CN113147421B - Vehicle control method, device and computer-readable storage medium - Google Patents
Vehicle control method, device and computer-readable storage medium Download PDFInfo
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- CN113147421B CN113147421B CN202110330676.7A CN202110330676A CN113147421B CN 113147421 B CN113147421 B CN 113147421B CN 202110330676 A CN202110330676 A CN 202110330676A CN 113147421 B CN113147421 B CN 113147421B
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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
- B60L15/2009—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 for braking
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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
- H02P21/36—Arrangements for braking or slowing; Four quadrant control
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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Abstract
The invention discloses a control method and a control device of a vehicle and a computer readable storage medium, wherein the control method of the vehicle comprises the following steps: after a vehicle enters a parking mode, acquiring a reference direct axis current and a reference quadrature axis current of a motor; obtaining feedback direct axis current and feedback quadrature axis current output by the motor; determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current; and driving the motor to operate according to the driving voltage. The invention can solve the problem of driving jitter in the parking process.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a vehicle control method and device and a computer readable storage medium.
Background
When an electric automobile runs on a slope, the phenomenon of slope slipping occurs when an accelerator pedal is released and no brake is involved, and similarly, the phenomenon of slope slipping occurs at the moment when the accelerator pedal is released and the brake is involved, so that how to keep the automobile stably fixed on the slope or how to move slightly without potential safety hazards becomes the focus of current research. The conventional vehicle slope-slipping prevention technology generally adopts a mode of directly or indirectly controlling driving torque to maintain the gravity balance of a vehicle so as to achieve the purpose of preventing the vehicle from slipping down a slope, but the actual final driving torque value is difficult to control under the condition of external interference of the driving torque, and the driving jitter of the vehicle is easily caused in the parking process.
Disclosure of Invention
The invention mainly aims to provide a control method and a control device of a vehicle and a computer readable storage medium, and aims to solve the problem of driving jitter in a parking process.
To achieve the above object, the present invention provides a control method of a vehicle, including:
after a vehicle enters a parking mode, acquiring a reference direct axis current and a reference quadrature axis current of a motor;
obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current;
and driving the motor to operate according to the driving voltage.
Optionally, the step of determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current and the feedback quadrature-axis current comprises:
proportional differential adjustment is carried out on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage, and proportional differential adjustment is carried out on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage;
and determining the driving voltage of the motor according to the direct-axis voltage and the quadrature-axis voltage.
Optionally, the step of determining the driving voltage of the motor according to the direct-axis voltage and the quadrature-axis voltage comprises:
acquiring a target motor angle;
performing inverse Clark transformation on the direct-axis voltage and the quadrature-axis voltage according to the target motor angle;
carrying out inverse park transformation on the direct-axis voltage and the quadrature-axis voltage after the inverse park transformation to obtain a three-phase alternating-current voltage;
and adjusting the pulse width of the three-phase alternating-current voltage by adopting a space vector pulse width modulation algorithm to obtain a driving voltage.
Optionally, the step of obtaining the target motor angle includes:
acquiring a current motor angle of the vehicle;
acquiring a temperature change value of a driving module of the motor;
and adjusting the current motor angle according to the temperature change value to obtain a target motor angle.
Optionally, the step of adjusting the current motor angle according to the temperature variation value to obtain a target motor angle includes:
detecting whether the temperature change value is greater than or equal to a preset threshold value;
when the temperature change value is larger than or equal to a preset threshold value, generating an adjustment value of the motor angle;
and adjusting the current motor angle according to the adjustment value to obtain a target motor angle.
Optionally, the step of obtaining a reference direct axis current of the motor comprises:
acquiring a slope sliding distance of the vehicle;
and determining the reference direct-axis current of the motor according to the slope slipping distance.
Optionally, the step of obtaining the feedback direct-axis current and the feedback quadrature-axis current output by the motor further includes:
judging whether the feedback direct axis current is equal to the reference direct axis current or not;
and when the feedback direct-axis current is not equal to the reference direct-axis current, executing the step of determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current and the feedback quadrature-axis current.
Further, to achieve the above object, the present invention also provides a control device of a vehicle, including:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring a reference direct axis current and a reference quadrature axis current of a motor after a vehicle enters a parking mode; obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
the determining module is used for determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current;
and the driving module is used for driving the motor to operate according to the driving voltage.
In addition, to achieve the above object, the present invention also provides a control device of a vehicle, including a memory, a processor, and a vehicle control program stored on the memory and operable on the processor, the vehicle control program, when executed by the processor, implementing the steps of the control method of the vehicle as described above.
Further, to achieve the above object, the present invention also provides a computer-readable storage medium having stored thereon a vehicle control program that, when executed by a processor, realizes the steps of the control method of the vehicle as described above.
The invention provides a control method and a control device of a vehicle and a computer readable storage medium. Therefore, the driving voltage of the motor is determined by the given reference direct-axis current and the given reference quadrature-axis current, the motor is driven to run according to the driving voltage, and the direct-axis current output by the motor is controlled, so that the axial electromagnetic tension perpendicular to the rotation direction of the motor is generated by the direct-axis current output by the motor, the motor stops rotating, the braking effect of the band-type brake is formed, as the motor stops rotating, the vehicle cannot generate driving force or reverse driving force, the axial electromagnetic tension is perpendicular to the rotation direction of the motor and does not belong to the driving force, the driving shake of the vehicle cannot be caused, and the problem of the driving shake of the vehicle is effectively solved.
Drawings
The implementation, functional features and advantages of the objects of the present invention will be further explained with reference to the accompanying drawings.
Fig. 1 is a schematic hardware architecture diagram of a control device of a vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic flowchart of a first embodiment of a control method for a vehicle according to the present invention;
FIG. 3 is a flowchart illustrating a second embodiment of a control method for a vehicle according to the present invention;
FIG. 4 is a flowchart illustrating a third exemplary embodiment of a control method of a vehicle according to the present invention;
FIG. 5 is a flowchart illustrating a fourth embodiment of a control method of a vehicle according to the present invention;
FIG. 6 is a schematic flowchart of a fifth embodiment of a control method of a vehicle according to the present invention;
fig. 7 is a functional block diagram of a control device of a vehicle according to an embodiment of the present invention.
Detailed Description
It should be understood that the specific embodiments described herein are merely illustrative of the invention and do not limit the invention.
The main solution of the embodiment of the invention is as follows: after a vehicle enters a parking mode, acquiring a reference direct axis current and a reference quadrature axis current of a motor; obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor; determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current and the feedback quadrature-axis current; and driving the motor to operate according to the driving voltage. Therefore, the driving voltage of the motor is determined by the given reference direct-axis current and the given reference quadrature-axis current, the motor is driven to run according to the driving voltage, and the direct-axis current output by the motor is controlled, so that the axial electromagnetic tension perpendicular to the rotation direction of the motor is generated by the direct-axis current output by the motor, the motor stops rotating, the braking effect of the band-type brake is formed, as the motor stops rotating, the vehicle cannot generate driving force or reverse driving force, the axial electromagnetic tension is perpendicular to the rotation direction of the motor and does not belong to the driving force, the driving shake of the vehicle cannot be caused, and the problem of the driving shake of the vehicle is effectively solved.
For a better understanding of the above technical solutions, exemplary embodiments of the present disclosure will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
For better understanding of the above technical solutions, the following detailed descriptions will be provided in conjunction with the drawings and the detailed description of the embodiments.
As shown in fig. 1, fig. 1 is a schematic diagram of a hardware architecture of a control device of a vehicle according to an embodiment of the present invention.
As shown in fig. 1, the control apparatus of the vehicle may include: a processor 1001, such as a CPU, a network interface 1004, a user interface 1003, a memory 1005, a communication bus 1002. The communication bus 1002 is used to implement connection communication among these components. The network interface 1004 may optionally include a standard wired interface, a wireless interface (such as a non-volatile memory), such as a disk memory. The memory 1005 may alternatively be a storage device separate from the processor 1001 described previously.
Those skilled in the art will appreciate that the configuration of the control device of the vehicle shown in fig. 1 does not constitute a limitation of the control device of the vehicle and may include more or fewer components than those shown, or some components may be combined, or a different arrangement of components.
As shown in fig. 1, an operating system and a vehicle control program may be included in a memory 1005, which is a kind of computer storage medium.
In the control apparatus of the vehicle shown in fig. 1, the processor 1001 may be configured to call a vehicle control program stored in the memory 1005, and perform the following operations:
after a vehicle enters a parking mode, acquiring a reference direct axis current and a reference quadrature axis current of a motor;
obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current;
and driving the motor to operate according to the driving voltage.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
proportional differential adjustment is carried out on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage, and proportional differential adjustment is carried out on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage;
and determining the driving voltage of the motor according to the direct-axis voltage and the quadrature-axis voltage.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
acquiring a target motor angle;
according to the target motor angle, performing inverse Clark transformation on the direct-axis voltage and the quadrature-axis voltage;
carrying out inverse park transformation on the direct-axis voltage and the quadrature-axis voltage after the inverse park transformation to obtain a three-phase alternating-current voltage;
and adjusting the pulse width of the three-phase alternating-current voltage by adopting a space vector pulse width modulation algorithm to obtain a driving voltage.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
acquiring a current motor angle of the vehicle;
acquiring a temperature change value of a driving module of the motor;
and adjusting the current motor angle according to the temperature change value to obtain a target motor angle.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
detecting whether the temperature change value is greater than or equal to a preset threshold value;
when the temperature change value is larger than or equal to a preset threshold value, generating an adjustment value of the motor angle;
and adjusting the current motor angle according to the adjustment value to obtain a target motor angle.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
acquiring a slope sliding distance of the vehicle;
and determining the reference direct-axis current of the motor according to the slope slipping distance.
Further, the processor 1001 may call the vehicle control program stored in the memory 1005, and also perform the following operations:
judging whether the feedback direct axis current is equal to the reference direct axis current or not;
and when the feedback direct-axis current is not equal to the reference direct-axis current, executing the step of determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current and the feedback quadrature-axis current.
Referring to fig. 2, fig. 2 is a schematic flowchart of a first embodiment of a control method for a vehicle according to the present invention, the control method including the steps of:
step S10, after the vehicle enters the parking mode, acquiring the reference direct axis current and the reference quadrature axis current of the motor;
in this embodiment, during the vehicle parking on a slope, the vehicle is prone to slip off the slope, which affects the safety and driving experience of the vehicle, and to solve the problem of the slip off the slope, the existing technical solution generally directly or indirectly controls the driving torque to maintain the power balance of the vehicle so as to prevent the vehicle from slipping off the slope, and since the driving torque is not easy to control, the driving shake is prone to occur by controlling the driving torque to prevent the vehicle from slipping off the slope.
Based on the above problems, the invention provides a control method of a vehicle, which includes that in a parking mode, a direct-axis current and a quadrature-axis current of a given motor are used, the direct-axis current and the quadrature-axis current fed back by the motor are detected at the same time, a driving voltage of the motor is determined according to the direct-axis current, the quadrature-axis current, the direct-axis current and the quadrature-axis current fed back by the motor of the given motor, the motor is driven to operate through the driving voltage to control the magnitude of the direct-axis current output by the motor, a direct-axis magnetic linkage is generated through the direct-axis current output by the motor, an axial electromagnetic pulling force perpendicular to the rotation direction of the motor is generated through the direct-axis magnetic linkage, and the motor is electromagnetically braked through the axial electromagnetic pulling force to form a brake effect of a band-type brake. The embodiment realizes vehicle hill-holding through electromagnetic braking, and avoids driving shake of the vehicle.
In this embodiment, the execution subject is a control device of a vehicle, referring to fig. 7, fig. 7 is a functional module schematic diagram of the control device of the vehicle according to the embodiment of the present invention, and as shown in fig. 7, the control device of the vehicle may include an obtaining module, a determining module, and a driving module.
Optionally, the control device of the vehicle may further include a signal acquisition module, a central controller calculation module, a power module, and the like, and certainly, in other embodiments, the control device of the vehicle may set a corresponding function module according to an actual function requirement, which is not limited in this embodiment.
In this embodiment, the current of the motor may include a direct-axis current and a quadrature-axis current, and after the vehicle enters the parking mode, the control device of the vehicle obtains a reference direct-axis current and a reference quadrature-axis current, where the reference direct-axis current is a given direct-axis current, that is, a direct-axis current required for the vehicle to achieve electromagnetic braking; the reference quadrature axis current is a given quadrature axis current, it should be noted that a value of the reference direct axis current is determined by a slope sliding distance after the vehicle enters a parking mode, the value of the reference quadrature axis current is 0 ampere, and it should be noted that the reference quadrature axis current is set to 0 ampere, so that shaking of the vehicle caused by pulling force generated in a quadrature axis direction can be effectively prevented.
Specifically, when the vehicle runs on a slope and enters a parking mode, an acquisition module of a control device of the vehicle acquires a reference direct-axis current and a reference quadrature-axis current of a motor so as to determine the magnitude of the direct-axis current required for slope parking.
Step S20, obtaining feedback direct axis current and feedback quadrature axis current output by the motor;
in this embodiment, after acquiring the reference direct-axis current and the reference quadrature-axis current, the control device of the vehicle further acquires a feedback direct-axis current and a feedback quadrature-axis current output by the motor, where the feedback direct-axis current is an actual direct-axis current output by the motor, and the feedback quadrature-axis current is an actual quadrature-axis current output by the motor.
Specifically, after the control device of the vehicle acquires the reference direct-axis current and the reference quadrature-axis current, the acquisition module further acquires the feedback direct-axis current and the feedback quadrature-axis current output by the motor, and whether the feedback direct-axis current output by the motor meets the direct-axis current required by electromagnetic braking or not can be judged by acquiring the feedback direct-axis current output by the motor.
Step S30, determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current;
and step S40, driving the motor to operate according to the driving voltage.
In this embodiment, after obtaining the feedback direct axis current and the feedback quadrature axis current output by the motor, the control device of the vehicle determines the driving voltage of the motor according to the obtained reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current, and drives the motor to operate according to the driving voltage, so as to control the direct axis current output by the motor according to the driving voltage, and further control the magnitude of the axial electromagnetic pulling force through the direct axis current, thereby implementing the electromagnetic braking of the vehicle.
Optionally, the control device of the vehicle determines whether the feedback direct-axis current is equal to the reference direct-axis current after acquiring the feedback direct-axis current and the feedback quadrature-axis current output by the motor, and executes the step of determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current, and the feedback quadrature-axis current when the feedback direct-axis current is not equal to the reference direct-axis current. It can be understood that when the feedback direct axis current is equal to the reference direct axis current, it indicates that the feedback direct axis current output by the motor reaches the direct axis current required by the electromagnetic braking, and the motor can directly generate an axial electromagnetic pulling force according to the feedback direct axis current, thereby implementing the electromagnetic braking.
According to the technical scheme, after a vehicle enters a parking mode, reference direct axis current and reference quadrature axis current of a motor are obtained, then feedback direct axis current and feedback quadrature axis current output by the motor are obtained, driving voltage of the motor is determined according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current, and the motor is driven to operate according to the driving voltage. Therefore, the driving voltage of the motor is determined by the given reference direct-axis current and the given reference quadrature-axis current, the motor is driven to run according to the driving voltage, and the direct-axis current output by the motor is controlled, so that the axial electromagnetic tension perpendicular to the rotation direction of the motor is generated by the direct-axis current output by the motor, the motor stops rotating, the braking effect of the band-type brake is formed, as the motor stops rotating, the vehicle cannot generate driving force or reverse driving force, the axial electromagnetic tension is perpendicular to the rotation direction of the motor and does not belong to the driving force, the driving shake of the vehicle cannot be caused, and the problem of the driving shake of the vehicle is effectively solved.
In addition, this scheme adopts electromagnetic braking to replace traditional mechanical braking, need not mechanical pedal and intervenes, avoids the driver frequently to follow accelerator pedal to brake pedal's round trip switch under the traffic congestion operating mode, has reduced driver's fatigue and has felt, has promoted driving experience.
Moreover, the stay of this scheme vehicle is in-process, only relates to the acquisition of electric current, need not to calculate slope and brake pedal aperture, and the parameter is introduced lessly, and it is convenient to calculate, and the engineering is realized easily, and the function implementation cost is lower moreover, need not gravity sensor, need not other chassis electronic control unit device cooperations, can realize through software.
Referring to fig. 3, fig. 3 is a flowchart illustrating a second embodiment of the control method for a vehicle according to the present invention, wherein the step S30 includes:
step S50, proportional differential adjustment is carried out on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage, and proportional differential adjustment is carried out on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage;
in this embodiment, after obtaining the feedback direct-axis current and the feedback quadrature-axis current output by the motor, the control device of the vehicle performs proportional differential adjustment (PD adjustment) on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage, and simultaneously performs proportional differential adjustment on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage.
Specifically, the control device of the vehicle obtains direct-current direct-axis voltage and quadrature-axis voltage by designing a proper PD regulator and performing proportional differential regulation on reference direct-axis current and feedback direct-axis current and reference quadrature-axis current and feedback quadrature-axis current according to the designed PD regulator.
And step S60, determining the driving voltage of the motor according to the direct-axis voltage and the quadrature-axis voltage.
In this embodiment, after the control device of the vehicle obtains the direct-axis voltage and the quadrature-axis voltage through PD adjustment, the drive voltage of the motor is generated according to the obtained direct-axis voltage and quadrature-axis voltage, so as to drive the motor to operate through the generated drive voltage, control the direct-axis current output by the motor, and further generate an axial electromagnetic pulling force according to the direct-axis current output by the motor, thereby implementing electromagnetic braking of the vehicle.
In the technical scheme provided by the embodiment, the direct-axis voltage is obtained by performing proportional differential adjustment on the reference direct-axis current and the feedback direct-axis current, the quadrature-axis voltage is obtained by performing proportional differential adjustment on the reference quadrature-axis current and the feedback quadrature-axis current, and then the driving voltage of the motor is determined according to the direct-axis voltage and the quadrature-axis voltage, so that the motor is driven to operate, and the electromagnetic braking is realized. Like this, this scheme is through designing the PD regulator, converts direct axis electric current and quadrature axis electric current into direct axis voltage and quadrature axis voltage through the PD regulator, has realized the conversion of electric current to voltage, and has reduced the error, has improved control accuracy.
Referring to fig. 4, fig. 4 is a schematic flowchart of a third embodiment of the control method for a vehicle according to the present invention, and based on the second embodiment, the step S60 includes:
step S70, acquiring a target motor angle;
in this embodiment, the control device of the vehicle acquires a target motor angle of the motor after acquiring the direct-axis voltage and the quadrature-axis voltage, where the target motor angle is a motor angle based on a motor angle recorded after the vehicle enters the parking mode, and is obtained by considering a temperature change of a driving module of the motor.
Step S80, performing inverse Clark conversion on the direct axis voltage and the quadrature axis voltage according to the target motor angle;
in this embodiment, after obtaining the target motor angle, the vehicle control device performs an inverse CLARK transformation on the obtained direct-axis voltage and quadrature-axis voltage according to the target motor angle to obtain a two-phase alternating-current voltage, where the inverse CLARK (CLARK) transformation functions to convert the direct-current voltage into an alternating-current voltage.
Step S90, inverse park transformation is carried out on the direct axis voltage and the quadrature axis voltage after inverse park transformation to obtain three-phase alternating current voltage;
in the present embodiment, the control device of the vehicle performs inverse PARK (PARK) conversion on the direct-axis voltage and the quadrature-axis voltage after the inverse PARK conversion to obtain a three-phase ac voltage, wherein the inverse PARK conversion functions to convert the two-phase ac voltage into the three-phase ac voltage.
And S100, adjusting the pulse width of the three-phase alternating-current voltage by adopting a space vector pulse width modulation algorithm to obtain a driving voltage.
In the present embodiment, the control device of the vehicle obtains the three-phase alternating-current voltage, and then adjusts the pulse width of the three-phase alternating-current voltage by a space vector pulse width modulation algorithm (SVPWM algorithm) to obtain the driving voltage.
Further, the control device of the vehicle outputs the adjusted driving voltage to the power device to drive the motor to operate through the power device, and then controls the size of the direct-axis current output by the motor, so that the axial electromagnetic tension is generated through the direct-axis current, and the electromagnetic braking is realized, wherein the power device can be selected from devices such as IGBT (insulated gate bipolar transistor) or SiC.
In the technical scheme provided by this embodiment, a target motor angle is obtained, then inverse clark transformation is performed on the direct-axis voltage and the quadrature-axis voltage according to the target motor angle, then inverse park transformation is performed on the direct-axis voltage and the quadrature-axis voltage after the inverse clark transformation to obtain a three-phase alternating-current voltage, finally, a space vector pulse width modulation algorithm is adopted to adjust the pulse width of the three-phase alternating-current voltage to obtain a driving voltage, and then the motor is driven to operate according to the driving voltage. Therefore, the scheme realizes the conversion from the two-phase direct current voltage to the three-phase alternating current voltage through the inverse Clark change and the inverse park transformation and determines the proper driving voltage by adjusting the pulse width through the space vector pulse width modulation algorithm, so that the control on the direct current is more accurate. The accuracy of vehicle control is improved.
Referring to fig. 5, fig. 5 is a flowchart illustrating a fourth embodiment of the control method for a vehicle according to the present invention, and based on the third embodiment, the step of S70 includes:
step S200, acquiring the current motor angle of the vehicle;
in this embodiment, after obtaining the direct-axis voltage and the quadrature-axis voltage, the control device of the vehicle obtains the current motor angle of the vehicle, where the current motor angle is a motor angle recorded when the vehicle enters the parking mode, and the obtaining of the motor angle may be obtained by detecting a resolver of the motor.
Specifically, the control device of the vehicle automatically detects the resolver of the motor to acquire the current motor angle of the vehicle after acquiring the direct-axis voltage and the quadrature-axis voltage.
Step S300, acquiring a temperature change value of a driving module of the motor;
and S400, adjusting the current motor angle according to the temperature change value to obtain a target motor angle.
In this embodiment, after acquiring the current motor angle of the vehicle, the control device of the vehicle acquires a temperature change value of a driving module of the motor, and then adjusts the current motor angle according to the temperature change value to obtain a target motor angle.
Specifically, a control apparatus of a vehicle detects a temperature change value of a driving module of a motor through a temperature sensor and judges the detected valueAnd whether the temperature change value is greater than or equal to a preset threshold value or not is judged, wherein when the temperature change value is greater than or equal to the preset threshold value, an adjustment value of the motor angle is generated, and the current motor angle is adjusted according to the adjustment value of the motor angle to obtain the target motor angle. That is, the target motor angle is obtained by adding the motor angle adjustment value to the current motor angle, for example, if the current motor angle of the motor is θ 0 The temperature change value of the driving module of the motor is delta T, the temperature threshold value is T, if delta T is larger than or equal to T, the adjustment value of the motor is delta theta, and further the target motor angle theta is theta 0 And +. DELTA.theta.s. It should be noted that the preset threshold may be determined according to actual needs, and this embodiment does not limit this.
According to the technical scheme, the current motor angle of the vehicle is obtained, then the temperature change value of the driving module of the motor is obtained, and the current motor angle is adjusted according to the temperature change value to obtain the target motor angle. Therefore, the temperature change of the driving module of the motor is considered in the process of determining the angle of the motor, the overheating fault caused by the fact that the driving module of the motor is conducted with a certain phase power tube for a long time is effectively avoided, and the normal work of the driving module of the motor is guaranteed.
Referring to fig. 6, fig. 6 is a schematic flowchart of a fifth embodiment of the control method for a vehicle according to the present invention, and based on the first embodiment, the step S10 includes:
step S500, after a vehicle enters a parking mode, acquiring a slope sliding distance of the vehicle and acquiring a reference cross-axis current of a motor;
in the embodiment, after the vehicle enters the parking mode, the control device of the vehicle acquires the slope sliding distance of the vehicle and simultaneously acquires the reference quadrature axis current of the motor.
Specifically, the control device of the vehicle acquires a wheel speed of the vehicle through a wheel speed sensor, and calculates a hill-slip distance of the vehicle from the wheel speed of the vehicle.
And S600, determining the reference direct-axis current of the motor according to the slope sliding distance.
In this embodiment, the control device of the vehicle determines the reference direct-axis current of the motor from the hill-drop distance of the vehicle after acquiring the hill-drop distance.
Specifically, the maximum reference direct axis current is set to correspond to the maximum hill-drop distance (e.g., the circumference of 1/4 wheels) which is proportional to the reference direct axis current, and the reference direct axis current of the motor is determined based on the calculated hill-drop distance.
According to the technical scheme provided by the embodiment, after the vehicle enters the parking mode, the reference direct-axis current of the motor is determined according to the slope sliding distance of the vehicle by acquiring the slope sliding distance of the vehicle. Therefore, the reference direct axis current is determined according to the slope sliding distance, the reference direct axis current is guaranteed to be a reasonable current value, and the control effect is improved.
Based on the above embodiment, the present invention also provides a control device of a vehicle, which may include:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring reference direct axis current and reference quadrature axis current of a motor after a vehicle enters a parking mode; obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
the determining module is used for determining the driving voltage of the motor according to the reference direct axis current, the feedback direct axis current, the reference quadrature axis current and the feedback quadrature axis current;
and the driving module is used for driving the motor to operate according to the driving voltage.
Based on the foregoing embodiments, the present invention further provides a control device for a vehicle, where the control device for a vehicle may include a memory, a processor, and a vehicle control program stored in the memory and executable on the processor, and when the processor executes the vehicle control program, the steps of the control method for a vehicle according to any of the foregoing embodiments are implemented.
Based on the above embodiment, the present invention also provides a computer-readable storage medium, on which a vehicle control program is stored, which when executed by a processor implements the steps of the control method of the vehicle according to any one of the above embodiments.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system 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 system. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The above-mentioned serial numbers of the embodiments of the present invention are merely for description and do not represent the merits of the embodiments.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium (e.g., ROM/RAM, magnetic disk, optical disk) as described above and includes instructions for enabling a terminal device (e.g., a mobile phone, a computer, a server, or a network device) to execute the method according to the embodiments of the present invention.
The above description is only a preferred embodiment of the present invention, and is not intended to limit the scope of the present invention, and all equivalent structures or equivalent processes performed by the present invention or directly or indirectly applied to other related technical fields are also included in the scope of the present invention.
Claims (8)
1. A control method of a vehicle, characterized by comprising:
after a vehicle enters a parking mode, acquiring a reference direct axis current and a reference quadrature axis current of a motor;
obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
proportional differential adjustment is carried out on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage, and proportional differential adjustment is carried out on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage;
acquiring a target motor angle;
performing inverse Clark transformation on the direct-axis voltage and the quadrature-axis voltage according to the target motor angle;
carrying out inverse park transformation on the direct-axis voltage and the quadrature-axis voltage after the inverse park transformation to obtain a three-phase alternating-current voltage;
adjusting the pulse width of the three-phase alternating-current voltage by adopting a space vector pulse width modulation algorithm to obtain a driving voltage;
and driving the motor to operate according to the driving voltage, and controlling the motor to output direct-axis current so as to generate axial electromagnetic tension perpendicular to the rotation direction of the motor through the direct-axis current and stop the motor from rotating.
2. The control method of a vehicle according to claim 1, wherein the step of acquiring the target motor angle includes:
acquiring a current motor angle of the vehicle;
acquiring a temperature change value of a driving module of the motor;
and adjusting the current motor angle according to the temperature change value to obtain a target motor angle.
3. The control method of a vehicle according to claim 2, wherein the step of adjusting the current motor angle according to the temperature change value to obtain a target motor angle comprises:
detecting whether the temperature change value is greater than or equal to a preset threshold value;
when the temperature change value is larger than or equal to a preset threshold value, generating an adjustment value of the motor angle;
and adjusting the current motor angle according to the adjustment value to obtain a target motor angle.
4. The control method of a vehicle according to claim 1, wherein the step of obtaining a reference direct axis current of the motor includes:
acquiring a slope sliding distance of the vehicle;
and determining the reference direct-axis current of the motor according to the slope slipping distance.
5. The control method of a vehicle according to claim 1, wherein the step of obtaining the feedback direct-axis current and the feedback quadrature-axis current output by the motor is followed by further comprising:
judging whether the feedback direct axis current is equal to the reference direct axis current or not;
and when the feedback direct-axis current is not equal to the reference direct-axis current, executing the step of determining the driving voltage of the motor according to the reference direct-axis current, the feedback direct-axis current, the reference quadrature-axis current and the feedback quadrature-axis current.
6. A control device of a vehicle, characterized by comprising:
the device comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for acquiring reference direct axis current and reference quadrature axis current of a motor after a vehicle enters a parking mode; obtaining feedback direct-axis current and feedback quadrature-axis current output by the motor;
the determining module is used for carrying out proportional differential adjustment on the reference direct-axis current and the feedback direct-axis current to obtain a direct-axis voltage and carrying out proportional differential adjustment on the reference quadrature-axis current and the feedback quadrature-axis current to obtain a quadrature-axis voltage; acquiring a target motor angle; according to the target motor angle, performing inverse Clark transformation on the direct-axis voltage and the quadrature-axis voltage; carrying out inverse park transformation on the direct-axis voltage and the quadrature-axis voltage after the inverse park transformation to obtain a three-phase alternating-current voltage; adjusting the pulse width of the three-phase alternating-current voltage by adopting a space vector pulse width modulation algorithm to obtain a driving voltage;
and the driving module is used for driving the motor to operate according to the driving voltage.
7. A control apparatus of a vehicle, characterized in that the control apparatus of the vehicle comprises a memory, a processor, and a vehicle control program stored on the memory and executable on the processor, the vehicle control program, when executed by the processor, implementing the steps of the control method of the vehicle according to any one of claims 1 to 5.
8. A computer-readable storage medium, characterized in that a vehicle control program is stored thereon, which when executed by a processor implements the steps of the control method of the vehicle according to any one of claims 1 to 5.
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| DE102015214038A1 (en) * | 2015-07-24 | 2017-01-26 | Borgward Trademark Holdings Gmbh | Control method to avoid the saturation switching state of an inverter |
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| RU2250552C2 (en) * | 2003-04-18 | 2005-04-20 | Открытое акционерное общество "АВТОВАЗ" | Method and device for controlling synchronous traction motor and unit for generating desired values of field current and current vector direct- and quadrature-axis components |
| CN101396976A (en) * | 2007-09-25 | 2009-04-01 | 奇瑞汽车股份有限公司 | Electric machine control method and device in hybrid motor |
| DE102015214038A1 (en) * | 2015-07-24 | 2017-01-26 | Borgward Trademark Holdings Gmbh | Control method to avoid the saturation switching state of an inverter |
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