CN114475269B - Motor control method and device, vehicle and medium - Google Patents
Motor control method and device, vehicle and medium Download PDFInfo
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- CN114475269B CN114475269B CN202011150486.9A CN202011150486A CN114475269B CN 114475269 B CN114475269 B CN 114475269B CN 202011150486 A CN202011150486 A CN 202011150486A CN 114475269 B CN114475269 B CN 114475269B
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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
Abstract
The embodiment of the invention provides a motor control method, a motor control device, a vehicle and a medium, wherein the motor control method comprises the following steps: acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory; determining the output power of the high-voltage accessory according to the driving gear information; determining an accessory power based on the output power of the high voltage accessory; determining a driving 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 the adjustment of the output power of the high-voltage accessory according to the gear, takes the output power of the high-voltage accessory as one of consideration factors for determining the motor driving torque, and determines the driving torque according to the output threshold and the motor state at the same time, thereby providing the fine control of the motor driving torque.
Description
Technical Field
The present invention relates to the field of vehicle technologies, and 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 relatively large, and meanwhile, the output and charging control of the motor directly influence the whole running condition of the vehicle and the performance of the battery pack.
In the prior art, the control strategy for the motor is simpler, the capacity of the computing system is generally controlled only by the voltage and the current of the battery, the current actual discharging and power utilization of the whole vehicle system cannot be accurately calculated, and certain deviation can occur in the analysis of the whole vehicle system, so that some faults can possibly occur.
Disclosure of Invention
In view of the foregoing, embodiments of the present invention have been made to provide a motor control method and a corresponding motor control device, vehicle, medium that overcome or at least partially solve the foregoing problems.
In order to solve the above problems, an embodiment of the present invention discloses a motor control method, including:
acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory;
determining the output power of the high-voltage accessory according to the driving gear information;
Determining an accessory power based on the output power of the high voltage accessory;
determining a driving 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 the 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 driving gear information is matched with the preset high-speed gear information, the output power of the high-voltage accessory is increased to a second power value matched with the high-speed gear information;
the high-voltage 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 the accessory power based on the output power of the high voltage accessory comprises the following steps:
acquiring voltage information and current information output by a direct current conversion component;
determining the output power of the direct current conversion device by adopting 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 discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component; the step of determining the driving torque of the motor according to the accessory power, the threshold information and the state information includes:
determining a first drive power of the motor using the smaller of the first discharge power threshold and the second discharge power threshold, and the accessory power;
determining a first torque of the motor using the first drive power and the state information;
and determining the smaller one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque.
Optionally, the status information includes efficiency information and rotational speed information; the step of determining a first torque of the motor using the first drive power and the state information includes:
Determining a second drive power of the motor using a product of the first drive power and the efficiency information;
and 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 assembly; 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 handling component; the method further comprises the steps of:
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 the 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 rotational speed information; the step of determining a second torque of the motor using the first charging power and the state information includes:
Determining a second charging power of the motor by adopting a ratio of the first charging power to the efficiency information;
and 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 motor control device, which comprises:
the acquisition module is used for acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory;
the power determining module is used for determining the output power of the high-voltage accessory according to the driving gear information;
an accessory power module for determining accessory power based on the output power of the high voltage accessory;
the driving torque module is used for determining the driving torque of the motor according to the accessory power, the output threshold information and the state information;
and the first control module is used for controlling the motor to work according to the driving torque.
Optionally, the power determining module includes:
the low-speed condition sub-module 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 driving gear information is matched with the preset low-speed gear information;
The high-speed condition sub-module 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 driving gear information is matched with the preset high-speed gear information;
the high-voltage 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 electric information acquisition sub-module is used for acquiring voltage information and current information output by the direct current conversion component;
the direct current output power sub-module 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 discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component; the drive torque module includes:
A first drive power sub-module for determining a first drive power of the motor using the smaller of the first discharge power threshold and the second discharge power threshold, and the accessory power;
a first torque sub-module for determining a first torque of the motor using the first drive power and the state information;
and the driving torque sub-module is used for determining the smaller one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque.
Optionally, the status information includes 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 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 assembly; 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 handling component; the apparatus further comprises:
The first charging power module is used for determining the first charging power of the motor by adopting the smaller one of the first charging power threshold value and the second charging power threshold value;
the second torque module is used for determining a second torque of the motor by adopting the first charging power and the state information;
a charging torque module configured 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.
Optionally, the status information includes efficiency information and rotational speed information; the second torque module includes:
the second charging power sub-module is used for determining the second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and the second torque sub-module is used for determining the 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, which when executed by the one or more processors, cause the vehicle to perform the 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 method as described above.
The embodiment of the invention has the following advantages:
after driving data of a vehicle are obtained, the actual output power of a high-voltage accessory in the vehicle is determined according to 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 estimating the maximum output capacity of the motor is improved. The motor is controlled to work under the condition that the actual driving torque is not larger than the obtained driving torque, so that the reliability and safety of the motor work are improved, the motor is accurately controlled, the motor is prevented from generating faults, and the running safety of a vehicle is prevented from being influenced.
Drawings
FIG. 1 is a flow chart of steps of a first embodiment of a motor control method according to the present invention;
FIG. 2 is a schematic diagram of a high voltage accessory power control flow provided by the present invention;
FIG. 3 is a schematic illustration of an accessory power calculation provided by the present invention;
FIG. 4 is a schematic diagram of a maximum output torque calculation of a motor according to the present invention;
fig. 5 is a flowchart of steps of a second embodiment of a motor control method according to the present invention;
FIG. 6 is a schematic diagram of calculating the maximum generated torque of the motor according to the present invention;
fig. 7 is a block diagram of an embodiment of a motor control device according to the present invention.
Detailed Description
In order that the above-recited objects, features and advantages of the present invention will become more readily apparent, a more particular description of the invention will be rendered by reference to the appended drawings and appended detailed description.
Referring to fig. 1, a flowchart illustrating steps of a first embodiment of a motor control method according to the present invention may specifically include the following steps:
step 101, acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory;
the embodiment of the invention can be applied to a pure electric vehicle or a hybrid electric vehicle containing electric power. The vehicle may further be provided with a power battery for providing electrical power to circuitry in the vehicle and with low voltage accessories; the high-voltage accessory can be an electric device directly powered by the power battery, and the low-voltage accessory can be an electric device connected after voltage reduction of the output voltage of the power battery.
The vehicle may be provided with a plurality of travel-related gear steps, i.e., a travel gear step, such as: reverse gear, multi-stage automatic forward gear, etc. The current driving range information refers to a current driving-related range of the vehicle.
The motor is arranged in the vehicle, 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 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.
102, determining the output power of the high-voltage accessory according to the driving gear information;
the high-voltage accessory can be provided with default output power, and after the driving gear information is acquired, the actual output power of the high-voltage accessory is adjusted according to the gear related to driving of the vehicle. Specifically, the default output power of the high-voltage accessory can be increased or decreased according to a preset rule and 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 running power requirement of the vehicle is met.
Step 103, determining accessory power based on the output power of the high-voltage accessory;
The accessory power in the vehicle is determined in accordance with the regulated 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.
Step 104, determining the driving torque of the motor according to the accessory power, the output threshold information and the state information;
and 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 drives the vehicle to run, 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 problem that other electric devices in the vehicle are influenced to cause running faults or safety problems due to overlarge actual driving torque of the motor 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 estimating the maximum output capacity of the motor is improved. The motor is controlled to work under the condition that the actual driving torque is not larger than the obtained driving torque, so that the reliability and safety of the motor work are improved, the motor is accurately controlled, the motor is prevented from generating faults, and the running safety of a vehicle is prevented from being influenced.
It should be noted that, the embodiment of the present invention may be specifically implemented by a vehicle controller (VCU, vehicle Control Unit) provided in a vehicle, or may be implemented by one or more modules cooperatively.
In an alternative embodiment of the present invention, the step 102 includes:
step S11, if the driving gear information is matched with the 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 current driving gear of the vehicle is a low-speed gear, the current vehicle needs enough power to drive, and the output power near the high pressure is regulated to a first power value, wherein the first power value can be preset power corresponding to each driving gear so as to ensure the power requirement of the vehicle.
Step S12, if the driving gear information is matched with the preset high-speed gear information, the output power of the high-voltage accessory is increased to a second power value matched with the high-speed gear information;
the high-voltage 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 great 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 practical applications, the vehicle may include a plurality of running gears, the low gear may be one or more of the preset running gears, and the high gear may be one or more of the preset running 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 to be not greater than the corresponding first power value or second power value.
It should be noted that, the above-mentioned low-speed gear and high-speed gear are merely the driving gears included in the vehicle, so as to implement the condition of reducing or increasing the output power of the high-voltage accessory, and the specific rule of the embodiment of the present invention is not limited.
Referring to fig. 2, a schematic diagram of a power control flow of a high-voltage accessory provided by the present invention is shown, and in the following, an example of the power control of the high-voltage accessory is further described.
The output power control of the high voltage accessory may comprise the steps of:
1. judging whether an electronic electric air conditioner (EAC, electric Air Conditioner) or a heater (PTC device, positive Temperature Coefficient positive temperature coefficient device) is on, and if so, executing the step 2.
2. A current gear (current running gear) of the vehicle is determined.
3. And judging whether the current gear is a D (Drive) gear or not, namely, a forward gear, if so, executing the step 4, and if not, executing the step 5.
4. Judging whether the current gear is one of the D1 gear, the D2 gear and the 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 an R (Reverse) gear or not, 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, the D2 gear, the D3 gear, and the R gear are low gears.
In an alternative embodiment of the invention, the vehicle is further provided with a direct current conversion assembly; as shown in fig. 3, step 103 may include:
step S21, voltage information and current information output by the direct current conversion component are obtained;
the dc conversion assembly may be one or more dc-dc converters that are implemented to provide matching voltages to low voltage accessories of different rated operating voltages.
The direct current conversion component can comprise an output end, and voltage information and current information of the output end of the direct current conversion component can be detected.
A substep S22 of determining an output power of the dc conversion device using the voltage information and the current information;
the output power of the direct current conversion device, namely the actual power consumed by the low voltage accessory, is determined by the product of the voltage information and the current information.
And S23, determining the accessory power by adopting the output power of the direct current conversion 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 the accessory power.
When the electric power consumed by accessories in the vehicle is determined, the power consumption of the low-voltage accessories is determined through the direct-current conversion device, and the current power consumption 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 power of the accessories, 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 alternative 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 discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component; 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 handling component may be configured to determine a current fault state of the circuitry of the vehicle, and determine a second discharge power threshold and a second torque threshold corresponding to the current fault state, where the fault state component outputs a second discharge power and a second torque threshold of different magnitudes when the circuitry is in a different level of fault state (including a fault-free state), avoiding a more severe fault of the circuitry.
Wherein the first discharge power threshold may be a current maximum discharge power of the power battery,
a substep S31 of determining a first driving power of the motor using the accessory power and a smaller one of the first and second discharge power thresholds;
the first drive power may be determined based on a difference between the accessory power and a smaller one of the first discharge power threshold and the second discharge power threshold, the first drive power being a maximum drive power achieved by the motor at a current power provided by the power battery.
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 the available driving torque of the motor in the current state.
In a substep S33, the smaller one of the first torque, the first torque threshold value, and the second torque threshold value is determined 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, wherein the driving torque is the maximum available driving torque of the motor.
By combining the first torque threshold value and the second torque threshold value to determine the maximum available driving torque of the motor, the influence on the circuit system and the running of the vehicle caused by the overlarge driving torque of the motor is avoided.
In an alternative embodiment of the invention, the status information includes efficiency information and rotational speed information; the efficiency information may be an output efficiency of the motor, the rotation speed information may be a current rotation speed of the motor, and the sub-step S32 may include:
a substep S321 of 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 the effective power of the motor, the product of the first driving power and the efficiency information has a positive correlation relation with respect to the second driving power, and the second driving power of the motor can be determined through the product of the first driving power and the efficiency information.
In a substep S322, the ratio of the second driving power to the rotational speed information is used to determine the first torque of the motor.
The first torque is the available driving torque of the motor, the ratio of the second driving power to the rotating speed information is in positive correlation with respect to 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 calculation of the maximum output torque (driving torque) of the motor according to the present invention is shown, and a process of determining the maximum output torque of the motor will be further described below with an example.
The determination process of the maximum output torque of the motor comprises the following steps:
1. obtaining the maximum driving power (first driving power) for the motor according to the maximum discharging power (second discharging power threshold) of the fault processing component, the maximum discharging power (second discharging power threshold) of the battery input by the CAN bus and the accessory power;
2. the maximum driving power of the motor is multiplied by the efficiency (efficiency information) of the motor to obtain the effective power (second driving power) of the rear-drive motor;
3. calculating an available drive torque (first torque) of the motor from the effective power of the motor and the current rotational speed (rotational speed information) according to the formula t=9550P/n; t is the available driving torque, P is the effective power, and n is the rotational speed information.
4. And (3) taking the torque calculated in the step (3) and the maximum driving torque (the second torque threshold) of the motor obtained by the fault processing assembly and the maximum driving torque (the first torque threshold) of the motor input by the CAN bus to obtain the maximum available driving torque (driving torque) of the final rear-drive motor.
In the process of step 4, accuracy judgment is performed on the first torque, the first torque threshold value and the second torque threshold value, and the three information are required 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, the output threshold information sent by the fault component and the CAN channel in the driving data, 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 meanwhile, the occurrence of faults is reduced.
Referring to fig. 5, a schematic flow chart of a second embodiment of a motor control method provided by the present invention is shown;
step 501, acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information;
the vehicle is provided with a high-voltage accessory, a CAN channel and a fault processing assembly;
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 handling component;
the CAN may be connected with various sensors in the vehicle and generate a first charge power threshold and a third torque threshold for the power battery; the fault handling component may be further configured to determine a second charge power threshold and a fourth torque threshold corresponding to the current fault condition, and when the circuitry is in a fault condition of a different level (including a fault-free condition), the fault condition component outputs the second charge power and the fourth torque threshold of different magnitudes to avoid a more serious fault occurring in the circuitry.
Step 502, determining the output power of the high-voltage accessory according to the driving gear information;
step 503, determining accessory power based on the output power of the high-voltage accessory;
step 504, determining a driving torque of the motor according to the accessory power, the output threshold information and the state information;
step 505, controlling the motor to work according to the driving torque;
step 506, determining a first charging power of the motor by using the smaller one of the first charging power threshold and the second charging power threshold;
the smaller one of the first charging power threshold and the second charging power threshold is determined to be the first charging power, and the first charging power is the maximum charging power of the motor.
Step 507, determining a second torque of the motor by using the first charging power and the state information;
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 the available power generation torque of the motor in the current state.
Step 508, determining the smaller one of the second torque, the third torque threshold and the fourth torque threshold as a charging torque;
And determining the minimum one of the second torque, the third torque threshold and the fourth torque threshold as the charging torque, wherein the charging torque is the maximum available power generation torque of the motor.
The maximum available charging moment of the motor is determined by combining the third torque threshold value and the fourth torque threshold value, so that the influence on the circuit system and the running of the vehicle caused by the overlarge charging moment of the motor is avoided.
Step 509, controlling the motor to operate 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 overlarge to damage the power battery and other devices, thereby causing vehicle faults or generating safety problems is avoided.
In practical applications, the motor may be controlled according to the operating state of the motor, and steps 501 to 505 are performed when the motor is in the output state (the motor-driven vehicle is running). When the motor is in a charged state (the motor is idling), steps 501, 506-509 are executed, so that accurate control of the motor in different states is realized.
In an alternative embodiment of the invention, the status information includes 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 through the ratio of the first charging power to the efficiency information.
And a substep S42, determining a second torque of the motor by using a ratio of the second charging power to the rotational speed information.
The ratio of the second charging power to the rotational 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 rotational speed information.
Referring to fig. 6, a schematic diagram of calculation of maximum generated torque (charging torque) of the motor according to the present invention is shown, and a process of determining the maximum generated torque of the motor will be further described below with an example.
The process for determining the maximum power generation torque of the motor comprises the following steps:
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 component 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 an available generating torque (second torque) of the motor from the maximum allowable charging power of the motor and the current rotational speed according to the formula t=9550P/n; t is the available power generation torque, P is the effective power, and n is the rotating speed information.
4. And (3) taking the torque calculated in the step (3) and 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 obtain the maximum available power generation torque (charging torque) of the driving motor. The maximum power generation torque obtained by the fault processing assembly 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 negative, the absolute value is required to be taken, and then the reduction operation is carried out. In the process of step 4, accuracy judgment is performed on the second torque, the third torque threshold and the fourth torque threshold, and the three information are required to meet the charging characteristic 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 regulated, 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 of the driving data sent by the fault component and the CAN channel 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 the vehicle, the charging torque of the motor, namely the maximum available charging torque of the motor, CAN be determined based on the combination of the charging threshold information sent by the fault component and the CAN channel, the efficiency and the rotating speed of the motor, so that the charging torque of the motor is accurately estimated, the motor is controlled to work according to the obtained maximum available charging torque, and the motor is accurately controlled under two different working states of driving the vehicle, charging the power battery and the like, and meanwhile, the occurrence of faults is reduced.
It should be noted that, for simplicity of description, the method embodiments are shown as a series of acts, but it should be understood by those skilled in the art that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred embodiments, and that the acts are not necessarily required by the embodiments of the invention.
Referring to fig. 7, a block diagram of an embodiment of a motor control device according to the present invention is shown, and may specifically include the following modules:
an acquisition module 701, configured to acquire driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory;
a power determination module 702, configured to determine an output power of the high-voltage accessory according to the driving range information;
an accessory power module 703 for determining accessory power based on the output power of the high voltage accessory;
a drive torque module 704 configured to determine a drive torque of the motor based on 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 alternative embodiment of the present invention, the power determination module 702 includes:
the low-speed condition sub-module 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 driving gear information is matched with the preset low-speed gear information;
the high-speed condition sub-module 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 driving gear information is matched with the preset high-speed gear information;
the high-voltage accessory comprises one of an air heating device and an air cooling device.
In an alternative embodiment of the invention, the vehicle is further provided with a direct current conversion assembly; the accessory power module 703 includes:
the electric information acquisition sub-module is used for acquiring voltage information and current information output by the direct current conversion component;
the direct current output power sub-module 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 alternative 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 discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component; the drive torque module 604 includes:
a first drive power sub-module for determining a first drive power of the motor using the smaller of the first discharge power threshold and the second discharge power threshold, and the accessory power;
a first torque sub-module for determining a first torque of the motor using the first drive power and the state information;
and the driving torque sub-module is used for determining the smaller one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque.
In an alternative embodiment of the invention, the status information includes 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 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 alternative embodiment of the invention, the vehicle is further provided with a CAN channel and a fault handling assembly; 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 handling component; the apparatus further comprises:
the first charging power module is used for determining the first charging power of the motor by adopting the smaller one of the first charging power threshold value and the second charging power threshold value;
the second torque module is used for determining a second torque of the motor by adopting the first charging power and the state information;
a charging torque module configured 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 alternative embodiment of the invention, the status information includes efficiency information and rotational speed information; the second torque module includes:
The second charging power sub-module is used for determining the second charging power of the motor by adopting the ratio of the first charging power to the efficiency information;
and the second torque sub-module is used for determining the second torque of the motor by adopting the ratio of the second charging power to the rotating speed information.
For the device embodiments, since they are substantially similar to the method embodiments, the description is relatively simple, and reference is made to the description of the method embodiments for relevant points.
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, which when executed by the one or more processors, cause the vehicle to perform the 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 method as described above.
In this specification, each embodiment is described in a progressive manner, and each embodiment is mainly described by differences from other embodiments, and identical and similar parts between the embodiments are all enough to be referred to each other.
It will be apparent to those skilled in the art that 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 invention may take the form of a computer program product on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, etc.) 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 flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations 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 device to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing terminal device, 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 apparatus 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 apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus 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 in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. It is therefore intended that the following claims be interpreted as including the preferred embodiment and all such alterations and modifications as fall within the scope of the embodiments of the invention.
Finally, it is further noted that relational terms such as first and second, and the like are 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. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or terminal 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 terminal. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or terminal device comprising the element.
The above description of the motor control method, the device, the vehicle and the medium provided by the invention applies specific examples to illustrate the principle and the implementation of the invention, and the above examples are only used for helping to understand the method and the core idea of the invention; meanwhile, as those skilled in the art will have variations in the specific embodiments and application scope in accordance with the ideas of the present invention, the present description should not be construed as limiting the present invention in view of the above.
Claims (7)
1. A motor control method, characterized by comprising:
acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory, a direct-current conversion assembly, a controller area network CAN channel and a fault processing assembly; wherein the output threshold information includes: a first discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component;
determining the output power of the high-voltage accessory according to the driving gear information;
wherein, the step of determining the output power of the high-voltage accessory according to the gear information comprises the following steps:
if the driving gear information is matched with the 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 driving gear information is matched with the preset high-speed gear information, the output power of the high-voltage accessory is increased to a second power value matched with the high-speed gear information;
Wherein the high-voltage accessory comprises one of an air heating device and an air cooling device;
determining an accessory power based on the output power of the high voltage accessory;
wherein the step of determining the 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 component;
determining the output power of the direct current conversion component by adopting the voltage information and the current information;
determining accessory power by adopting the output power of the direct current conversion assembly and the output power of the high-voltage accessory;
determining a driving torque of the motor according to the accessory power, the output threshold information and the state information;
controlling the motor to work according to the driving torque;
wherein the step of determining the driving torque of the motor according to the accessory power, the threshold information, and the state information includes:
determining a first drive power of the motor using the smaller of the first discharge power threshold and the second discharge power threshold, and the accessory power;
determining a first torque of the motor using the first drive power and the state information;
And determining the smaller one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque.
2. The method of claim 1, wherein the status information includes efficiency information and rotational speed information; the step of determining a first torque of the motor using the first drive power and the state information includes:
determining a second drive power of the motor using a product of the first drive power and the efficiency information;
and determining the first torque of the motor by adopting the ratio of the second driving power to the rotating speed information.
3. The method of claim 1, wherein the vehicle is further provided with a CAN tunnel and a fault handling assembly; 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 handling component; the method further comprises the steps of:
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 the 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.
4. A method according to claim 3, wherein the status information comprises efficiency information and rotational speed information; the step of determining a second torque of the motor using the first charging power and the state information includes:
determining a second charging power of the motor by adopting a ratio of the first charging power to the efficiency information;
and determining a second torque of the motor by adopting the ratio of the second charging power to the rotating speed information.
5. A motor control apparatus, characterized by comprising:
the acquisition module is used for acquiring driving data; the driving data comprise current driving gear information of the vehicle, state information of a preset motor and output threshold information; the vehicle is provided with a high-voltage accessory, a direct-current conversion assembly, a controller area network CAN channel and a fault processing assembly; wherein the output threshold information includes: a first discharge power threshold and a first torque threshold obtained through the CAN channel, and a second discharge power threshold and a second torque threshold obtained through the fault handling component;
The power determining module is used for determining the output power of the high-voltage accessory according to the driving gear information;
wherein the power determination module comprises:
the low-speed condition sub-module 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 driving gear information is matched with the preset low-speed gear information;
the high-speed condition sub-module 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 driving gear information is matched with the preset high-speed gear information;
wherein the high-voltage accessory comprises one of an air heating device and an air cooling device;
an accessory power module for determining accessory power based on the output power of the high voltage accessory;
wherein the accessory power module comprises:
the electric information acquisition sub-module is used for acquiring voltage information and current information output by the direct current conversion component;
the direct current output power sub-module is used for determining the output power of the direct current conversion component by adopting the voltage information and the current information;
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;
The driving torque module is used for determining the driving torque of the motor according to the accessory power, the output threshold information and the state information;
the first control module is used for controlling the motor to work according to the driving torque;
wherein the drive torque module includes:
a first drive power sub-module for determining a first drive power of the motor using the smaller of the first discharge power threshold and the second discharge power threshold, and the accessory power;
a first torque sub-module for determining a first torque of the motor using the first drive power and the state information;
and the driving torque sub-module is used for determining the smaller one of the first torque, the first torque threshold value and the second torque threshold value as the driving torque.
6. A vehicle, characterized by comprising:
one or more processors; and
one or more machine readable media having instructions stored thereon, which when executed by the one or more processors, cause the vehicle to perform the motor control method of any of claims 1-4.
7. 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 method of any of claims 1-4.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| 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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| WO2011055937A2 (en) * | 2009-11-03 | 2011-05-12 | (주)브이이엔에스 | Electric car and control method thereof |
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Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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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