CN114475269A - Motor control method, device, vehicle and medium - Google Patents
Motor control method, device, vehicle and medium Download PDFInfo
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- CN114475269A CN114475269A CN202011150486.9A CN202011150486A CN114475269A CN 114475269 A CN114475269 A CN 114475269A CN 202011150486 A CN202011150486 A CN 202011150486A CN 114475269 A CN114475269 A CN 114475269A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- 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
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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
- 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
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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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- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The embodiment of the invention provides a motor control method, a motor control device, a vehicle and a medium, wherein the method comprises the following steps: acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory; determining the output power of the high-voltage accessory according to the running gear information; determining an accessory power based on the output power of the high voltage accessory; determining a drive torque of the motor according to the accessory power, the output threshold information, and the state information; and controlling the motor to work according to the driving torque. The embodiment of the invention can realize that the output power of the high-voltage accessory is adjusted according to the gear, the output power of the high-voltage accessory is taken as one of the consideration factors for determining the driving torque of the motor, and meanwhile, the driving torque is determined according to the output threshold and the motor state, thereby providing fine control of the driving torque of the motor.
Description
Technical Field
The invention relates to the technical field of vehicles, in particular to a motor control method, a motor control device, a vehicle and a medium.
Background
The motor in the new energy electric vehicle is one of important components, the cost is high, and meanwhile, the overall running condition of the vehicle and the performance of a battery pack are directly influenced by the output and charging control of the motor.
In the existing technical scheme, a control strategy for a motor is simple, the capacity of a computing system is generally controlled only by the voltage and the current of a battery, the current actual discharge and power utilization of a whole vehicle system cannot be accurately calculated, and a certain deviation can occur in the analysis of the whole vehicle system, so that some faults can be caused.
Disclosure of Invention
In view of the above problems, embodiments of the present invention are proposed to provide a motor control method and a corresponding motor control apparatus, vehicle, medium that overcome or at least partially solve the above problems.
In order to solve the above problem, an embodiment of the present invention discloses a motor control method, including:
acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory;
determining the output power of the high-voltage accessory according to the running gear information;
determining an accessory power based on the output power of the high voltage accessory;
determining a drive torque of the motor according to the accessory power, the output threshold information, and the state information;
and controlling the motor to work according to the driving torque.
Optionally, the step of adjusting the output power of the high-voltage accessory according to the gear information includes:
if the driving gear information is matched with preset low-speed gear information, reducing the output power of the high-voltage accessory to a first power value matched with the low-speed gear information;
if the running gear information is matched with preset high-speed gear information, increasing the output power of the high-voltage accessory to a second power value matched with the high-speed gear information;
wherein the high-pressure accessory comprises one of an air heating device and an air cooling device.
Optionally, the vehicle is further provided with a direct current conversion assembly; the step of determining accessory power based on the output power of the high voltage accessory comprises:
acquiring voltage information and current information output by a direct current conversion assembly;
determining the output power of the direct current conversion device by using the voltage information and the current information;
and determining the accessory power by adopting the output power of the direct current conversion device and the output power of the high-voltage accessory.
Optionally, the vehicle is provided with a controller area network, CAN, channel and a fault handling component; the output threshold information includes: a first discharging power threshold value and a first torque threshold value obtained through the CAN channel, and a second discharging power threshold value and a second torque threshold value obtained through the fault processing assembly; the step of determining the drive torque of the motor based on the accessory power, the threshold information, and the status information includes:
determining a first drive power of the motor using a lesser of the first and second discharge power thresholds and the accessory power;
determining a first torque of the motor using the first drive power and the state information;
determining a smaller one of the first torque, the first torque threshold, and the second torque threshold as a driving torque.
Optionally, the status information includes efficiency information and rotation speed information; the step of determining a first torque of the motor using the first driving power and the state information includes:
determining a second driving power of the motor by adopting a product of the first driving power and the efficiency information;
and determining a first torque of the motor by using the ratio of the second driving power to the rotating speed information.
Optionally, the vehicle is further provided with a CAN channel and a fault handling component; the driving data further includes: charging threshold information; the charging threshold information includes: a first charging power threshold and a third torque threshold obtained through the CAN channel, and a second charging power threshold and a fourth torque threshold obtained through the fault processing component; the method further comprises the following steps:
determining a first charging power of the motor by adopting the smaller one of the first charging power threshold and the second charging power threshold;
determining a second torque of the motor using the first charging power and the state information;
determining a smaller one of the second torque, the third torque threshold, and the fourth torque threshold as a charging torque;
and controlling the motor to work according to the charging torque.
Optionally, the status information includes efficiency information and rotation speed information; the step of determining a second torque of the electric machine using the first charging power and the state information includes:
determining a second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and determining a second torque of the motor by using the ratio of the second charging power to the rotating speed information.
The embodiment of the invention also discloses a motor control device, which comprises:
the acquisition module is used for acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory;
the power determining module is used for determining the output power of the high-voltage accessory according to the running gear information;
an accessory power module to determine an accessory power based on an output power of the high voltage accessory;
a drive torque module to determine a drive torque of the motor based on the accessory power, the output threshold information, and the status information;
and the first control module is used for controlling the motor to work according to the driving torque.
Optionally, the power determining module comprises:
the low-speed condition submodule is used for reducing the output power of the high-voltage accessory to a first power value matched with the low-speed gear information if the running gear information is matched with the preset low-speed gear information;
the high-speed condition submodule is used for increasing the output power of the high-voltage accessory to a second power value matched with the high-speed gear information if the running gear information is matched with preset high-speed gear information;
wherein the high-pressure accessory comprises one of an air heating device and an air cooling device.
Optionally, the vehicle is further provided with a direct current conversion assembly; the accessory power module includes:
the electrical information acquisition submodule is used for acquiring voltage information and current information output by the direct current conversion component;
the direct current output power submodule is used for determining the output power of the direct current conversion device by adopting the voltage information and the current information;
and the accessory actual power sub-module is used for determining accessory power by adopting the output power of the direct current conversion device and the output power of the high-voltage accessory.
Optionally, the vehicle is provided with a controller area network, CAN, channel and a fault handling component; the output threshold information includes: a first discharging power threshold value and a first torque threshold value obtained through the CAN channel, and a second discharging power threshold value and a second torque threshold value obtained through the fault processing assembly; the drive torque module includes:
a first drive power sub-module for determining a first drive power of the motor using the lesser of the first and second discharge power thresholds and the accessory power;
a first torque submodule for determining a first torque of the electric machine using the first drive power and the status information;
a drive torque submodule to determine a lesser of the first torque, the first torque threshold, and the second torque threshold as a drive torque.
Optionally, the status information includes efficiency information and rotation speed information; the first torque submodule includes:
a second driving power unit for determining a second driving power of the motor by using a product of the first driving power and the efficiency information;
and the first torque unit is used for determining the first torque of the motor by adopting the ratio of the second driving power to the rotating speed information.
Optionally, the vehicle is further provided with a CAN channel and a fault handling component; the driving data further includes: charging threshold information; the charging threshold information includes: a first charging power threshold and a third torque threshold obtained through the CAN channel, and a second charging power threshold and a fourth torque threshold obtained through the fault processing component; the device further comprises:
the first charging power module is used for determining first charging power of the motor by adopting the smaller one of the first charging power threshold and the second charging power threshold;
a second torque module to determine a second torque of the motor using the first charging power and the status information;
a charging torque module to determine a lesser of the second torque, the third torque threshold, and the fourth torque threshold as a charging torque;
and the second control module is used for controlling the motor to work according to the charging torque.
Optionally, the status information includes efficiency information and rotation speed information; the second torque module includes:
the second charging power sub-module is used for determining second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and the second torque submodule is used for determining a second torque of the motor by adopting the ratio of the second charging power to the rotating speed information.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform a motor control method as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the motor control methods described above.
The embodiment of the invention has the following advantages:
after the driving data of the vehicle is obtained, the actual output power of the high-voltage accessory in the vehicle is determined according to the driving gear information in the driving data, the accessory power of the whole vehicle is determined based on the actual output power of the high-voltage accessory, and the driving torque of the motor, namely the maximum available driving torque of the motor, is determined by combining the accessory power, the output threshold information in the driving data and the state information of the motor, so that when the maximum output capacity (driving torque) of the motor is estimated, the output power of the high-voltage accessory is taken as one of factors, and the accuracy of estimation of the maximum output capacity of the motor is improved. The motor is controlled to work under the condition that the actual driving torque of the motor is not larger than the obtained driving torque, so that the reliability and the safety of the work of the motor are improved, the motor is accurately controlled, and the motor is prevented from generating faults to influence the running safety of a vehicle.
Drawings
FIG. 1 is a flow chart illustrating steps of a first embodiment of a motor control method according to the present invention;
FIG. 2 is a schematic diagram of a power control process for a high voltage accessory according to the present invention;
FIG. 3 is a schematic diagram of an accessory power calculation provided by the present invention;
FIG. 4 is a schematic diagram illustrating the calculation of the maximum output torque of the motor according to the present invention;
FIG. 5 is a flowchart illustrating steps of a second embodiment of a motor control method according to the present invention;
FIG. 6 is a schematic diagram illustrating the calculation of the maximum generating torque of the motor according to the present invention;
fig. 7 is a block diagram of an embodiment of a motor control apparatus according to the present invention.
Detailed Description
In order to make the aforementioned objects, features and advantages of the present invention comprehensible, embodiments accompanied with figures are described in further detail below.
Referring to fig. 1, a flowchart illustrating steps of a first embodiment of a motor control method according to the present invention is shown, which may specifically include the following steps:
the embodiment of the invention can be applied to a pure electric vehicle or a hybrid vehicle containing electric power. The vehicle can be further provided with a power battery and low-voltage accessories, wherein the power battery is used for providing electric energy for a circuit system in the vehicle; the high-voltage accessory can be an electric appliance directly provided with electric energy by the power battery, and the low-voltage accessory can be an electric appliance connected after the output voltage of the power battery is reduced by overvoltage.
The vehicle may be provided with a plurality of travel-related gears, i.e. travel gears, such as: reverse gear, multi-stage automatic forward gear, etc. The current driving gear information refers to a current driving-related gear of the vehicle.
The vehicle is provided with a motor, and the motor is connected with the driving wheel to control the driving wheel to rotate, so that the vehicle is driven to run. The state information of the motor may refer to the current parameters of the motor related to its operation.
The output threshold information may include current or preset information for limiting the output power of the motor.
the high-voltage accessory can be provided with default output power, and after the running gear information is obtained, the actual output power of the high-voltage accessory is adjusted according to the current gear of the vehicle, which is related to running. Specifically, according to a preset rule, the default output power of the high-voltage accessory can be increased or decreased according to the current running gear of the vehicle, so that the actual output power of the high-voltage accessory is matched with the running gear, and the corresponding vehicle running power requirement is met.
103, determining accessory power based on the output power of the high-voltage accessory;
determining an accessory power in the vehicle in accordance with the adjusted output power of the high-voltage accessory. The accessory power includes the output power of the high voltage accessory and the output power of the low voltage accessory.
104, determining the driving torque of the motor according to the accessory power, the output threshold information and the state information;
determining the driving torque of the motor by combining the accessory power, the output threshold information and the state information of the motor, wherein the driving torque is the current maximum available driving torque of the motor.
And 105, controlling the motor to work according to the driving torque.
When the motor-driven vehicle runs, the actual driving torque of the motor is monitored, so that the actual driving torque is not larger than the maximum available driving torque, and the influence of the excessive actual driving torque of the motor on other electric appliances in the vehicle, which causes driving failure or safety problems, is avoided.
In the embodiment of the invention, after the driving data of the vehicle is acquired, the actual output power of the high-voltage accessory in the vehicle is determined according to the driving gear information in the driving data, the accessory power of the whole vehicle is determined based on the actual output power of the high-voltage accessory, and the driving torque of the motor, namely the maximum available driving torque of the motor, is determined by combining the accessory power, the output threshold information in the driving data and the state information of the motor, so that when the maximum output capacity (driving torque) of the motor is estimated, the output power of the high-voltage accessory is taken as one of factors, and the accuracy of estimation of the maximum output capacity of the motor is improved. The motor is controlled to work under the condition that the actual driving torque of the motor is not larger than the obtained driving torque, so that the reliability and the safety of the work of the motor are improved, the motor is accurately controlled, and the motor is prevented from generating faults to influence the running safety of a vehicle.
It should be noted that, the embodiment of the present invention may be specifically executed by a Vehicle Controller (VCU) provided in the Vehicle, or may be implemented by cooperation of one or more modules, and the embodiment of the present invention is not limited thereto.
In an alternative embodiment of the present invention, the step 102 comprises:
substep S11, if the driving gear information matches preset low gear information, reducing the output power of the high-voltage accessory to a first power value matching the low gear information;
if the current running gear of the vehicle is a low-speed gear, the current vehicle needs enough power to run, and the first power value can be preset power corresponding to each running gear by adjusting the output power near the high voltage to the first power value so as to ensure the power requirement of the vehicle.
A substep S12, if the driving gear information matches with preset high-speed gear information, increasing the output power of the high-voltage accessory to a second power value matching with the high-speed gear information;
wherein the high-pressure accessory comprises one of an air heating device and an air cooling device.
If the current running gear of the vehicle is a high-speed gear, the current vehicle does not need large power to run, and the output power of the high-voltage accessory is increased to a second power value matched with the high-speed gear information, so that the high-voltage device is ensured to be in a more proper working state, and the comfort of the vehicle is improved.
In practice, the vehicle may include a plurality of driving gears, the low speed gear being one or more of the preset driving gears, and the high speed gear being one or more of the preset driving gears.
In one example, the first power value and the second power value are current power thresholds of the high-voltage accessory, and the actual output power of the high-voltage accessory is controlled not to be larger than the corresponding first power value or second power value.
It should be noted that the low gear and the high gear are only conditions for dividing the driving gear included in the vehicle to reduce or increase the output power of the high-voltage accessory, and the specific division rule of the embodiment of the present invention is not limited.
Referring to fig. 2, a schematic diagram of a power control flow of the high-voltage accessory provided by the present invention is shown, and the output power control of the high-voltage accessory is further explained by an example.
The output power control for the high voltage accessory may include the steps of:
1. judging whether an Electric Air Conditioner (EAC) or a heater (PTC device) is started, and if so, executing the step 2.
2. The current gear of the vehicle (current driving gear) is determined.
3. And (4) judging whether the current gear is a D (drive) gear, namely a forward gear, if so, executing the step (4), and if not, executing the step (5).
4. And judging whether the current gear is one of a D1 gear, a D2 gear and a D3 gear, if so, controlling the electric air conditioner or the heater to enter a low-power output mode, and if not, controlling the electric air conditioner or the heater to enter a high-power output mode.
5. And judging whether the current gear is R (reverse), namely a reverse gear, if so, controlling the electric air conditioner or the heater to enter a low-power output mode, and if not, controlling the electric air conditioner or the heater to enter a high-power output mode.
In the above example, the D1 gear, D2 gear, D3 gear and R gear are low gears.
In an optional embodiment of the invention, the vehicle is further provided with a direct current conversion assembly; as shown in fig. 3, step 103 may include:
a substep S21 of obtaining voltage information and current information output by the DC conversion component;
the dc conversion component may be one or more dc-dc converters that have been implemented to provide matched voltages to low voltage accessories of different rated operating voltages.
The dc conversion module may include an output terminal, and may detect voltage information and current information of the output terminal of the dc conversion module.
A substep S22 of determining the output power of the dc conversion device using the voltage information and the current information;
the output power of the dc converter device, i.e. the actual power consumed by the low-voltage accessory, is determined by the product of the voltage information and the current information.
And a substep S23 of determining accessory power by using the output power of the dc converter device and the output power of the high-voltage accessory.
And summing the output power of the direct current conversion device and the output power of the high-voltage accessory to obtain accessory power.
When the electric power consumed by the accessories in the vehicle is determined, the consumed power of the low-voltage accessories is determined through the direct current conversion device, and the current consumed power of the high-voltage accessories and the low-voltage accessories in the vehicle is determined through the output power of the direct current conversion device and the output power of the high-voltage accessories, so that when the driving torque of the motor is determined by combining the accessory power, the driving torque is more matched with the current actual state of the vehicle, namely the accuracy of the driving torque is higher.
In an optional embodiment of the invention, the vehicle is provided with a controller area network, CAN, channel and a fault handling component; the output threshold information includes: a first discharging power threshold value and a first torque threshold value obtained through the CAN channel, and a second discharging power threshold value and a second torque threshold value obtained through the fault processing assembly; step 104 may include:
the CAN may be connected with various sensors in the vehicle and generate a first discharge power threshold and a first torque threshold for the power battery; the fault processing component can be used for determining the current fault state of a circuit system of the vehicle and determining a second discharging power threshold and a second torque threshold corresponding to the current fault state, and when the circuit system is in fault states of different levels (including a fault-free state), the fault state component outputs the second discharging power and the second torque threshold of different magnitudes, so as to avoid more serious faults of the circuit system.
Wherein, the first discharge power threshold value can be the current maximum discharge power of the power battery,
a substep S31 of determining a first driving power of the motor using the smaller one of the first and second discharge power thresholds and the accessory power;
the first drive power may be determined based on a difference between the accessory power and the lesser of the first and second discharge power thresholds, the first drive power being a maximum drive power achieved by the motor at the power currently provided by the power cell.
A substep S32 of determining a first torque of the motor using the first driving power and the state information;
and determining a first torque of the motor through the first driving power and the state information of the motor, wherein the first torque is an available driving torque of the motor in the current state.
And a substep S33 of determining the smaller of the first torque, the first torque threshold, and the second torque threshold as the driving torque.
And determining the minimum one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque which is the maximum available driving torque of the motor.
The maximum available driving torque of the motor is determined by combining the first torque threshold and the second torque threshold, so that the influence on a circuit system and running of the vehicle caused by overlarge driving torque of the motor is avoided.
In an optional embodiment of the invention, the status information comprises efficiency information and rotational speed information; the efficiency information may be output efficiency of the motor, the rotation speed information may be current rotation speed of the motor, and the sub-step S32 may include:
substep S321, determining a second driving power of the motor by using a product of the first driving power and the efficiency information;
the second driving power is effective power of the motor, the product of the first driving power and the efficiency information has a positive correlation with respect to the second driving power, and the second driving power of the motor can be determined by the product of the first driving power and the efficiency information.
And a substep S322 of determining a first torque of the motor using a ratio of the second driving power to the rotational speed information.
The first torque is available driving torque of the motor, the ratio of the second driving power to the rotating speed information is in positive correlation with the first torque, and the first torque of the motor can be determined through the ratio of the second driving power to the rotating speed information.
Referring to fig. 4, a schematic diagram of calculating the maximum output torque (driving torque) of the motor according to the present invention is shown, and the following describes an exemplary process for determining the maximum output torque of the motor.
The process of determining the maximum output torque of the motor includes the steps of:
1. obtaining the maximum driving power (first driving power) of the motor according to the maximum discharging power (second discharging power threshold) of the fault processing assembly, the maximum discharging power (second discharging power threshold) of the battery input by the CAN bus and the accessory power;
2. multiplying the maximum driving power of the motor by the efficiency (efficiency information) of the motor to obtain the effective power (second driving power) of the rear-drive motor;
3. calculating available driving torque (first torque) of the motor according to a formula T9550P/n, wherein the available driving torque is calculated according to the effective power and the current rotating speed (rotating speed information) of the motor; t is available driving torque, P is effective power, and n is rotating speed information.
4. And (4) the torque (first torque) calculated in the step (3), the maximum driving torque (second torque threshold) of the motor obtained by the fault processing component and the maximum driving torque (first torque threshold) of the motor input by the CAN bus are reduced to obtain the final maximum available driving torque (driving torque) of the rear-drive motor.
In the process of the step 4, the accuracy of the first torque, the first torque threshold and the second torque threshold is judged, and the three information need to meet the output characteristics of the motor.
In the embodiment of the invention, after the driving data of the vehicle is acquired, the actual output power of the high-voltage accessory in the vehicle is determined according to the driving gear information in the driving data, the accessory power of the whole vehicle is determined based on the actual output power of the high-voltage accessory, the driving torque of the motor, namely the maximum available driving torque of the motor, is determined by combining the accessory power and the output threshold value information sent by the fault component and the CAN channel in the driving data, and the efficiency and the rotating speed of the motor, so that the maximum output capacity (driving torque) of the motor is accurately estimated, the motor is controlled to work according to the obtained maximum available driving torque, the accurate control of the motor is realized, and the occurrence of faults is reduced.
Referring to fig. 5, a flow chart of a second embodiment of the motor control method provided by the invention is shown;
the vehicle is provided with a high-voltage accessory, a CAN channel and a fault processing component;
the driving data further includes: charging threshold information; the charging threshold information includes: a first charging power threshold and a third torque threshold obtained through the CAN channel, and a second charging power threshold and a fourth torque threshold obtained through the fault processing component;
the CAN CAN be connected with various sensors in the vehicle and generates a first charging power threshold value and a third torque threshold value aiming at the power battery; the fault processing component may be further configured to determine a second charging power threshold and a fourth torque threshold corresponding to a current fault state, and when the circuit system is in a fault state of different levels (including a fault-free state), the fault state component outputs the second charging power and the fourth torque threshold of different magnitudes, so as to avoid a more serious fault of the circuit system.
and determining the smaller one of the first charging power threshold and the second charging power threshold as a first charging power, wherein the first charging power is the maximum charging power of the motor.
and determining a second torque of the motor through the first charging power and the state information of the motor, wherein the second torque is an available generating torque of the motor in the current state.
and determining the minimum one of the second torque, the third torque threshold and the fourth torque threshold as a charging torque which is the maximum available generating torque of the motor.
The maximum available charging torque of the motor is determined by combining the third torque threshold and the fourth torque threshold, so that the influence on a circuit system and running of a vehicle caused by overlarge charging torque of the motor is avoided.
And 509, controlling the motor to work according to the charging torque.
When the motor charges the power battery, the actual charging torque of the motor is monitored, so that the actual charging torque is not larger than the maximum available charging torque, and the problem that the actual charging torque of the motor is too large, the influence on the power battery and other devices is damaged, and vehicle faults or safety problems are caused is avoided.
In practical application, corresponding control can be performed according to the working state of the motor, and steps 501-505 are performed when the motor is in an output state (the motor drives the vehicle to run). And when the motor is in a charging state (motor idling), executing steps 501, 506-509, thereby realizing accurate control of the motor in different states.
In an optional embodiment of the invention, the status information comprises efficiency information and rotational speed information; the step 507 may include:
a substep S41 of determining a second charging power of the motor using a ratio of the first charging power to the efficiency information;
the second charging power is the maximum allowable charging power of the motor, the ratio of the first charging power to the efficiency information has a positive correlation with respect to the second charging power, and the second charging power of the motor can be determined by the ratio of the first charging power to the efficiency information.
And a substep S42 of determining a second torque of the motor using a ratio of the second charging power to the rotational speed information.
The ratio of the second charging power to the rotation speed information is in a positive correlation with respect to the second driving power, and the second torque of the motor can be determined by the ratio of the second charging power to the rotation speed information.
Referring to fig. 6, a schematic diagram of calculating a maximum generating torque (charging torque) of a motor according to the present invention is shown, and a process for determining the maximum generating torque of the motor is further described with an example.
The process of determining the maximum generating torque of the motor includes the steps of:
1. obtaining the maximum charging power (first charging power) of the motor according to the maximum charging power (second charging power threshold) of the fault processing assembly and the maximum charging power (first charging power threshold) of the battery input by the CAN bus;
2. dividing the maximum charging power of the motor by the efficiency (efficiency information) of the motor to obtain the maximum allowable charging power (second charging power) of the motor;
3. calculating available generating torque (second torque) of the motor according to the formula T9550P/n according to the maximum allowable charging power and the current rotating speed of the motor; t is available power generation torque, P is effective power, and n is rotating speed information.
4. And (4) obtaining the maximum available power generation torque (charging torque) of the driving motor by taking the torque (second torque) calculated in the step (3), the maximum power generation torque (fourth torque threshold) of the driving motor obtained by the fault processing component and the maximum power generation torque (third torque threshold) of the motor input by the CAN bus to be small. The maximum power generation torque obtained by the fault processing component and the maximum power generation torque of the motor input by the CAN bus are positive values, and if the maximum power generation torque is a negative value, the absolute value needs to be taken and then small operation is carried out. And in the process of the step 4, the accuracy judgment is carried out on the second torque, the third torque threshold and the fourth torque threshold, and the three pieces of information need to meet the charging characteristics of the motor.
In the embodiment of the invention, when the motor drives the vehicle to run, the output power of the high-voltage accessory is adjusted, the accessory power of the whole vehicle is determined based on the actual output power of the high-voltage accessory, and the driving torque of the motor, namely the maximum available driving torque of the motor, is determined by combining the accessory power and the output threshold information sent by the fault component and the CAN channel of the driving data, and the efficiency and the rotating speed of the motor, so that the driving torque of the motor is accurately estimated. When the motor charges a power battery in a vehicle, the charging torque of the motor, namely the maximum available charging torque of the motor, CAN be determined based on the combination of charging threshold information sent by a fault component and a CAN channel, the efficiency and the rotating speed of the motor, so that the charging torque of the motor CAN be accurately estimated, the motor is controlled to work according to the obtained maximum available charging torque, the motor CAN be accurately controlled in two different working states of driving the vehicle and charging the power battery, and the occurrence of faults CAN be reduced.
It should be noted that, for simplicity of description, the method embodiments are described as a series of acts or combination of acts, but those skilled in the art will recognize that the present invention is not limited by the illustrated order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments of the present invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
Referring to fig. 7, a block diagram of a structure of an embodiment of a motor control apparatus according to the present invention is shown, and may specifically include the following modules:
the acquiring module 701 is used for acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory;
a power determination module 702, configured to determine an output power of the high-voltage accessory according to the driving gear information;
an accessory power module 703 for determining an accessory power based on the output power of the high voltage accessory;
a driving torque module 704 configured to determine a driving torque of the motor according to the accessory power, the output threshold information, and the status information;
a first control module 705 for controlling the motor to operate according to the driving torque.
In an optional embodiment of the invention, the power determining module 702 comprises:
the low-speed condition submodule is used for reducing the output power of the high-voltage accessory to a first power value matched with the low-speed gear information if the running gear information is matched with the preset low-speed gear information;
the high-speed condition submodule is used for increasing the output power of the high-voltage accessory to a second power value matched with the high-speed gear information if the running gear information is matched with preset high-speed gear information;
wherein the high-pressure accessory comprises one of an air heating device and an air cooling device.
In an optional embodiment of the invention, the vehicle is further provided with a direct current conversion assembly; the accessory power module 703 includes:
the electrical information acquisition submodule is used for acquiring voltage information and current information output by the direct current conversion component;
the direct current output power submodule is used for determining the output power of the direct current conversion device by adopting the voltage information and the current information;
and the accessory actual power sub-module is used for determining accessory power by adopting the output power of the direct current conversion device and the output power of the high-voltage accessory.
In an optional embodiment of the invention, the vehicle is provided with a controller area network, CAN, channel and a fault handling component; the output threshold information includes: a first discharging power threshold value and a first torque threshold value obtained through the CAN channel, and a second discharging power threshold value and a second torque threshold value obtained through the fault processing assembly; the drive torque module 604 includes:
a first drive power sub-module for determining a first drive power of the motor using the lesser of the first and second discharge power thresholds and the accessory power;
a first torque submodule for determining a first torque of the electric machine using the first drive power and the status information;
a drive torque submodule to determine a lesser of the first torque, the first torque threshold, and the second torque threshold as a drive torque.
In an optional embodiment of the invention, the status information comprises efficiency information and rotational speed information; the first torque submodule includes:
a second driving power unit for determining a second driving power of the motor by using a product of the first driving power and the efficiency information;
and the first torque unit is used for determining the first torque of the motor by adopting the ratio of the second driving power to the rotating speed information.
In an optional embodiment of the invention, the vehicle is further provided with a CAN channel and a fault handling component; the driving data further includes: charging threshold information; the charging threshold information includes: a first charging power threshold and a third torque threshold obtained through the CAN channel, and a second charging power threshold and a fourth torque threshold obtained through the fault processing component; the device further comprises:
the first charging power module is used for determining first charging power of the motor by adopting the smaller one of the first charging power threshold and the second charging power threshold;
a second torque module to determine a second torque of the motor using the first charging power and the status information;
a charging torque module to determine a smaller one of the second torque, the third torque threshold, and the fourth torque threshold as a charging torque;
and the second control module is used for controlling the motor to work according to the charging torque.
In an optional embodiment of the invention, the status information comprises efficiency information and rotational speed information; the second torque module includes:
the second charging power sub-module is used for determining second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and the second torque submodule is used for determining second torque of the motor by adopting the ratio of the second charging power to the rotating speed information.
For the device embodiment, since it is basically similar to the method embodiment, the description is simple, and for the relevant points, refer to the partial description of the method embodiment.
The embodiment of the invention also discloses a vehicle, which comprises:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform a motor control method as described above.
Embodiments of the invention also disclose one or more machine-readable media having instructions stored thereon, which when executed by one or more processors, cause the processors to perform the motor control methods described above.
The embodiments in the present specification are described in a progressive manner, each embodiment focuses on differences from other embodiments, and the same and similar parts among the embodiments are referred to each other.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, apparatus, or computer program product. Accordingly, embodiments of the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, embodiments of the present invention may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
Embodiments of the present invention are described with reference to flowchart illustrations and/or block diagrams of methods, terminal devices (systems), and computer program products according to embodiments of the invention. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing terminal to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing terminal to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing terminal to cause a series of operational steps to be performed on the computer or other programmable terminal to produce a computer implemented process such that the instructions which execute on the computer or other programmable terminal provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
While preferred embodiments of the present invention have been described, additional variations and modifications of these embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it should also be noted that, herein, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "include", "including" or any other variations thereof are intended to cover non-exclusive inclusion, so that a process, method, article, or terminal device including a series of elements includes not only those elements but also other elements not explicitly listed or inherent to such process, method, article, or terminal device. 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 terminal that comprises the element.
The motor control method, the motor control device, the motor control vehicle and the motor control medium provided by the invention are described in detail, specific examples are applied in the description to explain the principle and the implementation mode of the invention, and the description of the embodiments is only used for helping to understand the method and the core idea of the invention; meanwhile, for a person skilled in the art, according to the idea of the present invention, there may be variations in the specific embodiments and the application scope, and in summary, the content of the present specification should not be construed as a limitation to the present invention.
Claims (10)
1. A motor control method, comprising:
acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory;
determining the output power of the high-voltage accessory according to the running gear information;
determining an accessory power based on the output power of the high voltage accessory;
determining a drive torque of the motor according to the accessory power, the output threshold information, and the state information;
and controlling the motor to work according to the driving torque.
2. The method of claim 1, wherein the step of adjusting the output power of the high-voltage accessory in accordance with the gear information comprises:
if the driving gear information is matched with preset low-speed gear information, reducing the output power of the high-voltage accessory to a first power value matched with the low-speed gear information;
if the running gear information is matched with preset high-speed gear information, increasing the output power of the high-voltage accessory to a second power value matched with the high-speed gear information;
wherein the high-pressure accessory comprises one of an air heating device and an air cooling device.
3. The method of claim 1, wherein the vehicle is further provided with a dc conversion assembly; the step of determining accessory power based on the output power of the high voltage accessory comprises:
acquiring voltage information and current information output by the direct current conversion assembly;
determining the output power of the direct current conversion device by using the voltage information and the current information;
and determining the accessory power by adopting the output power of the direct current conversion device and the output power of the high-voltage accessory.
4. A method according to claim 1 or 2 or 3, characterized in that the vehicle is provided with a controller area network, CAN, channel and a fault handling component; the output threshold information includes: a first discharging power threshold value and a first torque threshold value obtained through the CAN channel, and a second discharging power threshold value and a second torque threshold value obtained through the fault processing assembly; the step of determining the drive torque of the motor based on the accessory power, the threshold information, and the status information includes:
determining a first drive power of the motor using a lesser of the first and second discharge power thresholds and the accessory power;
determining a first torque of the motor using the first drive power and the state information;
determining a smaller one of the first torque, the first torque threshold, and the second torque threshold as a driving torque.
5. The method of claim 4, wherein the status information includes efficiency information and rotational speed information; the step of determining a first torque of the motor using the first driving power and the state information includes:
determining a second driving power of the motor by adopting a product of the first driving power and the efficiency information;
and determining a first torque of the motor by using the ratio of the second driving power to the rotating speed information.
6. A method according to claim 1 or 2 or 3, characterized in that the vehicle is further provided with a CAN channel and a fault handling component; the driving data further includes: charging threshold information; the charging threshold information includes: a first charging power threshold and a third torque threshold obtained through the CAN channel, and a second charging power threshold and a fourth torque threshold obtained through the fault processing component; the method further comprises the following steps:
determining a first charging power of the motor by adopting the smaller one of the first charging power threshold and the second charging power threshold;
determining a second torque of the motor using the first charging power and the state information;
determining a smaller one of the second torque, the third torque threshold, and the fourth torque threshold as a charging torque;
and controlling the motor to work according to the charging torque.
7. The method of claim 6, wherein the status information includes efficiency information and rotational speed information; the step of determining a second torque of the electric machine using the first charging power and the state information includes:
determining a second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and determining a second torque of the motor by using the ratio of the second charging power to the rotating speed information.
8. A motor control apparatus, comprising:
the acquisition module is used for acquiring driving data; the driving data comprises the current driving gear information of the vehicle, the state information of a preset motor and the output threshold value information; the vehicle is provided with a high-pressure accessory;
the power determining module is used for determining the output power of the high-voltage accessory according to the running gear information;
an accessory power module to determine an accessory power based on an output power of the high voltage accessory;
a drive torque module to determine a drive torque of the motor based on the accessory power, the output threshold information, and the status information;
and the first control module is used for controlling the motor to work according to the driving torque.
9. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon that, when executed by the one or more processors, cause the vehicle to perform the motor control method of any of claims 1-7.
10. One or more machine readable media having instructions stored thereon that, when executed by one or more processors, cause the processors to perform the motor control method of any of claims 1-7.
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| US20120239236A1 (en) * | 2009-11-03 | 2012-09-20 | V-Ens Co., Ltd | Electric car and control method thereof |
| CN102897171A (en) * | 2012-09-29 | 2013-01-30 | 北京智行鸿远汽车技术有限公司 | High-pressure accessory energy managing method for series hybrid electric vehicle |
| CN107985314A (en) * | 2017-12-22 | 2018-05-04 | 奇瑞汽车股份有限公司 | Determine method, apparatus, controller and the storage medium of gear |
| CN108482186A (en) * | 2018-03-02 | 2018-09-04 | 东风柳州汽车有限公司 | Pure electric vehicle power drive control method |
| CN111376735A (en) * | 2018-12-29 | 2020-07-07 | 观致汽车有限公司 | Control method and control device for vehicle and vehicle |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| US20120239236A1 (en) * | 2009-11-03 | 2012-09-20 | V-Ens Co., Ltd | Electric car and control method thereof |
| CN102897171A (en) * | 2012-09-29 | 2013-01-30 | 北京智行鸿远汽车技术有限公司 | High-pressure accessory energy managing method for series hybrid electric vehicle |
| CN107985314A (en) * | 2017-12-22 | 2018-05-04 | 奇瑞汽车股份有限公司 | Determine method, apparatus, controller and the storage medium of gear |
| CN108482186A (en) * | 2018-03-02 | 2018-09-04 | 东风柳州汽车有限公司 | Pure electric vehicle power drive control method |
| CN111376735A (en) * | 2018-12-29 | 2020-07-07 | 观致汽车有限公司 | Control method and control device for vehicle and vehicle |
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