to accelerate when at least one of the following conditions is satisfied:
the first item: the change rate of the opening degree of the accelerator pedal is greater than or equal to a preset change rate;
the second term is: the opening degree of the accelerator pedal is greater than or equal to a first preset opening degree, and the acceleration of the vehicle is greater than or equal to a preset acceleration;
when the vehicle is in the acceleration mode and the following conditions are simultaneously met, judging that the running state information meets the motor control triggering conditions corresponding to the acceleration mode:
the first item: the electric quantity of the battery is greater than or equal to a preset minimum value of dischargeable electric quantity;
the second term is: the vehicle speed is less than or equal to a preset maximum value of the boosting vehicle speed.
4. The method according to claim 2 or 3, wherein when the running state information meets a motor control trigger condition corresponding to the running mode, determining a target output torque of a trailer motor in the running mode comprises: when the running state information meets a motor control trigger condition corresponding to a first running mode, determining a target output torque of a trailer motor in the first running mode;
determining a target output torque of a trailer motor in the first operating mode, comprising:
according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed;
determining a target output torque of a trailer motor in the first operation mode according to the motor driving external characteristic torque and the opening degree of the accelerator pedal;
wherein the first operating mode includes any one of a take-off mode and an acceleration mode.
5. The method of claim 1, wherein the operational mode comprises a high-speed overtaking mode; determining an operation mode of the vehicle according to the driving state information, comprising: when the running state information meets a high-speed overtaking condition, determining that the running mode of the vehicle is a high-speed overtaking mode;
when the following conditions are simultaneously met, judging that the driving state information meets the high-speed overtaking condition:
the first item: the brake pedal opening is equal to zero;
the second term is: the opening degree of the accelerator pedal is greater than or equal to a second preset opening degree;
the third item: the vehicle speed is greater than or equal to a preset high-speed vehicle speed minimum value;
the running state information further includes: a steering wheel angle of the tractor; when the vehicle is in the high-speed overtaking mode and the following conditions are simultaneously met, judging that the running state information meets the motor control triggering conditions corresponding to the high-speed overtaking mode:
the first item: the electric quantity of the battery is greater than or equal to a preset minimum value of dischargeable electric quantity;
the second term is: and the steering wheel rotating angle is less than or equal to the maximum value of the preset boosting rotating angle.
6. The method of claim 5, wherein determining the target output torque of the trailer motor in the operating mode when the driving state information satisfies a motor control trigger condition corresponding to the operating mode comprises: when the running state information meets a motor control trigger condition corresponding to the high-speed overtaking mode, determining a target output torque of a trailer motor in the high-speed overtaking mode;
determining a target output torque of a trailer motor in the high-speed overtaking mode, comprising:
according to the vehicle speed, obtaining the motor driving external characteristic torque under the vehicle speed;
and determining the motor driving external characteristic torque as a target output torque of a trailer motor in the high-speed overtaking mode.
7. The method of claim 1, wherein the operating mode comprises a braking mode; determining an operation mode of the vehicle according to the driving state information, comprising: when the running state information meets a braking condition, determining that the running mode of the vehicle is a braking mode;
determining that the travel state information satisfies the braking condition when the following conditions are simultaneously satisfied:
the first item: the opening degree of the brake pedal is greater than zero;
the second term is: the opening degree of the accelerator pedal is equal to zero;
the third item: the vehicle speed is greater than zero;
when the vehicle is in the braking mode and the following conditions are simultaneously met, judging that the running state information meets the motor control triggering conditions corresponding to the braking mode:
the first item: the electric quantity of the battery is less than or equal to a preset maximum value of chargeable electric quantity;
the second term is: the vehicle speed is greater than or equal to a preset minimum value of the brakeable vehicle speed.
8. The method of claim 7, wherein determining a target output torque of a trailer motor in the operating mode when the driving state information satisfies a motor control trigger condition corresponding to the operating mode comprises: when the running state information meets the motor control triggering condition corresponding to the braking mode, determining a target output torque of a trailer motor in the braking mode;
determining a target output torque of a trailer motor in the braking mode, comprising:
according to the vehicle speed, obtaining the external characteristic torque of the motor brake at the vehicle speed;
and determining the target output torque of the trailer motor in the braking mode according to the motor braking external characteristic torque and the brake pedal opening.
9. A motor control apparatus, characterized in that the apparatus comprises:
the system comprises an acquisition module, a processing module and a control module, wherein the acquisition module is used for acquiring the running state information of a vehicle, and the vehicle comprises a tractor and a trailer connected with the tractor; the running state information of the vehicle includes: the vehicle speed, the accelerator pedal opening and the brake pedal opening of the tractor and the battery capacity of the trailer;
the running mode determining module is used for determining the running mode of the vehicle according to the running state information;
the output torque determining module is used for determining the target output torque of the trailer motor in the running mode when the running state information meets the motor control triggering condition corresponding to the running mode;
and the control module is used for controlling the trailer motor to output torque according to the target output torque.
10. An electronic device comprising a memory and a processor, the memory storing a computer program, wherein the processor implements the steps of the method of any one of claims 1 to 8 when executing the computer program.
11. A computer-readable storage medium, on which a computer program is stored, which, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 8.
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