CN116512931A - Motor starting control method and device - Google Patents
Motor starting control method and device Download PDFInfo
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- CN116512931A CN116512931A CN202310515170.2A CN202310515170A CN116512931A CN 116512931 A CN116512931 A CN 116512931A CN 202310515170 A CN202310515170 A CN 202310515170A CN 116512931 A CN116512931 A CN 116512931A
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- 238000011217 control strategy Methods 0.000 claims abstract description 195
- 239000004606 Fillers/Extenders Substances 0.000 claims abstract description 63
- 239000000725 suspension Substances 0.000 claims description 12
- 238000004364 calculation method Methods 0.000 claims description 9
- 238000012360 testing method Methods 0.000 claims description 7
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Mechanical Engineering (AREA)
- Control Of Electric Motors In General (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application discloses a starting control method and device of a motor, and relates to the technical field of control. The method comprises the following steps: determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises a control torque of a motor, and the target rotational speed is the rotational speed of the range extender corresponding to different running moments after the range extender is started based on the motor; performing a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Description
Technical Field
The present disclosure relates to the field of control technologies, and in particular, to a method and an apparatus for controlling startup of a motor.
Background
In the use process of the new energy vehicle, the running state of the vehicle motor directly influences whether the power output of the vehicle can meet the requirements of users, and then influences the driving condition of the users. In particular, the motor control condition will directly influence the driving feeling of the user during the starting process of the vehicle.
At present, in the starting control process of the motor, the rotating speed of the range extender is used for judging, and then whether the torque of the motor needs to be adjusted is determined. However, in actual process, the torque output of the motor is often compensated due to insufficient power in initial starting, but when the torque is increased in the process, the user often hopes to reach the desired power output level at the highest speed, which greatly increases the torque output of the motor in the process of starting control, thereby influencing the service life of the vehicle due to overlarge torque.
Disclosure of Invention
The embodiment of the application provides a motor starting control method and device, and mainly aims to solve the problem that the service life of a vehicle is influenced by overlarge motor torque in the existing motor starting control process.
In order to solve the technical problems, the embodiment of the application provides the following technical scheme:
in a first aspect, the present application provides a method for controlling start-up of an electric motor, the method including:
determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises a control torque of a motor, and the target rotational speed is the rotational speed of the range extender corresponding to different running moments after the range extender is started based on the motor;
Performing a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Optionally, before the speed deviation is determined according to the real-time speed of the range extender and the target speed, and a control strategy corresponding to the speed deviation is obtained in a preset control strategy set based on the speed deviation, the method further includes:
after a motor starting instruction is received, acquiring the real-time rotating speed of the range extender through a preset sensor, and acquiring the running time corresponding to the real-time rotating speed;
and acquiring a corresponding target rotating speed in a preset rotating speed relation based on the running time, wherein the preset rotating speed relation comprises rotating speeds under different running time.
Optionally, the preset control policy set includes at least a first policy and a second policy; the first strategy is used for controlling the motor to increase torque when the target rotating speed is larger than the actual rotating speed, and the control torque contained in the first strategy is positive; the second strategy is used for controlling the motor to reduce torque when the target rotating speed is smaller than the actual rotating speed, and the control torque contained in the second strategy is negative;
The step of determining the rotation speed deviation according to the real-time rotation speed and the target rotation speed of the range extender, and the step of obtaining the control strategy corresponding to the rotation speed deviation in the preset control strategy set based on the rotation speed deviation comprises the following steps:
calculating a difference value through the real-time rotating speed and the target rotating speed to obtain the rotating speed deviation, wherein the difference value calculation is used for subtracting the target rotating speed from the actual rotating speed;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
and when the rotation speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
Optionally, before the obtaining the first strategy from the preset torque control strategy set as the control strategy when the rotation speed deviation is determined to be a positive value, the method further includes:
judging whether the absolute value of the rotating speed deviation exceeds a preset deviation threshold value or not;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
When the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
when the rotation speed deviation is determined to be a negative value, a second strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
and when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
Optionally, before the performing a control operation on the motor based on the control strategy, the method further includes:
and acquiring model information of the motors, and acquiring the minimum actual maximum torque from a preset maximum torque table based on the model information as the preset maximum torque, wherein the preset maximum torque table contains the actual maximum torque corresponding to each motor, which is obtained by actually testing a plurality of motors with the same model information.
Optionally, the performing a control operation on the motor based on the control strategy includes:
Comparing the control torque with a preset maximum torque;
when the control torque is larger than the preset maximum torque, determining the preset maximum torque as the real-time target torque;
and when the control torque is smaller than the preset maximum torque, determining the control torque as the real-time target torque.
Optionally, the method further comprises:
when start success information fed back by power equipment is received, a control suspension instruction is generated based on the start success information, and the control operation of the motor is suspended through the control suspension instruction, wherein the power equipment is power management equipment of a vehicle where the motor is located.
In a second aspect, the present application further provides a start control device for a motor, including:
the determining unit is used for determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of the range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises the control torque of a motor, and the target rotational speed is the rotational speed corresponding to the range extender at different running moments after the motor is started;
An execution unit configured to execute a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Optionally, the apparatus further includes:
the first acquisition unit is used for acquiring the real-time rotating speed of the range extender through a preset sensor after receiving a motor starting instruction, and acquiring the running time corresponding to the real-time rotating speed;
the second acquisition unit is used for acquiring a corresponding target rotating speed in a preset rotating speed relation based on the running time, wherein the preset rotating speed relation comprises rotating speeds at different running time.
Optionally, the preset control policy set includes at least a first policy and a second policy; the first strategy is used for controlling the motor to increase torque when the target rotating speed is larger than the actual rotating speed, and the control torque contained in the first strategy is positive; the second strategy is used for controlling the motor to reduce torque when the target rotating speed is smaller than the actual rotating speed, and the control torque contained in the second strategy is negative;
The determination unit includes:
the calculation module is used for carrying out difference calculation through the real-time rotating speed and the target rotating speed to obtain the rotating speed deviation, wherein the difference calculation is used for subtracting the target rotating speed from the actual rotating speed;
the first acquisition module is used for acquiring a first strategy from the preset torque control strategy set as the control strategy when the rotation speed deviation is determined to be a positive value;
and the second acquisition module is used for acquiring a second strategy from the preset torque control strategy set as the control strategy when the rotation speed deviation is determined to be a negative value.
Optionally, the determining unit further includes:
the judging module is used for judging whether the absolute value of the rotating speed deviation exceeds a preset deviation threshold value;
the first obtaining module is specifically configured to obtain a first strategy from the preset torque control strategy set as the control strategy when it is determined that the absolute value of the rotational speed deviation exceeds a preset deviation threshold and it is determined that the rotational speed deviation is a positive value;
the second obtaining module is specifically configured to obtain a second strategy from the preset torque control strategy set as the control strategy when it is determined that the absolute value of the rotational speed deviation exceeds a preset deviation threshold and it is determined that the rotational speed deviation is negative.
Optionally, the apparatus further includes:
and the third acquisition unit is used for acquiring the model information of the motors, and acquiring the minimum actual maximum torque from a preset maximum torque table based on the model information as the preset maximum torque, wherein the preset maximum torque table contains the actual maximum torque corresponding to each motor, which is obtained by actually testing a plurality of motors with the same model information.
Optionally, the execution unit includes:
the comparison module is used for comparing the control torque with a preset maximum torque;
the first determining module is used for determining the preset maximum torque as the real-time target torque when the control torque is larger than the preset maximum torque;
and the second determining module is used for determining the control torque as the real-time target torque when the control torque is smaller than the preset maximum torque.
Optionally, the apparatus further includes:
and the control unit is used for generating a control suspension instruction based on the starting success information when receiving the starting success information fed back by the power equipment, and suspending the control operation of the motor through the control suspension instruction, wherein the power equipment is power management equipment of a vehicle where the motor is positioned.
In a third aspect, embodiments of the present application provide a storage medium including a stored program, where the program, when executed, controls a device in which the storage medium is located to perform the start-up control method of the motor of any one of the first aspects.
In a fourth aspect, embodiments of the present application provide a start control apparatus of an electric motor, the apparatus including a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; the program instructions, when executed, perform the start-up control method of the motor of any one of the first aspects.
By means of the technical scheme, the technical scheme provided by the application has the following advantages:
the application provides a starting control method and device of a motor, wherein a rotational speed deviation is determined according to a real-time rotational speed and a target rotational speed of a range extender, and a control strategy corresponding to the rotational speed deviation is obtained in a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises control strategies corresponding to each rotational speed deviation range, each control strategy comprises control torque of the motor, and the target rotational speed is the rotational speed corresponding to different running moments of the range extender after the range extender is started based on the motor; then performing a control operation on the motor based on the control strategy; the control operation is used for selecting a smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to run according to the real-time target torque, and the starting control function of the motor is realized. Compared with the prior art, the control strategy can be selected according to the rotation speed deviation determined by the real-time rotation speed of the range extender and the target rotation speed in the process of starting control of the motor, and the control strategy comprises the rotation speed of the range extender at different moments after starting based on the motor, so that the real-time target torque of the motor can be controlled according to the rotation speed condition of the current range extender in real time in the process of controlling operation, the effect of real-time target torque of the motor can be adjusted in real time in the process of continuously changing the rotation speed of the range extender, and in the process of real-time target torque, smaller one of the control torque and the preset maximum torque is selected, namely, the problem that the torque change of the motor is prevented from being exceeded in a controllable range when the real-time target torque of the motor operates can be avoided by controlling the preset maximum torque, the problem that the service life of the whole vehicle including the motor is influenced by the user command in the process of starting the motor is solved, and the effect of the service life of the vehicle in the process of changing the torque of the real-time target torque is further achieved.
Drawings
The above, as well as additional purposes, features, and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description when read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings, in which like reference numerals refer to similar or corresponding parts and in which:
fig. 1 shows a flowchart of a method for controlling start of a motor according to an embodiment of the present application;
fig. 2 shows a flowchart of another method for controlling the start of a motor according to an embodiment of the present application;
fig. 3 shows a block diagram of a start control device of a motor according to an embodiment of the present application;
fig. 4 shows a block diagram of another motor start control device according to an embodiment of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is noted that unless otherwise indicated, technical or scientific terms used herein should be given the ordinary meaning as understood by one of ordinary skill in the art to which this application belongs.
The embodiment of the application provides a method for controlling the start of a motor, specifically as shown in fig. 1, the method includes:
101. and determining the rotation speed deviation according to the real-time rotation speed and the target rotation speed of the range extender, and acquiring a control strategy corresponding to the rotation speed deviation from a preset control strategy set based on the rotation speed deviation.
The preset control strategy set comprises control strategies corresponding to each rotating speed deviation range, each control strategy comprises control torque of a motor, and the target rotating speed is the rotating speed corresponding to different running moments after the range extender is started based on the motor.
In this embodiment, the control strategies included in the preset control strategy set may be understood as a set of different control strategies corresponding to different rotational speed deviation ranges, for example, when the rotational speed deviation is a to B, the corresponding control strategy is strategy a, and when the rotational speed deviation is B to c, the corresponding control strategy is strategy B … …, so, when the real-time rotational speed and the target rotational speed of the plotter are determined, the rotational speed deviation can be calculated based on the two, and according to the rotational speed deviation, which rotational speed deviation range corresponds to is determined, and thus the corresponding control strategy is determined.
For example, in the foregoing example, when it is determined that the rotational speed deviation 1 is in the range of the rotational speed deviations B to c, then the strategy B corresponding to the rotational speed deviations B to c may be determined as the control strategy based on the method of this step.
In this embodiment, the rotation speed deviation range may be set based on the needs of the user, and the specific range size and the selection of the endpoint value may be selected by the user according to the actual situation without limitation. Meanwhile, the control strategy corresponding to different rotation speed deviation ranges can be specifically set in advance based on the needs of the user, and the target rotation speed in the embodiment can be selected automatically based on the actual situation of the user.
In addition, in this embodiment, the control torque included in each control strategy may actually be set based on the time after the start of the different motors, that is, the control torques included in each control strategy may be plural and each control torque corresponds to a different time, so that in determining the torque based on the control strategy, the required torque may be further selected as the control torque based on the specific time when the current motor is operated after the start command is executed.
102. And performing a control operation on the motor based on the control strategy.
The control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
When the control strategy is established, the control strategy contains the control torque for controlling the motor to run, that is to say, the current torque required to control the motor to run can be known, so that the control strategy can be used for executing control operation on the motor according to the method of the step. Of course, since there is a possibility that the control torque exceeds the maximum torque allowed by the actual normal operation of the motor during the control of the torque, in this embodiment, a suitable one of the control torque and the preset maximum torque is selected as the real-time target torque of the motor, specifically, a smaller one of the control torque and the preset maximum torque is selected as the real-time target torque during the execution of the control operation, for example, when the control torque is 500n·m and the preset maximum torque is 800n·m, the control torque 500n·m is selected as the real-time target torque, so that the motor can be operated with the torque of 500n·m during the execution of the control operation. When the control torque is 1000 N.m and the preset maximum torque is 800 N.m, the preset maximum torque 800 N.m can be used as the real-time target torque. Therefore, when the real-time maximum torque is always smaller than or equal to the preset maximum torque, the problem that the torque exceeds the preset maximum torque in the motor control process on the control layer, so that the normal use of the vehicle is affected and the service life is affected is avoided. The need for a separate torque limiting mechanism on the vehicle to avoid excessive torque during the existing motor start control is also avoided, making it more cost effective than the prior art.
In this embodiment, first, a rotational speed deviation is determined according to a real-time rotational speed and a target rotational speed of a range extender, and a control strategy corresponding to the rotational speed deviation is obtained in a preset control strategy set based on the rotational speed deviation, where the preset control strategy set includes the control strategy corresponding to each rotational speed deviation range, each control strategy includes a control torque of the motor, and the target rotational speed is a rotational speed corresponding to different operation moments of the range extender after the range extender is started based on the motor; then performing a control operation on the motor based on the control strategy; the control operation is used for selecting a smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to run according to the real-time target torque, and the starting control function of the motor is realized. Compared with the prior art, the control strategy can be selected according to the rotation speed deviation determined by the real-time rotation speed of the range extender and the target rotation speed in the process of starting control of the motor, and the control strategy comprises the rotation speed of the range extender at different moments after starting based on the motor, so that the real-time target torque of the motor can be controlled according to the rotation speed condition of the current range extender in real time in the process of controlling operation, the effect of real-time target torque of the motor can be adjusted in real time in the process of continuously changing the rotation speed of the range extender, and in the process of real-time target torque, smaller one of the control torque and the preset maximum torque is selected, namely, the problem that the torque change of the motor is prevented from being exceeded in a controllable range when the real-time target torque of the motor operates can be avoided by controlling the preset maximum torque, the problem that the service life of the whole vehicle including the motor is influenced by the user command in the process of starting the motor is solved, and the effect of the service life of the vehicle in the process of changing the torque of the real-time target torque is further achieved.
For more detailed description below, another access control method is provided in the embodiments of the present application, specifically as shown in fig. 2, and the method includes:
201. after a motor starting instruction is received, acquiring the real-time rotating speed of the range extender through a preset sensor, and acquiring the running time corresponding to the real-time rotating speed.
The method according to the present embodiment is applied to the motor start-up process in the vehicle, and therefore it is first necessary in this step to determine when to start executing the start-up control process of the motor according to the present embodiment based on the motor start-up instruction. After the motor starting instruction is determined to be received, the current motor needs to start to run, then in the process, the motor can be started by adopting an initial set torque, and after the motor is started, the range extender is driven to run, so that the range extender can be collected by a preset sensor to obtain the current real-time rotating speed.
202. And acquiring a corresponding target rotating speed in a preset rotating speed relation based on the running time.
The preset rotation speed relation comprises rotation speeds under different operation time moments.
In this embodiment, the preset rotation speed relationship may be understood that the automobile manufacturer determines the change of the rotation speed under the condition of time change based on the power requirement required by the user after the range extender is operated in advance, that is, the target rotation speed is changed at different moments. Thus, after the operation time corresponding to the real-time rotation speed determined in the previous step, the target rotation speed corresponding to the operation time can be determined based on the preset rotation speed relation. That is, based on this step, it is possible to determine what the target rotational speed actually needs to be achieved by the user in the case of the real-time rotational speed of the range extender, and the determination process can be performed on a time-of-day basis.
203. And determining the rotation speed deviation according to the real-time rotation speed and the target rotation speed of the range extender, and acquiring a control strategy corresponding to the rotation speed deviation from a preset control strategy set based on the rotation speed deviation.
The preset control strategy set comprises control strategies corresponding to each rotating speed deviation range, each control strategy comprises control torque of a motor, and the target rotating speed is a corresponding rotation of the range extender at different running moments after the motor is started.
Specifically, the preset control strategy set at least comprises a first strategy and a second strategy; the first strategy is used for controlling the motor to increase torque when the target rotating speed is larger than the actual rotating speed, and the control torque contained in the first strategy is positive; the second strategy is used for controlling the motor to reduce torque when the target rotating speed is smaller than the actual rotating speed, and the control torque contained in the second strategy is negative.
Based on this, in this step, the determining a rotational speed deviation according to the real-time rotational speed and the target rotational speed of the range extender, and acquiring, based on the rotational speed deviation, a control policy corresponding to the rotational speed deviation in a preset control policy set may include, when executing:
calculating a difference value through the real-time rotating speed and the target rotating speed to obtain the rotating speed deviation, wherein the difference value calculation is used for subtracting the target rotating speed from the actual rotating speed;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
and when the rotation speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
In this embodiment, the preset control strategies are divided into two, one is a first strategy, one is a second strategy, one corresponds to a case where the actual rotation speed is smaller than the target rotation speed, i.e., the first strategy, and the other is a case where the actual rotation speed is larger than the target rotation speed, i.e., the second strategy. These two strategies can each correspond to the strategy that should be selected when the magnitude relationship between the two rotational speeds of the rotational speed deviation characterization is in use. Specifically, according to the method of the embodiment, the deviation of the revolution obtained by subtracting the target revolution from the actual revolution may have two results of positive value or negative value due to the magnitude relation between the actual revolution and the target revolution, and if the corresponding deviation of the revolution is positive, which indicates that the actual revolution is greater than the target revolution, a second strategy should be selected, and the motor is controlled according to the control torque in the form of negative value contained in the second strategy. If the rotational speed deviation is determined to be negative, which means that the actual rotational speed is less than the target rotational speed, then a first strategy may be selected and controlled in accordance with the positive control torque contained in the first strategy.
Further, in the step, before the first strategy is obtained from the preset torque control strategy set as the control strategy when the rotation speed deviation is determined to be a positive value, the method further includes:
Judging whether the absolute value of the rotating speed deviation exceeds a preset deviation threshold value or not;
based on this, when the rotational speed deviation is determined to be a positive value, in this step, a first strategy is obtained from the preset torque control strategy set as the control strategy, including:
when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
when the rotation speed deviation is determined to be a negative value, a second strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
and when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
In this embodiment, there may be a case where the rotational speed deviation exists but does not exceed a certain range, since it is understood that there is only a small deviation between the current actual rotational speed and the target rotational speed, then no adjustment in torque is actually required at this time, and in this step, it is possible to determine whether the rotational speed deviation exceeds the actual deviation threshold value, that is, whether there is a large difference between the current actual rotational speed and the target rotational speed, again after determining the rotational speed deviation. That is, whether the preset deviation threshold is exceeded is determined by the absolute value of the rotational speed deviation. In the subsequent step, when determining which strategy is to be selected as the control strategy, it may be actually determined whether the rotational speed deviation is positive or negative in the case that it is determined that the rotational speed deviation exceeds the preset deviation threshold, as described in the above step, so that whether a large difference exists between the target rotational speed and the actual rotational speed is determined by comparing the preset deviation threshold, and the magnitude between the target rotational speed and the actual rotational speed is defined again on the basis of the comparison, thereby determining whether the corresponding control strategy is the first strategy or the second strategy. Therefore, the situation that the torque change caused by starting control is frequent under the condition that the difference between the target rotating speed and the real-time rotating speed is small under certain conditions is avoided, and the influence of excessive control on the normal operation of the whole motor is avoided.
204. And acquiring model information of the motor, and acquiring the minimum actual maximum torque from the preset maximum torque table based on the model information to serve as the preset maximum torque.
The preset maximum torque table comprises the actual maximum torque corresponding to each motor, which is obtained by actually testing a plurality of motors with the same model information.
Since new energy vehicles are produced for the same model of vehicle or with the same type of motor, these motors, although designed, define nominal parameters, including maximum torque, i.e. the nominal output torque of motors of the same type should be theoretically the same. However, in practical applications, the peaks of parameters actually achieved by the motors of the same model have detailed differences due to various reasons such as process, raw materials, processing modes and the like, and generally fluctuate around the peak of rated parameters. In this embodiment, therefore, in order to further avoid the problem that the actual operation and the lifetime of the motor are affected by the excessive torque, it is also possible to select a suitable torque from the preset maximum torque table as the preset maximum torque by starting from the model information of the motor in the manner of this step. The preset maximum torque table comprises maximum torques of a plurality of motors with the same model information, and the table can be understood as the maximum torque allowed by a manufacturer of the motors when each motor is actually operated and determined by self test after the motors are produced, and the preset maximum torque table is formed due to a plurality of torque values. Specifically, the smallest one of the torque values is selected as the preset maximum torque in the step, so that the selected preset maximum torque is smaller than or equal to the maximum torque actually allowed by the motor no matter what the actual 'physique' of the motor is, and the problem that the service lives of the motor and the vehicle are influenced by overlarge torque in the torque control process is avoided when the subsequent control operation is performed.
205. And performing a control operation on the motor based on the control strategy.
The control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Specifically, this step, when executed, may include:
comparing the control torque with a preset maximum torque;
when the control torque is larger than the preset maximum torque, determining the preset maximum torque as the real-time target torque;
and when the control torque is smaller than the preset maximum torque, determining the control torque as the real-time target torque.
The smaller one is actually selected from the two torque values to control in the control operation process, so that the smaller one is actually determined to be the real-time target torque after the control torque determined based on the control strategy is compared with the preset maximum torque when the step is executed, no matter which torque is selected to control the starting of the motor, the maximum torque allowed by the motor is not exceeded, and the influence of excessive torque on the service life of the whole vehicle including the motor is avoided.
In the process of executing the control operation in this step, whichever is selected as the real-time target torque, the torque is required to be adjusted, that is, compared with a preset starting torque used when the motor is started, when the starting torque is larger than the preset starting torque, the motor is controlled to reduce the torque to the real-time target torque, and when it is determined that the starting torque is smaller, the motor is controlled to increase the torque to the real-time target torque. Therefore, the effect of real-time adjustment of the torque in the starting control process of the motor is achieved.
206. When the start success information fed back by the power equipment is received, a control suspension instruction is generated based on the start success information, and the control operation of the motor is suspended by the control suspension instruction.
The power equipment is power management equipment of a vehicle where the motor is located.
Since the method described in this embodiment is mainly a start control process of the motor in the application, that is, once the motor has reached a normal running process, but not a start control process, the control method described in the foregoing steps of this embodiment needs to be stopped, based on which, in the step, it is possible to determine how to stop the control operation by receiving feedback information of the power device, specifically, start success information, and since the motor in the vehicle is monitored by the whole power device after running, of course, many parameters are comprehensively analyzed in the monitoring process, so as to determine the control operation. Of course, how to specifically monitor the process in this embodiment is not an important point of this embodiment, and will not be described here. When the power equipment determines that the current motor is in a normal running state, the starting success information is fed back, a control stopping instruction can be generated based on the starting success information, and then the control operation which is executed by the motor all the time is stopped based on the control stopping instruction, namely, the torque is not required to be controlled according to the rotating speed deviation, so that the effect of automatically stopping control based on the information fed back by the existing power equipment is ensured, the operation of starting control under the condition that the motor is in normal running is avoided, and the problem of wasting unnecessary resources is avoided.
In order to achieve the above object, according to another aspect of the present application, an embodiment of the present application further provides a start control apparatus of an electric motor, the apparatus including a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; and executing the starting control method of the motor when the program instructions run.
Further, as an implementation of the method shown in fig. 1 and fig. 2, another embodiment of the present application further provides a start control device for a motor. The embodiment of the start control device of the motor corresponds to the embodiment of the method, and for convenience of reading, the embodiment of the start control device of the motor does not describe details of the embodiment of the method one by one, but it should be clear that the system in the embodiment can correspondingly realize all the contents of the embodiment of the method. As shown in fig. 3, the start control device of the motor includes:
the determining unit 31 may be configured to determine a rotational speed deviation according to a real-time rotational speed and a target rotational speed of the range extender, and obtain a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, where the preset control strategy set includes the control strategy corresponding to each rotational speed deviation range, each control strategy includes a control torque of a motor, and the target rotational speed is a rotational speed corresponding to different operation moments of the range extender after the motor is started;
An execution unit 32 operable to execute a control operation on the motor based on the control strategy; the control operation can be used for selecting a smaller one of the control torque and a preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Further, as shown in fig. 4, the apparatus further includes:
the first obtaining unit 33 may be configured to obtain, after receiving a motor start instruction, a real-time rotation speed of the range extender through a preset sensor, and obtain a running time corresponding to the real-time rotation speed;
the second obtaining unit 34 may be configured to obtain, based on the operation time, a corresponding target rotation speed in a preset rotation speed relationship, where the preset rotation speed relationship includes rotation speeds at different operation time instants.
Further, as shown in fig. 4, the preset control policy set includes at least a first policy and a second policy; wherein the first strategy may be used to control the motor to increase torque when the target rotational speed is greater than the actual rotational speed, the first strategy including the control torque being a positive value; the second strategy may be used to control the motor to reduce torque when the target rotational speed is less than the actual rotational speed, the second strategy comprising a negative value of the control torque;
The determination unit 31 includes:
the calculating module 311 may be configured to perform a difference calculation through the real-time rotation speed and the target rotation speed to obtain the rotation speed deviation, where the difference calculation may be used to subtract the target rotation speed from the actual rotation speed;
a first obtaining module 312, configured to obtain, when it is determined that the rotational speed deviation is a positive value, a first strategy from the preset torque control strategy set as the control strategy;
the second obtaining module 313 may be configured to obtain, when it is determined that the rotational speed deviation is negative, a second strategy from the preset torque control strategy set as the control strategy.
Further, as shown in fig. 4, the determining unit 31 further includes:
a judging module 314, configured to judge whether the absolute value of the rotational speed deviation exceeds a preset deviation threshold;
the first obtaining module 312 may be specifically configured to obtain, when it is determined that the absolute value of the rotational speed deviation exceeds a preset deviation threshold and it is determined that the rotational speed deviation is a positive value, a first strategy from the preset torque control strategy set as the control strategy;
the second obtaining module 313 may specifically be configured to obtain, when it is determined that the absolute value of the rotational speed deviation exceeds a preset deviation threshold, and it is determined that the rotational speed deviation is a negative value, a second strategy from the preset torque control strategy set as the control strategy.
Further, as shown in fig. 4, the apparatus further includes:
the third obtaining unit 35 may be configured to obtain model information of the motors, and obtain, based on the model information, a minimum actual maximum torque from a preset maximum torque table as the preset maximum torque, where the preset maximum torque table includes the actual maximum torque corresponding to each motor obtained by actually testing a plurality of motors with the same model information.
Further, as shown in fig. 4, the execution unit 32 includes:
the comparison module 321 may be configured to compare the control torque with a preset maximum torque;
a first determining module 322, configured to determine the preset maximum torque as the real-time target torque when the control torque is greater than the preset maximum torque;
the second determining module 323 may be configured to determine the control torque as the real-time target torque when the control torque is less than the preset maximum torque.
Further, as shown in fig. 4, the apparatus further includes:
the control unit 36 may be configured to, when receiving start success information fed back by a power device, which is a power management device of a vehicle in which the motor is located, generate a control suspension instruction based on the start success information, and suspend the control operation of the motor by the control suspension instruction.
In the embodiment of the application, firstly, determining a rotational speed deviation according to a real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises control strategies corresponding to each rotational speed deviation range, each control strategy comprises a control torque of the motor, and the target rotational speed is a rotational speed corresponding to different operation moments after the range extender is started based on the motor; then performing a control operation on the motor based on the control strategy; the control operation is used for selecting a smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to run according to the real-time target torque, and the starting control function of the motor is realized. Compared with the prior art, the control strategy can be selected according to the rotation speed deviation determined by the real-time rotation speed of the range extender and the target rotation speed in the process of starting control of the motor, and the control strategy comprises the rotation speed of the range extender at different moments after starting based on the motor, so that the real-time target torque of the motor can be controlled according to the rotation speed condition of the current range extender in real time in the process of controlling operation, the effect of real-time target torque of the motor can be adjusted in real time in the process of continuously changing the rotation speed of the range extender, and in the process of real-time target torque, smaller one of the control torque and the preset maximum torque is selected, namely, the problem that the torque change of the motor is prevented from being exceeded in a controllable range when the real-time target torque of the motor operates can be avoided by controlling the preset maximum torque, the problem that the service life of the whole vehicle including the motor is influenced by the user command in the process of starting the motor is solved, and the effect of the service life of the vehicle in the process of changing the torque of the real-time target torque is further achieved.
The embodiment of the application also provides a starting control device of the motor, which comprises a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; and executing the starting control method of the motor when the program instructions run.
The embodiment of the application provides equipment, which comprises a processor, a memory and a program stored on the memory and capable of running on the processor, wherein the processor executes the program to realize the following steps: determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises a control torque of a motor, and the target rotational speed is the rotational speed of the range extender corresponding to different running moments after the range extender is started based on the motor; performing a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
Further, before the rotational speed deviation is determined according to the real-time rotational speed of the range extender and the target rotational speed, and a control strategy corresponding to the rotational speed deviation is obtained in a preset control strategy set based on the rotational speed deviation, the method further includes:
after a motor starting instruction is received, acquiring the real-time rotating speed of the range extender through a preset sensor, and acquiring the running time corresponding to the real-time rotating speed;
and acquiring a corresponding target rotating speed in a preset rotating speed relation based on the running time, wherein the preset rotating speed relation comprises rotating speeds under different running time.
Further, the preset control strategy set at least comprises a first strategy and a second strategy; the first strategy is used for controlling the motor to increase torque when the target rotating speed is larger than the actual rotating speed, and the control torque contained in the first strategy is positive; the second strategy is used for controlling the motor to reduce torque when the target rotating speed is smaller than the actual rotating speed, and the control torque contained in the second strategy is negative;
the step of determining the rotation speed deviation according to the real-time rotation speed and the target rotation speed of the range extender, and the step of obtaining the control strategy corresponding to the rotation speed deviation in the preset control strategy set based on the rotation speed deviation comprises the following steps:
Calculating a difference value through the real-time rotating speed and the target rotating speed to obtain the rotating speed deviation, wherein the difference value calculation is used for subtracting the target rotating speed from the actual rotating speed;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
and when the rotation speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
Further, before the first strategy is obtained from the preset torque control strategy set as the control strategy when the rotational speed deviation is determined to be a positive value, the method further includes:
judging whether the absolute value of the rotating speed deviation exceeds a preset deviation threshold value or not;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
When the rotation speed deviation is determined to be a negative value, a second strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
and when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
Further, before the performing a control operation on the motor based on the control strategy, the method further includes:
and acquiring model information of the motors, and acquiring the minimum actual maximum torque from a preset maximum torque table based on the model information as the preset maximum torque, wherein the preset maximum torque table contains the actual maximum torque corresponding to each motor, which is obtained by actually testing a plurality of motors with the same model information.
Further, the performing a control operation on the motor based on the control strategy includes:
comparing the control torque with a preset maximum torque;
when the control torque is larger than the preset maximum torque, determining the preset maximum torque as the real-time target torque;
And when the control torque is smaller than the preset maximum torque, determining the control torque as the real-time target torque.
Further, the method further comprises:
when start success information fed back by power equipment is received, a control suspension instruction is generated based on the start success information, and the control operation of the motor is suspended through the control suspension instruction, wherein the power equipment is power management equipment of a vehicle where the motor is located.
The present application also provides a computer program product adapted to perform, when executed on a data processing device, a program code initialized with the method steps of: determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises a control torque of a motor, and the target rotational speed is the rotational speed of the range extender corresponding to different running moments after the range extender is started based on the motor; performing a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment, or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems) and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flowchart illustrations and/or block diagrams, and combinations of flows and/or blocks in the flowchart illustrations and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In one typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include volatile memory in a computer-readable medium, random Access Memory (RAM) and/or nonvolatile memory, etc., such as Read Only Memory (ROM) or flash RAM. Memory is an example of a computer-readable medium.
Computer readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of storage media for a computer include, but are not limited to, phase change memory (PRAM), static Random Access Memory (SRAM), dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), read Only Memory (ROM), electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium, which can be used to store information that can be accessed by a computing device. Computer-readable media, as defined herein, does not include transitory computer-readable media (transmission media), such as modulated data signals and carrier waves.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article or apparatus that comprises an element.
It will be appreciated by those skilled in the art that embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The foregoing is merely exemplary of the present application and is not intended to limit the present application. Various modifications and changes may be made to the present application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc. which are within the spirit and principles of the present application are intended to be included within the scope of the claims of the present application.
Claims (10)
1. A start-up control method of an electric motor, characterized by comprising:
determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of a range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises a control torque of a motor, and the target rotational speed is the rotational speed of the range extender corresponding to different running moments after the range extender is started based on the motor;
Performing a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
2. The method of claim 1, wherein before determining a rotational speed deviation from a real-time rotational speed of the range extender to a target rotational speed and obtaining a control strategy corresponding to the rotational speed deviation in a set of preset control strategies based on the rotational speed deviation, the method further comprises:
after a motor starting instruction is received, acquiring the real-time rotating speed of the range extender through a preset sensor, and acquiring the running time corresponding to the real-time rotating speed;
and acquiring a corresponding target rotating speed in a preset rotating speed relation based on the running time, wherein the preset rotating speed relation comprises rotating speeds under different running time.
3. The method of claim 2, wherein the set of preset control strategies includes at least a first strategy and a second strategy; the first strategy is used for controlling the motor to increase torque when the target rotating speed is larger than the actual rotating speed, and the control torque contained in the first strategy is positive; the second strategy is used for controlling the motor to reduce torque when the target rotating speed is smaller than the actual rotating speed, and the control torque contained in the second strategy is negative;
The step of determining the rotation speed deviation according to the real-time rotation speed and the target rotation speed of the range extender, and the step of obtaining the control strategy corresponding to the rotation speed deviation in the preset control strategy set based on the rotation speed deviation comprises the following steps:
calculating a difference value through the real-time rotating speed and the target rotating speed to obtain the rotating speed deviation, wherein the difference value calculation is used for subtracting the target rotating speed from the actual rotating speed;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
and when the rotation speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
4. A method according to claim 3, characterized in that before the first strategy is obtained from the set of preset torque control strategies as the control strategy when the rotational speed deviation is determined to be positive, the method further comprises:
judging whether the absolute value of the rotating speed deviation exceeds a preset deviation threshold value or not;
when the rotation speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
When the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a positive value, a first strategy is obtained from the preset torque control strategy set to serve as the control strategy;
when the rotation speed deviation is determined to be a negative value, a second strategy is obtained from the preset torque control strategy set as the control strategy, and the method comprises the following steps:
and when the absolute value of the rotating speed deviation exceeds a preset deviation threshold value and the rotating speed deviation is determined to be a negative value, acquiring a second strategy from the preset torque control strategy set as the control strategy.
5. The method of claim 1, wherein prior to the performing a control operation on the motor based on the control strategy, the method further comprises:
and acquiring model information of the motors, and acquiring the minimum actual maximum torque from a preset maximum torque table based on the model information as the preset maximum torque, wherein the preset maximum torque table contains the actual maximum torque corresponding to each motor, which is obtained by actually testing a plurality of motors with the same model information.
6. The method of claim 1, wherein the performing a control operation on the motor based on the control strategy comprises:
comparing the control torque with a preset maximum torque;
when the control torque is larger than the preset maximum torque, determining the preset maximum torque as the real-time target torque;
and when the control torque is smaller than the preset maximum torque, determining the control torque as the real-time target torque.
7. The method according to any one of claims 1-6, further comprising:
when start success information fed back by power equipment is received, a control suspension instruction is generated based on the start success information, and the control operation of the motor is suspended through the control suspension instruction, wherein the power equipment is power management equipment of a vehicle where the motor is located.
8. A start-up control device for an electric motor, the device comprising:
the determining unit is used for determining a rotational speed deviation according to the real-time rotational speed and a target rotational speed of the range extender, and acquiring a control strategy corresponding to the rotational speed deviation from a preset control strategy set based on the rotational speed deviation, wherein the preset control strategy set comprises the control strategy corresponding to each rotational speed deviation range, each control strategy comprises the control torque of a motor, and the target rotational speed is the rotational speed corresponding to the range extender at different running moments after the motor is started;
An execution unit configured to execute a control operation on the motor based on the control strategy; the control operation is used for selecting the smaller one of the control torque and the preset maximum torque to be determined as the real-time target torque of the motor, so that the motor is controlled to operate according to the real-time target torque.
9. A storage medium comprising a stored program, wherein the program, when run, controls a device in which the storage medium is located to perform the start-up control method of the motor according to any one of claims 1 to 7.
10. A start-up control device for an electric motor, the device comprising a storage medium; and one or more processors coupled to the storage medium, the processors configured to execute the program instructions stored in the storage medium; the program instructions, when executed, perform the start-up control method of the motor of any one of claims 1 to 7.
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310515170.2A CN116512931A (en) | 2023-05-08 | 2023-05-08 | Motor starting control method and device |
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| Application Number | Priority Date | Filing Date | Title |
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| CN202310515170.2A CN116512931A (en) | 2023-05-08 | 2023-05-08 | Motor starting control method and device |
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| CN116512931A true CN116512931A (en) | 2023-08-01 |
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