CN115195857A - Control method and device for auxiliary drive motor - Google Patents
Control method and device for auxiliary drive motor Download PDFInfo
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- CN115195857A CN115195857A CN202210832359.XA CN202210832359A CN115195857A CN 115195857 A CN115195857 A CN 115195857A CN 202210832359 A CN202210832359 A CN 202210832359A CN 115195857 A CN115195857 A CN 115195857A
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- 238000000034 method Methods 0.000 title claims abstract description 36
- 238000012545 processing Methods 0.000 claims description 17
- 230000004044 response Effects 0.000 claims description 14
- 230000005284 excitation Effects 0.000 claims description 5
- 239000003921 oil Substances 0.000 description 47
- 238000010586 diagram Methods 0.000 description 2
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0457—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear characterised by control features of the drive means as such
- B62D5/046—Controlling the motor
- B62D5/0463—Controlling the motor calculating assisting torque from the motor based on driver input
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D5/00—Power-assisted or power-driven steering
- B62D5/04—Power-assisted or power-driven steering electrical, e.g. using an electric servo-motor connected to, or forming part of, the steering gear
- B62D5/0418—Electric motor acting on road wheel carriers
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B62—LAND VEHICLES FOR TRAVELLING OTHERWISE THAN ON RAILS
- B62D—MOTOR VEHICLES; TRAILERS
- B62D6/00—Arrangements for automatically controlling steering depending on driving conditions sensed and responded to, e.g. control circuits
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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 application provides a control method and device for an auxiliary drive motor. The actual rotational speed of the auxiliary drive motor can be obtained first. Then, the target rotating speed can be determined according to the actual load of the auxiliary drive motor, and whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjustment condition or not is judged. If the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed meets the adjusting condition, the fact that the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed is too large is shown, and the actual rotating speed of the auxiliary drive motor is possibly too low or too high, the auxiliary drive motor can be controlled according to the target rotating speed. Therefore, the target rotating speed which is most suitable for the current load of the auxiliary drive motor can be determined, and the auxiliary drive motor can be controlled to work at the target rotating speed when the difference between the actual rotating speed of the auxiliary drive motor and the target rotating speed is overlarge. Therefore, the driving force provided by the auxiliary driving motor is matched with the actual working condition (namely load) of the vehicle, and the normal running of the target vehicle is guaranteed.
Description
Technical Field
The application relates to the technical field of automobile design, in particular to a control method and device for an auxiliary drive motor.
Background
The steering of the vehicle is controlled by the driver via a steering wheel. As the driver turns the steering wheel, the angle between the steered wheels of the vehicle (which may be the front wheels of the vehicle, for example) and the direction of travel of the vehicle may be changed, thereby achieving the purpose of controlling the steering of the vehicle. Conventional vehicles are mostly steered by mechanical conventional structures. Namely the engine is connected with the steering wheel through a mechanical structure. However, as the self weight of the vehicle increases, it may be difficult for the driver to turn the steering wheel by the force of the arms alone, and it may be difficult to control the vehicle to steer.
For this purpose, an auxiliary drive motor may be added to the vehicle, the auxiliary drive motor being used to drive the steered wheels of the vehicle into rotation. Therefore, after the driver rotates the steering wheel, the controller can determine the angle of the steering wheel required to rotate according to the angle of the steering wheel, so that the auxiliary driving motor is controlled to rotate by outputting control current to the auxiliary driving motor, and the steering wheel is rotated by a corresponding angle through the transmission interface.
Conventional auxiliary drive motors output at a constant rotational speed. If the working condition of the vehicle is complex, the traditional auxiliary drive motor control technology cannot well complete the work of driving the vehicle to steer.
Disclosure of Invention
In view of this, the embodiment of the present application provides a method and an apparatus for controlling an auxiliary drive motor, which aim to adjust an output rotation speed of the auxiliary drive motor according to an actual driving condition of a target vehicle.
In a first aspect, an embodiment of the present application provides a method for controlling an auxiliary drive motor of a target vehicle, where the method includes:
acquiring the actual rotating speed of an auxiliary drive motor;
judging whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets an adjusting condition or not, wherein the target rotating speed is determined according to the load of the auxiliary drive motor;
and controlling the auxiliary driving motor according to the target rotating speed in response to the deviation between the actual rotating speed and the target rotating speed meeting the adjusting condition.
In some possible implementations, the target vehicle includes an oil pressure system for controlling the target vehicle to turn, and the acquiring the actual rotation speed of the auxiliary drive motor includes:
acquiring an oil pressure parameter, wherein the oil pressure parameter is used for indicating the oil circuit pressure of the oil pressure system;
and determining the target rotating speed according to the oil pressure parameter and a first corresponding relation, wherein the first corresponding relation is used for describing a corresponding relation between the load of the auxiliary drive motor and the actual rotating speed of the auxiliary drive motor.
In some possible implementations, the obtaining the actual rotation speed of the auxiliary drive motor includes:
acquiring a change rule of a phase angle of control current of the auxiliary drive motor;
and determining the actual rotating speed of the auxiliary drive motor according to the change rule of the phase angle of the control current.
In some possible implementations, the target vehicle includes a low-voltage power supply module and a high-voltage power supply module, the auxiliary drive motor is powered by the high-voltage power supply module, and the auxiliary drive motor is used for controlling steering and braking of the target vehicle; the method further comprises the following steps:
acquiring control voltage and control current of the auxiliary drive motor;
and in response to the fact that the control voltage and/or the control current of the auxiliary drive motor meet/meets the switching condition, controlling the auxiliary drive motor to use the electric energy which is provided by the low-voltage power supply module and is boosted by the boosting module as a power source.
In some possible implementations, the target vehicle includes at least one hall element group, the hall element group includes at least two hall elements, and the hall element group is configured to detect a control current of the auxiliary drive motor;
the method further comprises the following steps:
acquiring a control current value reported by the Hall element group;
and controlling an excitation fuse to cut off a control circuit of the auxiliary drive motor in response to the control current value not meeting a safe working condition.
In a second aspect, an embodiment of the present application provides a control apparatus for an auxiliary drive motor, the apparatus being configured to control the auxiliary drive motor of a target vehicle, and the apparatus including: the acquisition unit is used for acquiring the actual rotating speed of the auxiliary drive motor; the processing unit is used for judging whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets an adjusting condition or not, and the target rotating speed is determined according to the load of the auxiliary drive motor; and controlling the auxiliary driving motor according to the target rotating speed in response to the deviation between the actual rotating speed and the target rotating speed meeting the adjusting condition.
In some possible implementations, the target vehicle includes an oil pressure system configured to control steering of the target vehicle, and the obtaining unit is specifically configured to obtain an oil pressure parameter indicating an oil line pressure of the oil pressure system; the processing unit is specifically configured to determine the target rotation speed according to the oil pressure parameter and a first corresponding relationship, where the first corresponding relationship is used to describe a corresponding relationship between a load of the auxiliary drive motor and an actual rotation speed of the auxiliary drive motor.
In some possible implementations, the obtaining unit is specifically configured to obtain a change law of a phase angle of a control current of the auxiliary drive motor; and the processing unit is specifically used for determining the actual rotating speed of the auxiliary drive motor according to the change rule of the phase angle of the control current.
In some possible implementations, the target vehicle includes a low-voltage power supply module and a high-voltage power supply module, the auxiliary drive motor is powered by the high-voltage power supply module, and the auxiliary drive motor is used for controlling steering and braking of the target vehicle; the acquisition unit is further used for acquiring the control voltage and the control current of the auxiliary drive motor; the processing unit is further configured to control the auxiliary drive motor to use the electric energy provided by the low-voltage power supply module and boosted by the boost module as a power source in response to that the control voltage and/or the control current of the auxiliary drive motor meet a switching condition.
In some possible implementations, the target vehicle includes at least one hall element group, the hall element group includes at least two hall elements, and the hall element group is configured to detect a control current of the auxiliary drive motor; the obtaining unit is further configured to obtain a control current value reported by the hall element group; and the processing unit is also used for responding to the situation that the control current value does not meet the safe working condition, and controlling the excitation fuse to cut off the control circuit of the auxiliary driving motor.
In a third aspect, an embodiment of the present application provides an apparatus, which includes a memory and a processor, where the memory is configured to store instructions or codes, and the processor is configured to execute the instructions or codes, so as to cause the apparatus to perform the control method for an auxiliary drive motor according to any one of the foregoing first aspects.
In a fourth aspect, an embodiment of the present application provides a computer storage medium, where codes are stored in the computer storage medium, and when the codes are executed, an apparatus for executing the codes implements the control method for the auxiliary drive motor according to any one of the foregoing first aspects.
In a fifth aspect, an embodiment of the present application provides a vehicle, where the vehicle includes an auxiliary drive motor, an oil pressure system, a steering wheel, and a controller, where the controller is configured to implement the control method for the auxiliary drive motor according to any one of the foregoing first aspects. The auxiliary driving motor is used for driving the steering wheel to rotate through the auxiliary driving motor under the control of the controller.
The embodiment of the application provides a control method and a control device for an auxiliary drive motor, and the method can be used for controlling the auxiliary drive motor on a target vehicle. Specifically, the actual rotational speed of the auxiliary drive motor may be acquired first. Then, the target rotating speed can be determined according to the actual load of the auxiliary drive motor, and whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjustment condition or not is judged. If the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed meets the adjusting condition, the fact that the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed is too large is shown, and the actual rotating speed of the auxiliary drive motor is possibly too low or too high, the auxiliary drive motor can be controlled according to the target rotating speed. Therefore, on one hand, the target rotating speed most suitable for the current load of the auxiliary drive motor can be determined, and on the other hand, the auxiliary drive motor can be controlled to work at the target rotating speed when the difference between the actual rotating speed of the auxiliary drive motor and the target rotating speed is overlarge. Therefore, the driving force provided by the auxiliary driving motor is matched with the actual working condition (namely load) of the vehicle, and the normal running of the target vehicle is guaranteed.
Drawings
To illustrate the technical solutions in the present embodiment or the prior art more clearly, the drawings needed to be used in the description of the embodiment or the prior art will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and it is obvious for those skilled in the art to obtain other drawings based on these drawings without creative efforts.
Fig. 1 is a flowchart of a method of controlling a secondary drive motor according to an embodiment of the present application;
fig. 2 is a schematic structural diagram of a control device of an auxiliary drive motor according to an embodiment of the present disclosure.
Detailed Description
The auxiliary steering system includes an auxiliary driving motor and an oil pressure system for driving a steering wheel of the vehicle to rotate so as to guide the vehicle to steer, and is widely used in many vehicles.
For example, for heavy-duty vehicles such as heavy trucks, semi-trailers and port transport vehicles, it may be difficult to control the rotation of the steering wheel of the vehicle by only using conventional structures such as manpower and machinery, or the steering wheel of the vehicle may rotate at a slow speed and cannot be steered in time. For this reason, the steering wheel of the vehicle can be effectively pushed to rotate by the auxiliary driving motor and the oil pressure system.
Specifically, the driver may turn the steering wheel when steering is required. The vehicle controller may determine the angle by which the steering wheel is rotated via a sensor associated with the steering wheel. Then, a target angle at which the steering wheel needs to be rotated can be determined based on the angle at which the steering wheel is rotated and the correspondence. And then, the controller generates a control signal of the auxiliary drive motor according to the target angle and sends the control signal to the auxiliary drive motor. The auxiliary driving motor can rotate under the drive of the control signal, so that pressure is provided for hydraulic oil in the oil pressure system. The steering wheel of the vehicle may be rotated under the pressure of the oil pressure system.
If the operating conditions of the vehicle change, for example a harbour vehicle changes from being unloaded to being fully loaded, the driving force required for the turning of the steering wheels may change considerably. However, in the conventional auxiliary steering system, the rotation speed of the auxiliary drive motor is fixed, and the controller can only control the auxiliary drive motor to be turned on or off, so that the rotation speed of the auxiliary drive motor cannot be accurately controlled. Therefore, no matter what kind of working condition the vehicle is in, the auxiliary steering system can only output the same driving force, and the working requirements of the vehicle under different working conditions cannot be met.
In addition, conventional auxiliary steering systems lack safety measures, and in the event of a failure, the steering of the vehicle may be disabled, resulting in an accident.
In order to provide a technical scheme capable of adjusting the rotating speed of the auxiliary drive motor according to the actual condition of the vehicle, the application provides a control method and a control device of the auxiliary drive motor, and a preferred embodiment of the application is described from the perspective of a controller on a target vehicle provided with the auxiliary drive motor. The controller may be, for example, an Electronic Control Unit (ECU) of the target vehicle, or may be any device that has data processing capability and is used to Control the auxiliary drive motor in the target vehicle.
It should be apparent that the described embodiments are only some of the embodiments of the present application, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present application.
Referring to fig. 1, fig. 1 is a flowchart of a method of controlling a secondary drive motor according to an embodiment of the present application, including:
s101: and acquiring the actual rotating speed of the auxiliary drive motor.
In order to flexibly control the rotating speed of the auxiliary drive motor, the controller can firstly acquire the actual rotating speed of the auxiliary drive motor. In some possible implementations, the controller may obtain the actual rotation speed of the auxiliary drive motor through a rotation speed sensor mounted to the auxiliary drive motor. In some other possible implementations, the controller may determine the actual rotational speed of the auxiliary drive motor from a drive current and a drive voltage of the auxiliary drive motor, or from an oil pressure of an oil pressure system in the auxiliary steering system. The following are described separately.
In a first possible implementation, the controller may determine the actual rotation speed of the auxiliary drive motor by the drive current and the drive voltage of the auxiliary drive motor. Specifically, the controller may acquire the driving current and the driving voltage of the auxiliary drive motor through a current sensor and a voltage sensor. The current sensor and the voltage sensor can be arranged at the current input end of the auxiliary drive motor or at the output end of a power supply for providing electric energy for the auxiliary drive motor.
After acquiring the drive current and the drive voltage of the auxiliary drive motor, the controller may calculate a phase angle between the drive current and the drive voltage. The controller may determine a position of the rotor in the secondary drive motor based on a phase angle between a drive current and a drive voltage of the secondary drive motor. In this way, the controller can continuously acquire the driving current and the driving voltage of the auxiliary driving motor, so as to determine the change rule of the phase angle of the control current of the auxiliary driving motor. The change rule is used for indicating the rotation condition of the rotor in the auxiliary drive motor. Therefore, the rotation rule of the rotor in the auxiliary drive motor is determined according to the change rule of the phase angle, and the rotation speed of the rotor in the auxiliary drive motor, namely the actual rotation speed of the auxiliary drive motor, can be determined.
In a second possible implementation, the controller may determine the rotation speed of the auxiliary drive motor according to the load of the auxiliary drive motor. Specifically, the controller may detect an oil pressure parameter of an oil pressure system of the target vehicle through a sensor disposed in the oil pressure system. The oil pressure parameter is used for indicating the oil circuit pressure of the oil pressure system, and may be the pressure at the connection between the oil pressure system and the auxiliary drive motor, or the pressure at the connection between the oil pressure system and the steering wheel. Based on the oil pressure parameter, the controller may determine the load of the auxiliary drive motor, and thus the actual speed of the auxiliary drive motor.
S102: and judging whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjusting condition or not.
After the actual rotation speed of the auxiliary drive motor is acquired, the controller may determine whether a deviation between the actual rotation speed and the target rotation speed of the auxiliary drive motor satisfies an adjustment condition. The target rotating speed is the rotating speed determined according to the load of the auxiliary driving motor, and the target rotating speed indicates how high the auxiliary driving motor operates under the current working condition to achieve a good steering effect.
Alternatively, the controller may first obtain the load of the auxiliary drive motor, and then determine the target rotation speed corresponding to the load of the auxiliary drive motor according to the load correspondence. The load of the auxiliary drive motor may be, for example, oil line pressure in the oil pressure system. The load correspondence may be obtained by experimental calibration. In some possible implementations, if the oil circuit pressure is less than 6MPa, the controller may determine that the corresponding target rotational speed is 600 revolutions per minute; if the oil circuit pressure is between 6MPa and 16MPa, the controller can linearly determine the target rotating speed between 600 revolutions per minute and 1000 revolutions per minute according to the actual oil circuit pressure; if the oil line pressure is greater than 16MPa, the controller may determine that the corresponding target rotational speed is 1000 revolutions per minute.
After determining the target rotational speed of the auxiliary drive motor, the controller may determine whether a deviation between the actual rotational speed and the target rotational speed of the auxiliary drive motor satisfies an adjustment condition. If the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjustment condition, the deviation of the rotating speed of the auxiliary drive motor is large, and the rotating speed of the auxiliary drive motor may not meet the current load working condition of the auxiliary drive motor. Therefore, the controller can adjust the rotating speed of the auxiliary drive motor after determining that the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjusting condition, so that the auxiliary drive motor outputs according to the working condition of the target vehicle, and the steering wheel is driven to rotate better.
S103: and controlling the auxiliary driving motor according to the target rotating speed in response to the fact that the deviation between the actual rotating speed and the target rotating speed meets the adjusting condition.
After the fact that the deviation between the actual rotating speed and the target rotating speed of the auxiliary driving motor meets the adjusting condition is determined, the controller can adjust the rotating speed of the auxiliary driving motor according to the target rotating speed, so that the auxiliary driving motor can output according to the working condition of a target vehicle, and the steering wheel can be driven to rotate better.
The embodiment of the application provides a control method of an auxiliary drive motor, which can be used for controlling the auxiliary drive motor on a target vehicle. Specifically, the actual rotational speed of the auxiliary drive motor may be acquired first. Then, the target rotating speed can be determined according to the actual load of the auxiliary drive motor, and whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjustment condition or not is judged. If the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed meets the adjusting condition, the fact that the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed is too large is shown, and the actual rotating speed of the auxiliary drive motor is possibly too low or too high, the auxiliary drive motor can be controlled according to the target rotating speed. Therefore, on one hand, the target rotating speed which is most suitable for the current load of the auxiliary drive motor can be determined, and on the other hand, the auxiliary drive motor can be controlled to work at the target rotating speed when the difference between the actual rotating speed of the auxiliary drive motor and the target rotating speed is overlarge. Therefore, the driving force provided by the auxiliary driving motor is matched with the actual working condition (namely load) of the vehicle, and the normal running of the target vehicle is guaranteed.
In some possible implementation manners, considering that the safety of a traditional auxiliary drive motor control system is poor, the technical scheme provided by the embodiment of the application can also improve the safety of the auxiliary drive motor.
Specifically, in a conventional auxiliary drive motor control system, the power source of the auxiliary drive motor is a battery pack or a generator connected to an output shaft of a vehicle engine. Whether it is a battery pack or a generator, it can provide high-voltage and high-power current to the auxiliary drive motor. Therefore, enough energy is provided for the auxiliary driving motor, and the working condition of the auxiliary driving motor can be met. Alternatively, the battery pack or the generator, or even other common devices for providing high voltage electricity to the auxiliary drive motor, may be referred to as a high voltage power supply module.
However, the conventional auxiliary drive motor control system supplies power to the auxiliary drive motor only through the high-voltage power supply module. If the high-voltage power supply module breaks down, the auxiliary drive motor loses a power source. Thus, the auxiliary steering system of the vehicle cannot work normally, so that the vehicle cannot steer, or the steering wheel can only be driven to rotate manually by the driver. Thus, a great potential safety hazard exists.
In order to solve the above problem, in the embodiment of the present application, the controller may monitor the control voltage and the control current of the auxiliary drive motor, and determine whether the control voltage and the control current of the auxiliary drive motor satisfy the switching condition. If the controller determines that the control voltage and/or the control current of the auxiliary drive motor meet the switching condition, it indicates that the control voltage and/or the control current of the auxiliary drive motor are insufficient, and the high-voltage power supply module provides insufficient electric energy for the auxiliary drive motor. Therefore, in order to guarantee the normal work of the auxiliary drive motor, the controller can control the low-voltage power supply module to supply power to the auxiliary drive motor. The low-voltage power supply module may be, for example, a battery of the target vehicle.
Further, since the rated voltage of the auxiliary drive motor may be high, the low-voltage power supply module is directly used for supplying power to the auxiliary drive motor, which may cause the auxiliary drive motor to fail to work normally. To this end, a boost module may be deployed between the low voltage power supply module and the auxiliary drive motor. Thus, when the power supply of the auxiliary drive motor is switched to the low-voltage power supply module, the controller can also start the boost module so as to boost the voltage provided by the low-voltage power supply module to the voltage required by driving the auxiliary drive motor. Therefore, after the high-voltage power supply module breaks down, the electric energy can be provided for the auxiliary drive motor through the low-voltage power supply module, and the normal operation of the auxiliary drive motor is ensured.
In conventional heavy vehicles, such as harbour cars and heavy trucks, the brakes are mostly applied with high pressure gas. As the load of the vehicle becomes larger, the braking effect of the conventional braking method may be poor. To this end, in some possible implementations, the output shaft of the secondary drive motor may also be used for braking. For example, the output shaft of the auxiliary drive motor may be connected to the brake system of the target vehicle through an oil passage. In this way, when braking is needed, the auxiliary driving motor can provide pressure for the oil way, so that braking is carried out on the target vehicle. For example, an oil path may be connected to a brake caliper on the target vehicle, and the auxiliary drive motor may reduce the travel speed of the target vehicle by generating a braking force on the caliper by providing pressure to the oil path.
In some possible implementations, the controller may further determine whether the auxiliary drive motor has a fault by detecting a control current of the auxiliary drive motor. In particular, at least two current sensors, which may be hall elements, for example, may be disposed in the drive circuit of the auxiliary drive motor. The controller can receive the current value reported by the current sensor and judge whether the current value detected by the current sensor meets the safe working condition. For example, it can be determined whether the current value reported by the current sensor exceeds 1.2 times of the rated current of the auxiliary drive motor. If the current value detected by the current sensor does not meet the safe working condition, the controller can control the recording fuse to cut off the control circuit of the auxiliary driving motor. Therefore, the technical scheme of actively cutting off the control circuit is provided, and the safety of the auxiliary drive motor control system is improved.
It is understood that if the target vehicle includes a plurality of auxiliary drive motors, at least two hall elements may be disposed in the drive circuit of each auxiliary drive motor. In the embodiment of the present application, a plurality of hall elements for monitoring one auxiliary drive motor is referred to as one hall element group.
Based on the specific implementation manners of the control method for the auxiliary drive motor provided in the embodiments of the present application, the present application further provides a corresponding control device for the auxiliary drive motor. The control device of the auxiliary drive motor provided in the embodiment of the present application will be described in terms of functional modularization.
Referring to the schematic structural diagram of the control device of the auxiliary drive motor shown in fig. 2, the control device 200 of the auxiliary drive motor includes an acquisition unit 210 and a processing unit 220.
The obtaining unit 210 is configured to obtain an actual rotation speed of the auxiliary drive motor.
The processing unit 220 is configured to determine whether a deviation between an actual rotation speed of the auxiliary drive motor and a target rotation speed satisfies an adjustment condition, where the target rotation speed is determined according to a load of the auxiliary drive motor; and controlling the auxiliary driving motor according to the target rotating speed in response to the deviation between the actual rotating speed and the target rotating speed meeting the adjusting condition.
The embodiment of the application provides a control device for an auxiliary drive motor. Specifically, the actual rotational speed of the auxiliary drive motor may be acquired first. Then, the target rotating speed can be determined according to the actual load of the auxiliary drive motor, and whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets the adjustment condition or not is judged. If the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed meets the adjusting condition, the fact that the deviation between the actual rotating speed of the auxiliary drive motor and the target rotating speed is too large is indicated, the actual rotating speed of the auxiliary drive motor is possibly too low or too high, and then the auxiliary drive motor can be controlled according to the target rotating speed. Therefore, on one hand, the target rotating speed which is most suitable for the current load of the auxiliary drive motor can be determined, and on the other hand, the auxiliary drive motor can be controlled to work at the target rotating speed when the difference between the actual rotating speed of the auxiliary drive motor and the target rotating speed is overlarge. Therefore, the driving force provided by the auxiliary driving motor is matched with the actual working condition (namely load) of the vehicle, and the normal running of the target vehicle is guaranteed.
Optionally, in some possible implementations, the target vehicle includes an oil pressure system, the oil pressure system is configured to control steering of the target vehicle, and the obtaining unit 210 is specifically configured to obtain an oil pressure parameter, and the oil pressure parameter is configured to indicate an oil pressure of the oil pressure system. The processing unit 220 is specifically configured to determine the target rotation speed according to the oil pressure parameter and a first corresponding relationship, where the first corresponding relationship is used to describe a corresponding relationship between a load of the auxiliary drive motor and an actual rotation speed of the auxiliary drive motor.
Optionally, in some possible implementations, the obtaining unit 210 is specifically configured to obtain a law of change of a phase angle of the control current of the auxiliary drive motor. The processing unit 220 is specifically configured to determine an actual rotation speed of the auxiliary drive motor according to a change rule of the phase angle of the control current.
Optionally, in some possible implementations, the target vehicle includes a low-voltage power supply module and a high-voltage power supply module, the auxiliary drive motor is powered by the high-voltage power supply module, and the auxiliary drive motor is used for controlling steering and braking of the target vehicle. The obtaining unit 210 is further configured to obtain a control voltage and a control current of the auxiliary drive motor. The processing unit 220 is further configured to control the auxiliary drive motor to use the electric energy provided by the low-voltage power supply module and boosted by the boost module as a power source in response to that the control voltage and/or the control current of the auxiliary drive motor meet a switching condition.
Optionally, in some possible implementations, the target vehicle includes at least one hall element group, the hall element group includes at least two hall elements, and the hall element group is configured to detect a control current of the auxiliary drive motor. The obtaining unit 210 is further configured to obtain the control current value reported by the hall element group. The processing unit 220 is further configured to control the excitation fuse to cut off the control circuit of the auxiliary driving motor in response to that the control current value does not satisfy a safe operating condition.
The embodiment of the application further provides corresponding equipment, a computer storage medium and a vehicle, and the corresponding equipment, the computer storage medium and the vehicle are used for realizing the control method of any auxiliary drive motor provided by the embodiment of the application.
Wherein the apparatus comprises a memory for storing instructions or code and a processor for executing the instructions or code to cause the apparatus to perform the control method for handling a secondary drive motor according to any of the embodiments of the present application.
The computer storage medium stores codes, and when the codes are executed, equipment for running the codes realizes the control method of the auxiliary drive motor in any embodiment of the application.
The vehicle comprises an auxiliary driving motor, an oil pressure system, a steering wheel and a controller. The controller is used for executing the control method of the auxiliary driving motor in any embodiment of the application. And the auxiliary driving motor is used for driving the steering wheel to rotate through the oil pressure system under the control of the controller. Optionally, the auxiliary drive motor is also used for braking the vehicle through an oil pressure system.
As can be seen from the above description of the embodiments, those skilled in the art can clearly understand that all or part of the steps in the above embodiment methods can be implemented by software plus a general hardware platform. Based on such understanding, the technical solution of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a read-only memory (ROM)/RAM, a magnetic disk, an optical disk, or the like, and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network communication device such as a router) to execute the method according to the embodiments or some parts of the embodiments of the present application.
The embodiments in the present specification are described in a progressive manner, and the same and similar parts among the embodiments are referred to each other, and each embodiment focuses on the differences from the other embodiments. In particular, the apparatus embodiments are substantially similar to the method embodiments and therefore are described in a relatively simple manner, and reference may be made to some of the description of the method embodiments for relevant points. Some or all of the modules may be selected according to actual needs to achieve the purpose of the solution of the present embodiment. One of ordinary skill in the art can understand and implement it without inventive effort.
The above description is only an exemplary embodiment of the present application, and is not intended to limit the scope of the present application.
Claims (10)
1. A method of controlling a secondary drive motor of a target vehicle, the method comprising:
acquiring the actual rotating speed of the auxiliary drive motor;
judging whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets an adjusting condition or not, wherein the target rotating speed is determined according to the load of the auxiliary drive motor;
and controlling the auxiliary driving motor according to the target rotating speed in response to the fact that the deviation between the actual rotating speed and the target rotating speed meets the adjusting condition.
2. The method of claim 1, wherein the target vehicle includes an oil pressure system for controlling the target vehicle to turn, and wherein obtaining the actual rotational speed of the secondary drive motor comprises:
acquiring an oil pressure parameter, wherein the oil pressure parameter is used for indicating the oil circuit pressure of the oil pressure system;
and determining the target rotating speed according to the oil pressure parameter and a first corresponding relation, wherein the first corresponding relation is used for describing a corresponding relation between the load of the auxiliary drive motor and the actual rotating speed of the auxiliary drive motor.
3. The method of claim 1, wherein the obtaining the actual rotational speed of the secondary drive motor comprises:
acquiring a change rule of a phase angle of control current of the auxiliary drive motor;
and determining the actual rotating speed of the auxiliary drive motor according to the change rule of the phase angle of the control current.
4. The method of any one of claims 1-3, wherein the target vehicle includes a low voltage power module and a high voltage power module, the auxiliary drive motor being powered by the high voltage power module, the auxiliary drive motor being used to control steering and braking of the target vehicle; the method further comprises the following steps:
acquiring control voltage and control current of the auxiliary drive motor;
and in response to the fact that the control voltage and/or the control current of the auxiliary drive motor meet/meets the switching condition, the auxiliary drive motor is controlled to use the electric energy which is provided by the low-voltage power supply module and boosted by the boosting module as a power source.
5. The method according to claim 1, wherein the target vehicle includes at least one hall element group including at least two hall elements, the hall element group being used to detect a control current of the auxiliary drive motor;
the method further comprises the following steps:
acquiring a control current value reported by the Hall element group;
and controlling an excitation fuse to cut off a control circuit of the auxiliary drive motor in response to the control current value not meeting a safe working condition.
6. A control apparatus of an auxiliary drive motor, characterized in that the apparatus is used for controlling an auxiliary drive motor of a target vehicle, the apparatus comprising:
the acquisition unit is used for acquiring the actual rotating speed of the auxiliary drive motor;
the processing unit is used for judging whether the deviation between the actual rotating speed and the target rotating speed of the auxiliary drive motor meets an adjusting condition or not, and the target rotating speed is determined according to the load of the auxiliary drive motor; and controlling the auxiliary driving motor according to the target rotating speed in response to the deviation between the actual rotating speed and the target rotating speed meeting the adjusting condition.
7. The apparatus of claim 6, wherein the target vehicle includes an oil pressure system for controlling the target vehicle to steer,
the acquisition unit is specifically used for acquiring an oil pressure parameter, and the oil pressure parameter is used for indicating the oil circuit pressure of the oil pressure system;
the processing unit is specifically configured to determine the target rotation speed according to the oil pressure parameter and a first corresponding relationship, where the first corresponding relationship is used to describe a corresponding relationship between a load of the auxiliary drive motor and an actual rotation speed of the auxiliary drive motor.
8. The apparatus of claim 6,
the acquisition unit is specifically used for acquiring a change rule of a phase angle of control current of the auxiliary drive motor;
and the processing unit is specifically used for determining the actual rotating speed of the auxiliary drive motor according to the change rule of the phase angle of the control current.
9. The apparatus of any one of claims 6-5, wherein the target vehicle includes a low voltage power supply module and a high voltage power supply module, the auxiliary drive motor is powered by the high voltage power supply module, and the auxiliary drive motor is used for controlling steering and braking of the target vehicle;
the acquisition unit is further used for acquiring the control voltage and the control current of the auxiliary drive motor;
the processing unit is further configured to control the auxiliary drive motor to use the electric energy provided by the low-voltage power supply module and boosted by the boosting module as a power source in response to that the control voltage and/or the control current of the auxiliary drive motor meet a switching condition.
10. The apparatus of claim 6, wherein the target vehicle includes at least one hall element group including at least two hall elements, the hall element group being configured to detect a control current of the auxiliary drive motor;
the acquisition unit is further configured to acquire the control current value reported by the hall element group;
and the processing unit is also used for responding to the situation that the control current value does not meet the safe working condition, and controlling the excitation fuse to cut off the control circuit of the auxiliary driving motor.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202210832359.XA CN115195857A (en) | 2022-07-15 | 2022-07-15 | Control method and device for auxiliary drive motor |
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| CN202210832359.XA CN115195857A (en) | 2022-07-15 | 2022-07-15 | Control method and device for auxiliary drive motor |
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