CN115441806A - Motor calibration method and device for vehicle, vehicle controller and storage medium - Google Patents
Motor calibration method and device for vehicle, vehicle controller and storage medium Download PDFInfo
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P29/00—Arrangements for regulating or controlling electric motors, appropriate for both AC and DC motors
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P2203/00—Indexing scheme relating to controlling arrangements characterised by the means for detecting the position of the rotor
- H02P2203/03—Determination of the rotor position, e.g. initial rotor position, during standstill or low speed operation
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Abstract
The invention discloses a motor calibration method and a motor calibration device for a vehicle, a vehicle controller and a storage medium, wherein the vehicle comprises at least one motor, and the motor calibration method comprises the following steps: initializing a motor, and acquiring an initial zero position angle of the motor; when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor; and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle. Therefore, the motor calibration method of the vehicle in the embodiment can accurately calibrate the motor of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.
Description
Technical Field
The present invention relates to a vehicle control technology, and in particular, to a method and an apparatus for calibrating a motor of a vehicle, a vehicle controller, and a storage medium.
Background
With the increasingly strict requirements of national regulations on oil consumption and emission and the development of electrified systems, the hybrid power technology is the key to realizing energy conservation and emission reduction. In order to adapt to national policies and meet emission regulations, solutions are sought by whole vehicles and parts suppliers, but the battery technology of the current pure electric vehicle technical system is complex and high in cost, so that the hybrid power system is widely popularized.
When the motor in the hybrid power system is used, whether the zero position of the motor is correct or not directly influences the control effect and the operation efficiency of the motor, and the influence on the drivability of a vehicle is very large. Related calibration methods are not provided in related technologies, or the provided calibration methods cannot perform calibration more accurately, so that vehicles cannot run safely.
Disclosure of Invention
The present invention is directed to solving, at least to some extent, one of the technical problems in the related art. Therefore, an object of the present invention is to provide a vehicle calibration method, which can accurately calibrate a motor of a vehicle, improve the drivability of the vehicle, and improve the experience of a driver.
A second object of the invention is to propose a computer-readable storage medium.
A third object of the invention is to propose a vehicle controller.
The fourth purpose of the invention is to provide a vehicle calibration device.
In order to achieve the above object, an embodiment of a first aspect of the present invention provides a method for calibrating an electric machine of a vehicle, where the vehicle includes at least one electric machine, and the method includes: initializing the motor and acquiring an initial zero position angle of the motor; when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor; and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle.
The vehicle in the embodiment of the invention comprises a plurality of motors, and the motor calibration method comprises the following steps: the motor is initialized to obtain the correct initial zero angle of the motor, and after the motor meets the calibration condition, the zero angle of the motor can be calibrated according to the actual direct-axis voltage and the target direct-axis voltage of the motor and the initial zero angle of the motor. Therefore, the motor calibration method in the embodiment can accurately calibrate the motor of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.
In some embodiments of the present invention, the vehicle includes a first electric machine and a second electric machine, the first electric machine and the second electric machine are connected by a preset clutch, and the calibration method further includes: when the zero position angle calibration is carried out on the first motor, the preset clutch is controlled to be in a separation state; and when the zero position angle calibration is carried out on the second motor, the preset clutch is controlled to be in a combined state.
In some embodiments of the invention, determining that the motor satisfies a calibration condition comprises: and when the rotating speed of the motor is in a preset rotating speed range and the working mode of the motor is a calibration mode, determining that the motor meets a calibration condition.
In some embodiments of the present invention, the first electric machine is connected to an engine of the vehicle, and the calibration method further comprises: when the preset clutch is in a separation state, the first motor is controlled to rotate through the engine; when the preset clutch is in a combined state, the second motor is controlled to rotate by the first motor.
In some embodiments of the present invention, the zero angle calibration of the motor according to the actual direct-axis voltage, the target direct-axis voltage, and the initial zero angle includes: determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage; and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.
In some embodiments of the present invention, determining the current zero angle of the motor from the actual direct-axis voltage and the target direct-axis voltage comprises: performing PI control on the actual direct-axis voltage to obtain a plurality of first actual direct-axis voltages; carrying out average calculation on the plurality of first actual direct-axis voltages to obtain an actual direct-axis voltage average value; and when the actual direct-axis voltage average value is smaller than a preset voltage threshold value, calculating the current zero position angle of the motor according to the actual direct-axis voltage average value and the target direct-axis voltage.
In some embodiments of the present invention, calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor includes: taking the sum of the initial zero position angle and the current zero position angle as a standard zero position angle of the motor; when the standard zero position angle is larger than a first angle threshold value, performing zero position angle calibration on the motor according to the difference between the standard zero position angle and the first angle threshold value; when the standard zero position angle is smaller than a second angle threshold value, performing zero position angle calibration on the motor according to the sum of the standard zero position angle and the first angle threshold value; and when the standard zero position angle is greater than or equal to the second angle threshold and less than or equal to the first angle threshold, performing zero position angle calibration on the motor according to the standard zero position angle.
In some embodiments of the present invention, the calibration method further comprises: when the motor is determined to finish zero position angle calibration, controlling the motor to execute an exit mode; and when the fact that the motor does not finish zero position angle calibration and the duration meeting the calibration condition is larger than a first time threshold value is determined, controlling the motor to calibrate the zero position angle again.
In some embodiments of the present invention, the calibration method further comprises: and when the time length of the motor for carrying out initialization processing is greater than the first time threshold value, controlling the motor to execute the exit mode.
In some embodiments of the present invention, the calibration method further comprises: and when the working mode of the motor is switched from the torque mode to the calibration mode, initializing the motor.
To achieve the above object, a second aspect of the present invention provides a computer-readable storage medium, on which a motor calibration program of a vehicle is stored, and the motor calibration program of the vehicle, when executed by a processor, implements the motor calibration method of the vehicle according to the above embodiments.
According to the computer-readable storage medium provided by the embodiment of the invention, the processor executes the motor calibration method of the vehicle stored on the computer-readable storage medium, so that the motor of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.
In order to achieve the above object, a third aspect of the present invention provides a vehicle controller, which includes a memory, a processor, and a motor calibration program stored in the memory and operable on the processor, wherein the processor implements the motor calibration method of the vehicle according to the above embodiment when executing the motor calibration program of the vehicle.
The vehicle controller comprises the storage memory and the processor, and the processor executes the motor calibration method of the vehicle stored on the storage memory, so that the motor of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.
In order to achieve the above object, the present invention provides an electric machine calibration apparatus for a vehicle, the vehicle including at least one electric machine, the calibration apparatus including: the initialization module is used for initializing the motor; the first acquisition module is used for acquiring an initial zero position angle of the motor; the second acquisition module is used for acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor when the motor is determined to meet the calibration condition; and the motor calibration module is used for calibrating the zero position angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle.
The vehicle comprises a plurality of motors, and the motor calibration device of the vehicle comprises an initialization module, a first acquisition module, a second acquisition module and a motor calibration module, wherein the initialization module is used for initializing the motors so that the first acquisition module can acquire the correct initial zero position angle of the motors, and after the motors meet calibration conditions, the second acquisition module acquires the actual direct axis voltage and the target direct axis voltage of the motors, so that the motor calibration module can calibrate the zero position angle of the motors according to the actual direct axis voltage and the target direct axis voltage of the motors and the initial zero position angle of the motors. Therefore, the motor calibration device of the vehicle in the embodiment can accurately calibrate the motor and the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.
Additional aspects and advantages of the invention will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the invention.
Drawings
FIG. 1 is a flow chart of a method for motor calibration of a vehicle according to one embodiment of the present invention;
FIG. 2A is a schematic of a series connection of electric machines according to one embodiment of the present invention;
FIG. 2B is a schematic diagram of a parallel connection of electric machines according to another embodiment of the present invention;
FIG. 3 is a flow chart of a method for calibrating a motor of a vehicle according to another embodiment of the present invention;
FIG. 4 is a flow chart of a method for calibrating a motor of a vehicle according to another embodiment of the present invention;
FIG. 5 is a flow chart of a method for calibrating a motor of a vehicle according to another embodiment of the present invention;
FIG. 6 is a flow chart of a method for motor calibration of a vehicle according to another embodiment of the present invention;
FIG. 7 is a flow chart of a method for motor calibration of a vehicle according to another embodiment of the present invention;
FIG. 8 is a schematic illustration of the relationship between torque and pressure in a clutch according to one embodiment of the present invention;
FIG. 9 is a block diagram of a vehicle controller according to an embodiment of the present invention;
fig. 10 is a block diagram of a motor calibration apparatus for a vehicle according to an embodiment of the present invention.
Detailed Description
Reference will now be made in detail to embodiments of the present invention, examples of which are illustrated in the accompanying drawings, wherein like reference numerals refer to the same or similar elements or elements having the same or similar functions throughout. The embodiments described below with reference to the accompanying drawings are illustrative and intended to explain the present invention and should not be construed as limiting the present invention.
A vehicle calibration method and apparatus, a vehicle controller, and a storage medium according to embodiments of the present invention are described below with reference to the accompanying drawings.
FIG. 1 is a flow chart of a vehicle calibration method according to one embodiment of the invention.
It should be noted that, in the embodiment of the present invention, the vehicle includes at least one electric machine, specifically, the vehicle may be a two-motor hybrid vehicle, as shown in fig. 2A or 2B, wherein the vehicle includes an electric machine P1 and an electric machine P2, and a clutch C0 is disposed between the two electric machines, and the connection mode, i.e., the series mode and the parallel mode, of the electric machines of the vehicle can be controlled by engaging or disengaging the clutch C0, and it is understood that, in the series mode, the clutch C0 is not engaged, as shown in fig. 2A, and in the parallel mode, the clutch C0 is engaged, as shown in fig. 2B. Of course, the motor may also be powered solely by a battery, i.e. pure electric mode. In addition, as shown in fig. 2A and 2B, a plurality of clutches may be provided in the Ratio System, specifically, the number of clutches may be set according to the number of gear positions, and one gear position corresponds to one clutch.
As shown in fig. 1, the present invention provides a motor calibration method for a vehicle, which includes the following steps:
and S10, initializing the motor and acquiring an initial zero position angle of the motor.
Specifically, after the motor is used for a long time, the rotor may be dislocated, that is, when the machine displays that the rotor of the motor is at a zero position angle, the rotor is not at a zero position, that is, there is a certain error in reading the position of the rotor. In this embodiment, in order to obtain an accurate initial zero position angle of the motor, an initialization process may be performed on the motor first, and specifically, a working mode of the motor may be controlled in the initialization mode, it may be understood that, after the motor enters the initialization mode, the zero position angle may be updated, and specifically, the zero position angle of the rotor of the motor may be read from a Non-Volatile Random Access Memory (NvRam).
And S20, when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor.
Specifically, in some embodiments, when the rotation speed of the motor is in the preset rotation speed range and the operation mode of the motor is the calibration mode, it is determined that the motor meets the calibration condition. It should be noted that the motor may directly enter the calibration mode after the initialization mode, and when the motor is in the calibration mode, the calibration is not performed immediately, but the rotational speed of the motor needs to be determined, and when the rotational speed of the motor reaches the preset rotational speed, the corresponding calibration procedure is executed again, that is, the motor meets the calibration condition. After the motor meets the calibration condition, the actual direct-axis voltage and the target direct-axis voltage required by calibration can be further obtained. In this embodiment, the preset rotation speed of the motor may be in a range of 900-1100 rpm. It should be noted that, in this embodiment, the actual direct-axis voltage of the motor may be obtained by a sensor, and the target direct-axis voltage of the motor may be directly read from the memory, or obtained by conversion through other target data.
And S30, calibrating the zero position angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle.
After the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle of the motor are detected or read, the three data can be used for calibrating the zero position angle of the motor. It should be noted that, in the calibration mode, the method can be based on the formula
w r ψ m sin alpha is derived to measure the accurate motor rotor angle, wherein L 1 Representing the direct-axis inductance, L 2 Representing quadrature inductance, R s Denotes the phase resistance of the stator winding, u d Represents the direct axis voltage u q Representing quadrature axis voltage, i d Representing the direct axis current, i q Representing cross-axis current, # m Denotes the flux linkage, alpha denotes the motor rotor angle, w r Indicating the rotor angular velocity.
It can be determined that, in the above formula, when the direct axis current i d Quadrature axis current i q And when the angle alpha of the motor rotor is zero, the quadrature axis voltage u is obtained by calculation according to the formula d When the zero angle is equal to zero, the zero angle of the motor is the accurate zero angle, but the motor has certain error in the long-time use process, so that even if the direct-axis current i d Quadrature axis current i q And when the motor rotor angle alpha is zero, the actual quadrature axis voltage of the motor is not necessarily zero, so that the zero position angle detected by the actual quadrature axis voltage is not necessarily the accurate zero position angle of the motor.
As shown in fig. 3, in some embodiments, the zero angle calibration of the motor according to the actual direct-axis voltage, the target direct-axis voltage, and the initial zero angle includes:
s301, determining the current zero position angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage.
In particular, according to the formula in the above embodiment
Can convert the direct axis current i d And quadrature axis current i q Setting the direct-axis voltage to zero, setting the target direct-axis voltage to zero, and then determining the current zero position angle of the motor according to the difference value between the actual direct-axis voltage and the target direct-axis voltage, wherein there are various methods for determining the current zero position angle according to the actual direct-axis voltage and the target direct-axis voltage, for example, the two voltages can be directly differenced and the difference value can be used as the current zero position angle of the motor.
In some embodiments of the present invention, as shown in fig. 4, determining the current null angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage includes:
and S401, performing PI control on the actual direct-axis voltage to obtain a plurality of first actual direct-axis voltages.
S402, averaging the first actual direct-axis voltages to obtain an actual direct-axis voltage average value.
And S403, when the actual direct-axis voltage average value is smaller than the preset voltage threshold value, calculating the current zero angle of the motor according to the actual direct-axis voltage average value and the target direct-axis voltage.
Specifically, in this embodiment, PI control may be performed on the actual direct-axis voltage, so that a difference between the actual direct-axis voltage and the target direct-axis voltage is zero, that is, the current zero-position angle of the corresponding motor at this time may be determined. In this embodiment, an average value of the actual direct-axis voltage subjected to PI control is calculated, and if the average value of the actual direct-axis voltage is smaller than a preset voltage threshold, the calculated average value of the voltage may be determined as the current actual direct-axis voltage of the motor, and then the current zero-position angle calculated by using the current actual direct-axis voltage of the motor is the accurate current zero-position angle of the motor. Optionally, the preset voltage threshold in this embodiment may be determined between 0.1 and 0.3 volts, specifically according to the accuracy requirement.
It should be noted that before calculating the average value of the actual direct-axis voltages, in a preset time after the motor executes the calibration program, it may be calculated whether the quotient between the sum of the squares of each target direct-axis voltage and the number of the target direct-axis voltages is smaller than a set value, if so, the average value operation of the actual direct-axis voltages is executed in a manner of setting the flip-flop, and it should be noted that the flip-flop may be set to execute the average value operation step of the actual direct-axis voltages when the flip-flop is set. The preset time may be 0.3 seconds, and the set value may be 1.
And S302, calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.
Specifically, after the accurate current zero position angle is determined, the initial zero position angle and the current zero position angle of the motor are used for calibrating the zero position angle of the motor, so that a more accurate zero position angle calibration result can be obtained. In some embodiments, as shown in fig. 5, the zero angle calibration of the motor according to the initial zero angle and the current zero angle of the motor includes:
and S501, taking the sum of the initial zero position angle and the current zero position angle as a standard zero position angle of the motor.
And S502, when the standard zero angle is larger than the first angle threshold, calibrating the zero angle of the motor according to the difference between the standard zero angle and the first angle threshold.
And S503, when the standard zero angle is smaller than the second angle threshold, calibrating the zero angle of the motor according to the sum of the standard zero angle and the first angle threshold.
And S504, when the standard zero position angle is larger than or equal to the second angle threshold value and smaller than or equal to the first angle threshold value, calibrating the zero position angle of the motor according to the standard zero position angle.
Specifically, after the current zero position angle of the motor is determined, the current zero position angle and the initial zero position angle are summed to determine the standard zero position angle of the motor, that is, when the motor rotor is at the zero position angle, the motor rotates for a long time and has an error, and the angle acquired by the sensor is not zero but the standard zero position angle of the motor, or when the angle acquired by the sensor is zero, and the motor rotor is not really at the zero position angle, the zero position angle of the motor can be determined through the standard zero position angle.
In this embodiment, after the standard zero position angle of the motor is obtained through calculation, the standard zero position angle is compared with the first angle threshold and the second angle threshold, when the standard zero position angle of the motor is greater than the first angle threshold, the first angle threshold is subtracted from the standard zero position angle to obtain a final zero position angle, and the zero position angle of the motor is calibrated according to the final zero position angle. And when the standard zero angle is smaller than the second angle threshold, adding the first angle threshold to the standard zero angle to obtain a final zero angle, and calibrating the zero angle of the motor according to the final zero angle. And when the standard zero position angle is greater than or equal to the second angle threshold value and less than or equal to the first angle threshold value, the standard zero position angle is directly used for calibrating the zero position angle of the motor. Optionally, the first angle threshold in this embodiment is 360 degrees, and the second angle threshold is 0 degree.
It should be noted that, after the motor is calibrated at the zero angle, the clutch may also be calibrated, which specifically includes the following steps:
providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value; and calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.
After the zero position angle calibration of the motor is completed, it indicates that the rotation speed of the motor can be accurately obtained, that is, when the motor is controlled to rotate at the target rotation speed, the error between the actual rotation speed of the motor and the target rotation speed is close to zero. The motor which finishes zero position angle calibration can be utilized to rotate according to a preset rotating speed, at least two torques are provided for the clutch, then half-combination point calibration is carried out on the clutch, wherein the highest torque which does not affect the rotating speed of the motor and the difference value between the zero torques can be used as the half-combination point pressure value of the clutch according to the clutch, so that the two torques can be accurately provided for the clutch through the motor, the clutch generates two pressure values according to the two torques, and then the half-combination point calibration of the clutch is carried out according to the difference value between the two pressure values.
In some embodiments of the present invention, referring to fig. 2A or fig. 2B, the vehicle includes a first electric machine P1 and a second electric machine P2, the first electric machine P1 and the second electric machine P2 are connected by a preset clutch C0, and the calibration method further includes: when the zero position angle calibration is carried out on the first motor P1, the preset clutch C0 is controlled to be in a separation state; and when the zero position angle calibration is carried out on the second motor P2, the preset clutch C0 is controlled to be in a combined state.
Specifically, referring to fig. 2A, when the first electric machine P1 is calibrated, the preset clutch C0 may be controlled to be in a disengaged state, and then the engine ENG is used to control the rotation speed of the first electric machine P1, that is, when the preset clutch C0 is in the disengaged state, the engine is used to control the first electric machine P1 to rotate. Referring to fig. 2B, when the second motor P2 is calibrated, the preset clutch C0 may be controlled to be in a coupled state, and then the first motor P1 completing calibration is used to control the rotation speed of the second motor P2, that is, when the preset clutch C0 is in the coupled state, the first motor P1 is used to control the second motor P2 to rotate.
It can be understood that the rotation speed error can be controlled to be close to zero by using the calibrated motor to control the rotation speed of the clutch or other motors, so that the calibration accuracy is improved.
In some embodiments of the present invention, as shown in fig. 6, the calibration method further includes:
and S601, controlling the motor to execute an exit mode when the motor is determined to finish zero position angle calibration.
S602, when the motor is determined not to finish zero position angle calibration and the time length meeting the calibration condition is greater than a first time threshold, controlling the motor to calibrate the zero position angle again.
Specifically, in this embodiment, after the motor completes zero calibration, the motor may be controlled to exit the calibration mode, so that the motor can perform other operations. And if the motor does not complete the zero position angle calibration and the calibration condition is continuously met for the first time threshold, the motor can be controlled to carry out the zero position angle calibration again. It should be noted that, when the motor meets the calibration condition for the first time threshold, which indicates that the time period for performing calibration by the motor has continued for the first time threshold, but calibration is still not completed, a program error or other errors may exist, so that the motor may be controlled to perform zero angle calibration again.
In this embodiment, when the time length of the initialization process performed by the motor is greater than the first time threshold, the motor is controlled to execute the exit mode. In some embodiments, the motor is initialized when it transitions from the torque mode to the calibration mode.
Specifically, when the motor starts to count after performing the initialization mode, if the time period for the motor to perform the initialization is longer than the first time threshold, the motor may make an error in the initialization process, so the motor may be controlled to perform the exit, and optionally, the first time threshold in this embodiment may be 3 seconds.
In this embodiment, after the zero position angle calibration of the motor is completed, the clutch is calibrated at a half-coupling point, where, as shown in fig. 2B, when the clutch is calibrated, the second motor P2 may be controlled to rotate according to a target rotation speed, and at least two torques are provided to the clutch, and in this embodiment, when different driving gears are calibrated, different clutches may be correspondingly coupled, and the second motor P2 may be controlled to rotate at a first rotation speed threshold, where the first rotation speed threshold in this embodiment may be 500 rpm. It should be noted that when the preset clutch C0 is calibrated at the half-engagement point, all gears of the vehicle are disengaged.
After the first motor P1 and the second motor P2 complete zero position angle calibration, a half-coupling point calibration may be performed on the clutch, and in the process of performing the half-coupling point calibration on the clutch, the second motor P2 may be controlled to provide a target rotation speed, and the first motor P1 may charge the battery.
In some embodiments of the present invention, hysteresis calibration is also performed on the clutch, see in particular fig. 7, including the steps of:
and S701, determining a pressure rising curve and a pressure falling curve of the clutch according to the torque provided to the clutch and the pressure value generated by the clutch under the torque.
S702, determining a rising pressure value corresponding to the clutch in the preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve.
And S703, performing hysteresis calibration on the clutch according to the rising pressure value and the falling pressure value.
Specifically, the present embodiment may provide a plurality of torques to the clutch in an ascending and descending manner, so that the clutch generates a plurality of corresponding pressure ascending curves and pressure descending curves, as shown in fig. 8, and the pressure ascending curves and the pressure descending curves do not overlap due to the hysteresis phenomenon of the clutch. That is, the pressure increase value determined by the clutch according to the pressure increase curve and the pressure decrease value determined according to the pressure decrease curve are different under the same torque. In this embodiment, a preset torque is determined, and then hysteresis calibration is performed on the clutch according to a rising pressure value and a falling pressure value corresponding to the preset torque, specifically, hysteresis calibration may be performed on the clutch according to a difference between the rising pressure value and the falling pressure value corresponding to the preset torque. In fig. 8, the abscissa represents torque, and the ordinate represents pressure values to which the clutch is subjected by the torque. In addition, the torque-pressure relationship diagram shown in fig. 8 is only a specific example, and the specific correspondence relationship may be different for different types of clutches, and is not limited specifically again.
In conclusion, the motor calibration method for the vehicle provided by the embodiment of the invention can be used for accurately calibrating the motor of the vehicle, so that the driving performance of the vehicle is improved, and the experience of a driver is improved.
Further, the present invention proposes a computer-readable storage medium having stored thereon a motor calibration program for a vehicle, which when executed by a processor implements the motor calibration method for a vehicle according to the above-described embodiments.
According to the computer-readable storage medium provided by the embodiment of the invention, the processor executes the motor calibration method of the vehicle stored on the computer-readable storage medium, so that the motor of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.
Fig. 9 is a block diagram of a vehicle controller according to an embodiment of the invention.
Further, as shown in fig. 9, the present invention provides a vehicle controller 100, which includes a memory 101, a processor 102 and a motor calibration program of a vehicle stored on the memory 101 and operable on the processor 102, and when the processor 102 executes the motor calibration program of the vehicle, the motor calibration method of the vehicle according to the above-mentioned embodiment is implemented.
The vehicle controller comprises the storage memory and the processor, and the processor executes the motor calibration method of the vehicle stored on the storage memory, so that the motor of the vehicle can be accurately calibrated, the driving performance of the vehicle is improved, and the experience of a driver is improved.
Fig. 10 is a block diagram of a motor calibration apparatus for a vehicle according to an embodiment of the present invention.
Further, as shown in fig. 10, the present invention provides a motor calibration apparatus 200 for a vehicle, wherein the vehicle includes at least one motor, and the vehicle calibration apparatus 200 includes an initialization module 201, a first obtaining module 202, a second obtaining module 203, and a motor calibration module 204.
The initialization module 201 is configured to perform initialization processing on a motor; the first obtaining module 202 is configured to obtain an initial zero angle of the motor; the second obtaining module 203 is configured to obtain an actual direct axis voltage and a target direct axis voltage of the motor when it is determined that the motor meets the calibration condition; the motor calibration module 204 is configured to perform zero angle calibration on the motor according to the actual direct-axis voltage, the target direct-axis voltage, and the initial zero angle.
In some embodiments of the present invention, the vehicle includes a first motor and a second motor, the first motor and the second motor are connected through a preset clutch, the motor calibration apparatus further includes a control module, and the control module is further configured to: when the zero position angle calibration is carried out on the first motor, the preset clutch is controlled to be in a separation state; and when the zero position angle calibration is carried out on the second motor, the preset clutch is controlled to be in a combined state.
In some embodiments of the invention, determining that the motor satisfies the calibration condition comprises: and when the rotating speed of the motor is in a preset rotating speed range and the working mode of the motor is a calibration mode, determining that the motor meets the calibration condition.
In some embodiments of the invention, the first electric machine is coupled to an engine of the vehicle, and the control module is further configured to: when the preset clutch is in a separation state, the first motor is controlled to rotate through the engine; when the preset clutch is in a combined state, the second motor is controlled to rotate by the first motor.
In some embodiments of the present invention, the motor calibration module is specifically configured to: determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage; and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.
In some embodiments of the present invention, the motor calibration module is specifically configured to: performing PI control on the actual direct axis voltage to obtain a plurality of first actual direct axis voltages; carrying out average calculation on a plurality of first actual direct-axis voltages to obtain an actual direct-axis voltage average value; and when the actual direct-axis voltage average value is smaller than the preset voltage threshold value, calculating the current zero angle of the motor according to the actual direct-axis voltage average value and the target direct-axis voltage.
In some embodiments of the present invention, the motor calibration module is specifically configured to: taking the sum of the initial zero position angle and the current zero position angle as a standard zero position angle of the motor; when the standard zero angle is larger than a first angle threshold value, calibrating the zero angle of the motor according to the difference between the standard zero angle and the first angle threshold value; when the standard zero angle is smaller than a second angle threshold value, calibrating the zero angle of the motor according to the sum of the standard zero angle and the first angle threshold value; and when the standard zero position angle is greater than or equal to the second angle threshold value and less than or equal to the first angle threshold value, calibrating the zero position angle of the motor according to the standard zero position angle.
In some embodiments of the invention, the control module is further configured to: when the motor is determined to finish zero position angle calibration, controlling the motor to execute an exit mode; and when the fact that the motor does not finish zero position angle calibration and the duration meeting the calibration condition is larger than a first time threshold value is determined, controlling the motor to calibrate the zero position angle again.
In some embodiments of the invention, the control module is further configured to: and when the time length of the motor for carrying out initialization processing is greater than a first time threshold value, controlling the motor to execute an exit mode.
In some embodiments of the present invention, the initialization module is further configured to initialize the electric machine when the operating mode of the electric machine is switched from the torque mode to the calibration mode.
In some embodiments of the invention, the control module is further configured to: controlling the gear of the vehicle to be a parking gear and keeping the vehicle in a static state; controlling the motor to rotate at a first preset rotating speed and controlling the clutch to be in a combined state; providing at least two target torques to the clutch to cause the clutch to generate at least a first pressure value and a second pressure value; and calibrating a half-joint point of the clutch according to the first pressure value and the second pressure value.
In some embodiments of the invention, the control module is further configured to: and providing a first target torque and a second target torque for the clutch, wherein when the torque provided for the clutch is less than or equal to the first target torque, the motor rotates at a first preset rotating speed, and the second target torque is zero.
In some embodiments of the invention, the control module is further configured to: determining a pressure rising curve and a pressure falling curve of the clutch according to the torque provided for the clutch and a pressure value generated by the clutch under the action of the torque; determining a rising pressure value corresponding to the clutch in the preset torque according to the pressure rising curve, and determining a falling pressure value corresponding to the clutch in the preset torque according to the pressure falling curve; and performing hysteresis calibration on the clutch according to the rising pressure value and the falling pressure value.
It should be noted that, for specific implementation manners of the motor calibration device for a vehicle according to the embodiment of the present invention, reference may be made to the specific implementation manners of the motor calibration method for a vehicle in the foregoing embodiments, and details are not repeated herein.
In summary, the vehicle in the embodiment of the present invention includes a plurality of motors, and the motor calibration apparatus of the vehicle includes an initialization module, a first obtaining module, a second obtaining module, and a motor calibration module, where the initialization module is configured to perform initialization processing on the motors, so that the first obtaining module can obtain a correct initial zero position angle of the motors, and after the motors meet calibration conditions, the second obtaining module obtains an actual direct axis voltage and a target direct axis voltage of the motors, and then the motor calibration module can perform zero position angle calibration on the motors according to the actual direct axis voltage and the target direct axis voltage of the motors, and the initial zero position angle of the motors. Therefore, the motor calibration device of the vehicle in the embodiment of the invention can accurately calibrate the motor and the clutch of the vehicle, improve the driving performance of the vehicle and improve the experience of a driver.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, such as an ordered listing of executable instructions that can be considered to implement logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). Additionally, the computer-readable medium could even be paper or another suitable medium upon which the program is printed, as the program can be electronically captured, via for instance optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It should be understood that portions of the present invention may be implemented in hardware, software, firmware, or a combination thereof. In the above embodiments, various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, any one or combination of the following technologies, which are well known in the art, may be used: a discrete logic circuit having a logic gate circuit for implementing a logic function on a data signal, an application specific integrated circuit having an appropriate combinational logic gate circuit, a Programmable Gate Array (PGA), a Field Programmable Gate Array (FPGA), or the like.
In the description herein, references to the description of the term "one embodiment," "some embodiments," "an example," "a specific example," or "some examples," etc., mean that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the invention. In this specification, the schematic representations of the terms used above do not necessarily refer to the same embodiment or example. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
In the description of the present invention, it is to be understood that the terms "central," "longitudinal," "lateral," "length," "width," "thickness," "upper," "lower," "front," "rear," "left," "right," "vertical," "horizontal," "top," "bottom," "inner," "outer," "clockwise," "counterclockwise," "axial," "radial," "circumferential," and the like are used in the orientations and positional relationships indicated in the drawings for convenience in describing the invention and to simplify the description, and are not intended to indicate or imply that the referenced devices or elements must have a particular orientation, be constructed and operated in a particular orientation, and are therefore not to be considered limiting of the invention.
Furthermore, the terms "first", "second", and the like used in the embodiments of the present invention are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated in the embodiments. Thus, a feature of an embodiment of the present invention that is defined by the terms "first," "second," etc. may explicitly or implicitly indicate that at least one of the feature is included in the embodiment. In the description of the present invention, the word "plurality" means at least two or two and more, for example, two, three, four, etc., unless the embodiment is specifically defined otherwise.
In the present invention, unless otherwise explicitly specified or limited in relation to the embodiments, the terms "mounted," "connected," and "fixed" in the embodiments shall be understood in a broad sense, for example, the connection may be a fixed connection, a detachable connection, or an integrated body, and may be understood as a mechanical connection, an electrical connection, etc.; of course, they may be directly connected or indirectly connected through an intermediate medium, or they may be interconnected or in mutual relationship. Those of ordinary skill in the art will understand the specific meaning of the above terms in the present invention according to their specific implementation.
In the present invention, unless otherwise expressly stated or limited, the first feature "on" or "under" the second feature may be directly contacting the first and second features or indirectly contacting the first and second features through an intermediate. Also, a first feature "on," "over," and "above" a second feature may be directly or diagonally above the second feature, or may simply indicate that the first feature is at a higher level than the second feature. A first feature being "under," "below," and "beneath" a second feature may be directly under or obliquely under the first feature, or may simply mean that the first feature is at a lesser elevation than the second feature.
Although embodiments of the present invention have been shown and described above, it is understood that the above embodiments are exemplary and should not be construed as limiting the present invention, and that variations, modifications, substitutions and alterations can be made to the above embodiments by those of ordinary skill in the art within the scope of the present invention.
Claims (13)
1. A method for calibrating a motor of a vehicle, wherein the vehicle comprises at least one motor, the method comprising:
initializing the motor, and acquiring an initial zero position angle of the motor;
when the motor is determined to meet the calibration condition, acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor;
and calibrating the zero angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle.
2. The motor calibration method according to claim 1, wherein the vehicle comprises a first motor and a second motor, the first motor and the second motor are connected through a preset clutch, and the calibration method further comprises:
when the zero position angle calibration is carried out on the first motor, the preset clutch is controlled to be in a separation state;
and when the zero position angle calibration is carried out on the second motor, the preset clutch is controlled to be in a combined state.
3. The motor calibration method according to claim 2, wherein determining that the motor satisfies a calibration condition comprises:
and when the rotating speed of the motor is in a preset rotating speed range and the working mode of the motor is a calibration mode, determining that the motor meets the calibration condition.
4. The motor calibration method as claimed in claim 3, wherein the first motor is connected with an engine of the vehicle, the calibration method further comprising:
when the preset clutch is in a separation state, the first motor is controlled to rotate through the engine;
and when the preset clutch is in a combined state, the second motor is controlled to rotate by the first motor.
5. The motor calibration method according to claim 1, wherein performing zero angle calibration on the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero angle comprises:
determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage;
and calibrating the zero position angle of the motor according to the initial zero position angle and the current zero position angle of the motor.
6. The motor calibration method of claim 5, wherein determining the current zero angle of the motor according to the actual direct-axis voltage and the target direct-axis voltage comprises:
performing PI control on the actual direct-axis voltage to obtain a plurality of first actual direct-axis voltages;
carrying out average calculation on the plurality of first actual direct-axis voltages to obtain an actual direct-axis voltage average value;
and when the actual direct-axis voltage average value is smaller than a preset voltage threshold value, calculating the current zero position angle of the motor according to the actual direct-axis voltage average value and the target direct-axis voltage.
7. The motor calibration method as claimed in claim 6, wherein the zero angle calibration of the motor according to the initial zero angle and the current zero angle of the motor comprises:
taking the sum of the initial zero position angle and the current zero position angle as a standard zero position angle of the motor;
when the standard zero position angle is larger than a first angle threshold value, performing zero position angle calibration on the motor according to the difference between the standard zero position angle and the first angle threshold value;
when the standard zero position angle is smaller than a second angle threshold value, performing zero position angle calibration on the motor according to the sum of the standard zero position angle and the first angle threshold value;
and when the standard zero position angle is greater than or equal to the second angle threshold value and less than or equal to the first angle threshold value, performing zero position angle calibration on the motor according to the standard zero position angle.
8. A method for motor calibration according to any of claims 1-7, further comprising:
when the motor is determined to complete zero position angle calibration, controlling the motor to execute an exit mode;
and when the fact that the motor does not finish zero position angle calibration and the duration meeting the calibration condition is larger than a first time threshold value is determined, controlling the motor to calibrate the zero position angle again.
9. The motor calibration method as claimed in claim 8, further comprising:
and when the time length of the motor for carrying out initialization processing is greater than the first time threshold value, controlling the motor to execute the exit mode.
10. A method of calibrating a motor according to claim 3, further comprising:
and when the working mode of the motor is switched from the torque mode to the calibration mode, initializing the motor.
11. A computer-readable storage medium, characterized in that a motor calibration program of a vehicle is stored thereon, which when executed by a processor implements a motor calibration method of a vehicle according to any one of claims 1-10.
12. A vehicle controller comprising a memory, a processor and a vehicle motor calibration program stored on the memory and operable on the processor, wherein the processor implements the vehicle motor calibration method according to any one of claims 1-10 when executing the vehicle motor calibration program.
13. An electric machine calibration apparatus for a vehicle, the vehicle including at least one electric machine, the calibration apparatus comprising:
the initialization module is used for initializing the motor;
the first acquisition module is used for acquiring an initial zero position angle of the motor;
the second acquisition module is used for acquiring the actual direct-axis voltage and the target direct-axis voltage of the motor when the motor is determined to meet the calibration condition;
and the motor calibration module is used for calibrating the zero position angle of the motor according to the actual direct-axis voltage, the target direct-axis voltage and the initial zero position angle.
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| CN202211148783.9A CN115441806A (en) | 2022-09-20 | 2022-09-20 | Motor calibration method and device for vehicle, vehicle controller and storage medium |
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