CN116872747A - Torque recovery method, torque recovery device, vehicle and computer equipment - Google Patents

Torque recovery method, torque recovery device, vehicle and computer equipment Download PDF

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Publication number
CN116872747A
CN116872747A CN202310791802.8A CN202310791802A CN116872747A CN 116872747 A CN116872747 A CN 116872747A CN 202310791802 A CN202310791802 A CN 202310791802A CN 116872747 A CN116872747 A CN 116872747A
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CN
China
Prior art keywords
torque
recovery
constraint
initial target
request
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Pending
Application number
CN202310791802.8A
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Chinese (zh)
Inventor
李良浩
张正萍
黄大飞
刘小飞
唐如意
崔环宇
谭开波
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Thalys Automobile Co ltd
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Thalys Automobile Co ltd
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Priority to CN202310791802.8A priority Critical patent/CN116872747A/en
Publication of CN116872747A publication Critical patent/CN116872747A/en
Pending legal-status Critical Current

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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
    • B60L15/2045—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 for optimising the use of energy
    • 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
    • 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
    • B60L2240/421—Speed
    • 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
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The present application relates to the field of vehicle torque technologies, and in particular, to a torque recovery method, a torque recovery device, a vehicle, and a computer device. The torque recovery method comprises the following steps: the vehicle is in a low power condition; calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque; responding to the fact that the initial target torque exceeds the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to a motor control module; and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module. By adopting the method, the vehicle working condition can be identified, and the influence on the energy consumption is reduced while the smoothness of the low-power state of the vehicle is optimized.

Description

Torque recovery method, torque recovery device, vehicle and computer equipment
Technical Field
The present application relates to the field of vehicle torque technologies, and in particular, to a torque recovery method, a torque recovery device, a vehicle, and a computer device.
Background
When the battery of the new energy automobile is at low temperature or high SOC (State of charge), the available power of the automobile is low, the situation that the available torque limits the torque of the motor easily occurs, the problem of insufficient smoothness of the whole automobile is caused, and the expected effect of the driving action is difficult to realize. The lost deceleration is usually compensated for by hydraulic replenishment, which affects the energy consumption of the vehicle.
Disclosure of Invention
In view of the foregoing, it is desirable to provide a torque recovery method, a torque recovery device, a vehicle, and a computer device that are capable of identifying vehicle conditions and reducing the impact on energy consumption while optimizing the smoothness of the low power state of the vehicle.
In one aspect, a torque recovery method is provided, the torque recovery method comprising: acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition; calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque; responding to the fact that the initial target torque exceeds the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to a motor control module; and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module.
In one embodiment of the present application, first constraining the initial target torque with the reclaiming constraint torque includes: retrieving the larger of the harvest constraint torque and the initial target torque as a first target torque; and adjusting the first target torque according to the current state of the vehicle and the previous torque parameter to obtain a first request torque.
In one embodiment of the present application, the previous torque parameter is the previous recovery constraint torque; adjusting the first target torque in combination with the current state of the vehicle and the previous torque parameter, and obtaining the first request torque comprises: obtaining the vehicle speed and the previous recovery constraint torque; resolving the regulating factor by combining the vehicle speed and the previous recovery constraint torque; subtracting the adjustment factor from the first target torque to obtain a first requested torque.
In one embodiment of the present application, the second constraint on the initial target torque using the tie-up torque comprises: selecting the larger of the self-binding torque and the initial target torque as a second target torque; and adjusting and analyzing the constraint factors by combining the current state of the vehicle and the previous torque parameter, and reducing the second target torque by utilizing the constraint factors to form a second request torque.
In one embodiment of the application, the initial target torque exceeding the recovery constraint torque comprises: the difference between the recovery constraint torque and the initial target torque is greater than a first threshold.
In an embodiment of the present application, the torque recovery method further includes: acquiring the previous request torque, and comparing the initial target torque with the previous request torque; and in response to the difference between the initial target torque and the previous requested torque being less than a second threshold, determining that torque recovery is complete and requesting the initial target torque from the motor control module.
In an embodiment of the present application, the torque recovery method further includes: resolving filtering factors by combining the vehicle speed and the difference value between the initial target torque and the previous request torque; weighting and fusing the second request torque and the previous request torque by using the filtering factor and the adjusting factor to obtain the current request torque; the filtering factor and the adjusting factor are balance numbers related to a preset value, and the second torque request is to request the current request torque to the motor control module.
In another aspect, there is provided a torque recovery device comprising: the acquisition module and the control module; the acquisition module is used for acquiring recovery constraint power of the vehicle, motor rotation speed of the driving motor and initial target torque; the control module is connected with the acquisition module and is used for realizing the torque recovery method in any one of the embodiments.
In yet another aspect, a vehicle is provided that includes a torque recovery device, a drive motor, and a motor control module; the torque recovery device is as set forth in the above embodiments; the motor control module is connected with the torque recovery device and the driving motor, receives the first torque request and the second torque request, and adjusts the torque of the driving motor according to the first torque request and the second torque request.
In yet another aspect, a computer device is provided comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, the processor implementing the following steps when executing the computer program: acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition; calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque; responding to the fact that the initial target torque exceeds the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to a motor control module; and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module.
According to the torque recovery method, the torque recovery device, the vehicle and the computer equipment, when the vehicle is in the low-power working condition, the recovery constraint torque for limiting the initial target torque is generated based on the current recovery constraint power, and the recovery torque is subjected to smooth processing. And when the initial target torque does not exceed the recovery constraint torque, converting the method for constraining the initial target torque, and constraining the initial target torque by utilizing the constraint torque so as to meet the recovery expectation. Meanwhile, the application utilizes the recovery function to limit the requested torque so as to optimize the smoothness of the low-power state of the vehicle, reduce the intervention of a hydraulic supplementing mode and simultaneously be beneficial to reducing the influence on the energy consumption of the vehicle.
Drawings
FIG. 1 is a schematic flow chart of an embodiment of a torque recovery method of the present application;
FIG. 2 is a schematic flow chart diagram of another embodiment of a torque recovery method of the present application;
FIG. 3 is a schematic diagram of an embodiment of a torque recovery device of the present application;
FIG. 4 is a schematic view of a vehicle according to an embodiment of the present application;
FIG. 5 is a schematic diagram of an embodiment of a computer device of the present application.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The application provides a torque recovery method, a torque recovery device, a vehicle and computer equipment, which are used for solving the technical problem that the energy consumption of the vehicle is influenced when the smoothness is optimized in the prior art.
In one embodiment, as shown in fig. 1, a torque recovery method is provided, and fig. 1 is a schematic flow chart of an embodiment of the torque recovery method of the present application.
S101: acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition.
In this embodiment, when the vehicle is in a low power condition, a low power recovery control is required to compensate for the deceleration loss.
The recovery constraint power of the vehicle is equivalent to the recovery constraint power, and the smoothness of the vehicle can be optimized by utilizing the recovery constraint power.
The motor speed may be fed back by the motor control module. The initial target torque is a target torque generated by a control module such as a VCU (Vehicle Control Unit, vehicle controller).
S102: and calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque.
In this embodiment, the theoretical recovery limiting torque can be derived by using the recovery limiting power and the motor rotation speed by using the association relationship among the power, the rotation speed and the torque, the recovery limiting torque can adapt to the current working condition of the vehicle, and the recovery limiting torque is used for limiting the request torque, thereby being beneficial to reducing risks such as influencing the smoothness of the vehicle.
And comparing the initial target torque with the recovery constraint torque to realize the self-adaptive adjustment of the request torque.
S103: and in response to the initial target torque exceeding the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to the motor control module.
In this embodiment, in response to the initial target torque exceeding the recovery constraint torque, the initial torque is first constrained with the recovery constraint torque to obtain a first requested torque, and a first torque request is sent to the motor control module based on the first requested torque. That is, the first torque request is a request for the motor control module to adjust the drive motor according to the first requested torque. Thus, it is possible to facilitate optimization of smoothness of the vehicle.
S104: and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module.
In this embodiment, in response to the initial target torque not exceeding the recovery constraint torque after the adjustment based on the first constraint, it is considered that the manner of limiting the torque can be adjusted to flexibly and efficiently perform the torque recovery.
And re-resolving a limiting adjustment, namely binding torque, by combining the current state of the vehicle and recovering the limiting power. And performing second constraint on the initial target torque by using the constraint torque to obtain a second request torque which is requested to the motor control module, so that the motor control module adjusts the torque of the driving motor based on the second request torque.
It can be seen that the recovery restriction torque for restricting the initial target torque is generated based on the current recovery restriction power under the low power condition of the vehicle, and the recovery torque is smoothed. And when the initial target torque does not exceed the recovery constraint torque, converting the method for constraining the initial target torque, and constraining the initial target torque by utilizing the constraint torque so as to meet the recovery expectation. Meanwhile, the application utilizes the recovery function to limit the requested torque so as to optimize the smoothness of the low-power state of the vehicle, reduce the intervention of a hydraulic supplementing mode and simultaneously be beneficial to reducing the influence on the energy consumption of the vehicle.
In one embodiment, as shown in fig. 2, a torque recovery method is provided, and fig. 2 is a schematic flow chart of another embodiment of the torque recovery method of the present application.
S201: the recovery restriction power of the vehicle, the motor rotation speed of the drive motor, and the initial target torque are obtained.
In this embodiment, the vehicle is in a low power condition, and the vehicle recovery constraint power, the motor rotation speed of the driving motor, and the initial target torque are obtained for analysis of torque recovery.
S202: and calculating the recovery constraint torque based on the recovery constraint power and the motor rotation speed.
In the present embodiment, the recovery restriction torque may be calculated based on a calculation formula of the power, the rotation speed, and the torque. The specific calculation formula is as follows:
in formula 1-1, T Limit To recover the constraint torque; p (P) Limit To recover the constraint power; n is the motor speed.
In an alternative embodiment, a two-dimensional table of recovery constraint power, motor rotation speed and recovery constraint torque may be pre-established, and a table look-up operation may be performed based on the obtained recovery constraint power and motor rotation speed to read the recovery constraint torque matched with the two.
S203: and comparing the initial target torque with the recovery constraint torque.
In the present embodiment, it may be determined whether or not the initial target torque exceeds the recovery restriction torque.
In response to the initial target torque exceeding the recovery constraint torque, it is considered that the recoverable torque is exceeded, there is a risk of affecting smoothness of the vehicle, and the recovery constraint torque is used to make a first constraint on the initial target torque, step S204 is executed. In response to the initial target torque not exceeding the recovery restriction torque, step S201 is executed.
The torque can be recovered under the low-power working condition, namely the initial target torque and the recovery constraint torque are both negative values.
Further, the initial target torque exceeding the recovery constraint torque may be that a difference between the recovery constraint torque and the initial target torque is greater than a first threshold.
The first threshold may be a preset fixed value, or may be optimized by using an algorithm model, which is not limited herein. The specific calculation formula can be as follows:
T Limit -T CrRaw >a1 type 1-2
In the formula 1-2, T Limit To recover the constraint torque; t (T) CrRaw Is an initial target torque; a1 is a first threshold. Since the vehicle is in a low power state, the values of the recovery restricting torque and the initial target torque are negative.
In an alternative embodiment, it may be determined whether the initial target torque exceeds the recovery constraint torque based on the magnitude of the initial target torque and the recovery constraint torque, which are both relatively large and small, and the initial target torque is considered to exceed the recovery constraint torque when the magnitude of the initial target torque is smaller than the magnitude of the recovery constraint torque. Alternatively, the absolute values of both the initial target torque and the recovery constraint torque are compared, and the initial target torque is greater than the recovery constraint torque, and is considered to exceed the recovery constraint torque.
S204: the larger of the harvest constraint torque and the initial target torque is retrieved as the first target torque.
In this embodiment, the first target torque is obtained by comparing the initial target torque with the recovery constraint torque and then taking the larger value. The specific calculation formula can be:
T Raw1 ＝Max[T Limit ，T CrRaw ]1-3
In the formulas 1 to 3, T Raw1 Is a first target torque; max [ x, y ]]Selecting a larger value from x and y; t (T) Limit To recover the constraint torque; t (T) CrRaw Is the initial target torque.
In combination with the above, when the initial target torque exceeds the recovery restriction torque, the recovery restriction torque is larger than the initial target torque, or the recovery restriction torque may be directly used as the first target torque.
S205: and adjusting the first target torque according to the current state of the vehicle and the previous torque parameter to obtain a first request torque.
In the present embodiment, the previous torque parameter may be the previous recovery constraint torque.
Specifically, the vehicle speed and the previous recovery restriction torque can be acquired. And resolving the regulating factor by combining the vehicle speed and the previous recovery constraint torque. Further, the adjustment factor is inversely proportional to the absolute value of the previous recovery constraint torque to achieve smooth processing of the recovery torque.
The adjustment factor may be analyzed by an algorithm model, a calculation formula, or the like. Or, a two-dimensional table of the vehicle speed, the previous recovery constraint torque and the adjustment factor may be pre-established, and the adjustment factor may be obtained by performing a table look-up operation, and the two-dimensional table of the vehicle speed, the previous recovery constraint torque and the adjustment factor is shown by way of example in table 1:
TABLE 1 first preset list
Subtracting the adjustment factor from the first target torque to obtain a first requested torque. The specific calculation formula can be as follows:
T Req1 ＝T Raw -T Step 1-4
In the formulas 1 to 4, T Req1 Is the first requested torque; t (T) Raw Is a first target torque; t (T) Step Is a regulatory factor.
S206: a first torque request is sent to a motor control module.
In this embodiment, a first torque request is generated using the first requested torque and sent to the motor control module.
In an alternative embodiment, S205 may also be omitted, with the first torque request being generated directly from the first target torque.
S207: it is determined whether the initial target torque exceeds the recovery restriction torque.
In the present embodiment, in response to the initial target torque exceeding the recovery restricting torque, it is considered that the initial target torque can be subjected to the second constraint, step S204 is performed. In response to the initial target torque not exceeding the recovery restriction torque, step S208 is performed.
Further, a flag bit may be preset, and when the initial target torque exceeds the recovery constraint torque, the first flag bit is controlled to be in an activated state, and in step S207, whether the first flag bit is in an activated state may be identified, and when the first flag bit is not in an activated state, step S208 is executed.
S208: and resolving the binding torque by combining the vehicle speed and the recovery restriction power.
In the present embodiment, the binding torque may be analyzed by an algorithm model or the like. Or, the two-dimensional table of the vehicle speed, the recovery constraint power and the constraint torque can be preset, and the table lookup operation is performed to obtain the constraint torque so as to reduce the calculation load.
Wherein, constraint torque is in direct proportion with the absolute value of recovery constraint power to satisfy higher recovery expectations. Two-dimensional table showing vehicle speed, absolute value of recovery constraint power, and constraint torque by way of example is shown in table 2:
TABLE 2 second preset list
S209: and carrying out second constraint on the initial target torque by using the constraint torque to obtain a second request torque.
In the present embodiment, the larger one may be selected from both the binding torque and the initial target torque as the second target torque. The specific selection formula can be:
T Raw2 ＝Max[T RawLimit ，T CrRaw ]1-5
In the formulas 1 to 5, T Raw2 Is a second target torque; max [ x, y ]]Selecting a larger value from x and y; t (T) RawLimit Is the binding torque; t (T) CrRaw Is the initial target torque.
And adjusting and analyzing the constraint factors by combining the current state of the vehicle and the previous torque parameters.
Alternatively, the binding torque may be resolved by means of an algorithm model, or the like. Or, a two-dimensional table of the vehicle speed, the previous recovery constraint torque and the constraint factor can be preset, and a table look-up operation is performed to obtain the constraint torque so as to reduce the calculation load. Alternatively, the constraint factor may be the same as the calculation of the adjustment factor, which is advantageous for simplifying the process.
The second target torque is reduced using the constraint factor to form a second requested torque. Optionally, after the constraint factor is corrected, subtracting the corrected constraint factor from the second target torque; alternatively, the constraint factor may be directly subtracted from the second target torque, and the specific calculation formula may be as follows:
T Req ＝T Raw -T St 1-6
In the formulas 1 to 6, T Req Is the second requested torque; t (T) Raw Is a second target torque; t (T) St Is a constraint factor.
S210: a second torque request is sent to the motor control module.
In this embodiment, the first torque request is generated using the second requested torque and sent to the motor control module.
In an alternative embodiment, the first torque request may also be generated directly using the second target torque in S209.
S211: the last requested torque is obtained.
In the present embodiment, the requested torque in the torque request previously sent to the motor control module may be acquired as the previous requested torque.
Alternatively, an adjacent previous acquisition may be selected.
S212: and comparing whether the initial target torque and the previous request torque match.
In the present embodiment, although the present step is the step S212, the present step is not necessarily performed after the step S211, and the present step may be performed after each initial target torque generation.
In response to the initial target torque and the previous requested torque matching, step S213 is performed; in response to the initial target torque and the previous requested torque not matching, step S204 is performed if the previous requested torque is the first requested torque, step S208 is performed if the previous requested torque is the second requested torque, and the case where the requested torque is the second requested torque is illustrated in fig. 2.
The initial target torque and the previous requested torque match may be that a difference between the initial target torque and the previous requested torque is less than a second threshold; alternatively, the difference between the initial target torque and the previous requested torque is less than or equal to the second threshold.
In other words, the principle formula for performing step S204 or step S208 may be as follows:
T Reqz -T Raw >b1 type 1-7
In the formulas 1 to 7, T Reqz For the previous torque request; t (T) Raw Is an initial target torque; b1 is a second threshold.
S213: and judging that the torque recovery is completed, and requesting an initial target torque to a motor control module.
In this embodiment, the initial target torque and the previous requested torque match may be a difference between them less than a second threshold.
It may be determined that torque recovery is complete in response to the difference between the initial target torque and the previously requested torque being less than a second threshold, the initial target torque may be requested from the motor control module.
Optionally, in this embodiment, the requested torque may be filtered, and the torque request may be generated based on the processed requested torque, so as to implement smoother torque recovery and optimize smoothness of the vehicle. Wherein the requested torque may be the first requested torque and/or the second requested torque.
That is, the first requested torque may be subjected to the filter processing; alternatively, the second requested torque may be filtered; alternatively, the first requested torque and the second requested torque may be filtered.
Specifically, the filter factor may be resolved in combination with both the vehicle speed and the difference between the initial target torque and the previous requested torque.
Alternatively, a two-dimensional table of vehicle speed, binding torque, and filter factor may be preset, and the two-dimensional table of vehicle speed, difference (difference between initial target torque and previous requested torque), and filter factor is shown by way of example in table 2:
TABLE 3 third preset list
And weighting and fusing the second request torque and the previous request torque by using the filtering factor and the adjusting factor to obtain the current request torque. The filtering factor and the adjusting factor are balance numbers related to a preset value, and the second torque request is to request the current request torque to the motor control module.
y (t) =k·u (t) + (1-K) ·y (t-1) formula 2-1
In formula 2-1, y (t) is the filtered torque request; k is a filtering factor; u (t) is the requested torque; y (t-1) is the last torque request.
Therefore, in the embodiment, the limit scene is judged by identifying the recovery limit torque and the initial target torque, the adjustment factor and the constraint factor are adjusted, the influence of the low power of the battery on the driving feeling of the whole vehicle is reduced as much as possible on the premise of reducing the influence on the conventional driving scene, and the problems of smoothness of the whole vehicle under low power and the like are solved.
It should be understood that, although the steps in the flowcharts of fig. 1-2 are shown in order as indicated by the arrows, these steps are not necessarily performed in order as indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in fig. 1-2 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, nor does the order in which the sub-steps or stages are performed necessarily occur in sequence, but may be performed alternately or alternately with at least a portion of the other steps or sub-steps or stages of other steps.
In one embodiment, as shown in fig. 3, a torque recovery device is provided, and fig. 3 is a schematic structural diagram of an embodiment of the torque recovery device of the present application.
The torque recovery device comprises a collection module 31 and a control module 32.
The acquisition module 31 is used for acquiring the recovery constraint power of the vehicle, the motor rotation speed of the driving motor and the initial target torque.
The control module 32 is connected to the acquisition module 31 for implementing the torque recovery method set forth in any one of the embodiments above. When the vehicle is in a low-power working condition, calculating recovery constraint torque based on recovery constraint power and motor rotation speed, and comparing the initial target torque with the recovery constraint torque; in response to the initial target torque exceeding the recovery constraint torque, performing a first constraint on the initial target torque with the recovery constraint torque to obtain a first requested torque, and sending the first torque request to the motor control module 32; in response to the initial target torque not exceeding the recovery constraint torque, resolving the tie-up torque in combination with both vehicle speed and recovery constraint power, and utilizing the tie-up torque to apply a second constraint to the initial target torque to obtain a second request torque, the second request torque being sent to the motor control module 32.
In one embodiment, as shown in fig. 4, a vehicle is provided, and fig. 4 is a schematic structural view of an embodiment of the vehicle of the present application.
The vehicle includes a torque recovery device 30, a motor control module 41, and a drive motor 42.
The torque recovery device 30 is as set forth in the above embodiments.
The motor control module 41 is connected to the torque recovery device 30 and the drive motor 42, and the motor control module 41 receives the first torque request and the second torque request and adjusts the torque of the drive motor 42 according to the first torque request and the second torque request.
The specific limitations of the torque recovery device 30 and the vehicle can be found in the above description of the torque recovery method, and will not be repeated here. The torque-generative devices 30, the various modules in the vehicle described above may be implemented in whole or in part in software, hardware, and combinations thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, as shown in fig. 5, a computer device is provided, and fig. 5 is a schematic structural diagram of an embodiment of the computer device according to the present application.
The computer device comprises a processor 51, a memory 52 and a computer program stored on the memory 52 and executable on the processor 51.
It will be appreciated by those skilled in the art that the structure shown in FIG. 5 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, the processor when executing the computer program performs the steps of:
s101: acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition.
S102: and calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque.
S103: and in response to the initial target torque exceeding the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to the motor control module.
S104: and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module.
In an embodiment, the processor when executing the computer program further performs the steps of:
s201: the recovery restriction power of the vehicle, the motor rotation speed of the drive motor, and the initial target torque are obtained.
In this embodiment, the vehicle is in a low power condition.
S202: and calculating the recovery constraint torque based on the recovery constraint power and the motor rotation speed.
S203: and comparing the initial target torque with the recovery constraint torque.
In the present embodiment, it may be determined whether or not the initial target torque exceeds the recovery restriction torque.
In response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be first constrained with the recovery constraint torque, step S204 is performed. In response to the initial target torque not exceeding the recovery restriction torque, step S201 is executed.
Further, the initial target torque exceeding the recovery constraint torque may be that a difference between the recovery constraint torque and the initial target torque is greater than a first threshold.
S204: the larger of the harvest constraint torque and the initial target torque is retrieved as the first target torque.
S205: and adjusting the first target torque according to the current state of the vehicle and the previous torque parameter to obtain a first request torque.
In the present embodiment, the previous torque parameter may be the previous recovery constraint torque.
Specifically, the vehicle speed and the previous recovery restriction torque can be acquired. And resolving the regulating factor by combining the vehicle speed and the previous recovery constraint torque. Subtracting the adjustment factor from the first target torque to obtain a first requested torque.
S206: a first torque request is sent to a motor control module.
S207: it is determined whether the initial target torque exceeds the recovery restriction torque.
In the present embodiment, in response to the initial target torque exceeding the recovery restricting torque, it is considered that the initial target torque can be subjected to the second constraint, step S204 is performed. In response to the initial target torque not exceeding the recovery restriction torque, step S208 is performed.
S208: and resolving the binding torque by combining the vehicle speed and the recovery restriction power.
S209: and carrying out second constraint on the initial target torque by using the constraint torque to obtain a second request torque.
In the present embodiment, the larger one may be selected from both the binding torque and the initial target torque as the second target torque.
And adjusting and analyzing the constraint factors by combining the current state of the vehicle and the previous torque parameter, and reducing the second target torque by utilizing the constraint factors to form a second request torque.
S210: a second torque request is sent to the motor control module.
S211: the last requested torque is obtained.
S212: and comparing whether the initial target torque and the previous request torque match.
In the present embodiment, in response to the initial target torque and the previous requested torque matching, step S213 is performed; in response to the initial target torque and the previous requested torque not matching, step S208 is performed.
S213: and judging that the torque recovery is completed, and requesting an initial target torque to a motor control module.
In this embodiment, the initial target torque and the previous requested torque match may be a difference between them less than a second threshold.
It may be determined that torque recovery is complete in response to the difference between the initial target torque and the previously requested torque being less than a second threshold, the initial target torque may be requested from the motor control module.
Alternatively, in the present embodiment, the requested torque may also be subjected to the filter processing.
Specifically, the filter factor may be resolved in combination with both the vehicle speed and the difference between the initial target torque and the previous requested torque.
And weighting and fusing the second request torque and the previous request torque by using the filtering factor and the adjusting factor to obtain the current request torque. The filtering factor and the adjusting factor are balance numbers related to a preset value, and the second torque request is to request the current request torque to the motor control module.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
s101: acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition.
S102: and calculating recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque.
S103: and in response to the initial target torque exceeding the recovery constraint torque, performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first torque request to the motor control module.
S104: and responding to that the initial target torque does not exceed the recovery constraint torque, analyzing the constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to the motor control module.
In one embodiment, the computer program when executed by the processor further performs the steps of:
s201: the recovery restriction power of the vehicle, the motor rotation speed of the drive motor, and the initial target torque are obtained.
In this embodiment, the vehicle is in a low power condition.
S202: and calculating the recovery constraint torque based on the recovery constraint power and the motor rotation speed.
S203: and comparing the initial target torque with the recovery constraint torque.
In the present embodiment, it may be determined whether or not the initial target torque exceeds the recovery restriction torque.
In response to the initial target torque exceeding the recovery constraint torque, it is considered that the initial target torque can be first constrained with the recovery constraint torque, step S204 is performed. In response to the initial target torque not exceeding the recovery restriction torque, step S201 is executed.
Further, the initial target torque exceeding the recovery constraint torque may be that a difference between the recovery constraint torque and the initial target torque is greater than a first threshold.
S204: the larger of the harvest constraint torque and the initial target torque is retrieved as the first target torque.
S205: and adjusting the first target torque according to the current state of the vehicle and the previous torque parameter to obtain a first request torque.
In the present embodiment, the previous torque parameter may be the previous recovery constraint torque.
Specifically, the vehicle speed and the previous recovery restriction torque can be acquired. And resolving the regulating factor by combining the vehicle speed and the previous recovery constraint torque. Subtracting the adjustment factor from the first target torque to obtain a first requested torque.
S206: a first torque request is sent to a motor control module.
S207: it is determined whether the initial target torque exceeds the recovery restriction torque.
In the present embodiment, in response to the initial target torque exceeding the recovery restricting torque, it is considered that the initial target torque can be subjected to the second constraint, step S204 is performed. In response to the initial target torque not exceeding the recovery restriction torque, step S208 is performed.
S208: and resolving the binding torque by combining the vehicle speed and the recovery restriction power.
S209: and carrying out second constraint on the initial target torque by using the constraint torque to obtain a second request torque.
In the present embodiment, the larger one may be selected from both the binding torque and the initial target torque as the second target torque.
And adjusting and analyzing the constraint factors by combining the current state of the vehicle and the previous torque parameter, and reducing the second target torque by utilizing the constraint factors to form a second request torque.
S210: a second torque request is sent to the motor control module.
S211: the last requested torque is obtained.
S212: and comparing whether the initial target torque and the previous request torque match.
In the present embodiment, in response to the initial target torque and the previous requested torque matching, step S213 is performed; in response to the initial target torque and the previous requested torque not matching, step S208 is performed.
S213: and judging that the torque recovery is completed, and requesting an initial target torque to a motor control module.
In this embodiment, the initial target torque and the previous requested torque match may be a difference between them less than a second threshold.
It may be determined that torque recovery is complete in response to the difference between the initial target torque and the previously requested torque being less than a second threshold, the initial target torque may be requested from the motor control module.
Alternatively, in the present embodiment, the requested torque may also be subjected to the filter processing.
Specifically, the filter factor may be resolved in combination with both the vehicle speed and the difference between the initial target torque and the previous requested torque.
And weighting and fusing the second request torque and the previous request torque by using the filtering factor and the adjusting factor to obtain the current request torque. The filtering factor and the adjusting factor are balance numbers related to a preset value, and the second torque request is to request the current request torque to the motor control module.
Those skilled in the art will appreciate that implementing all or part of the above-described methods in accordance with the embodiments may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed may comprise the steps of the embodiments of the methods described above. Any reference to memory, storage, database, or other medium used in embodiments provided herein may include non-volatile and/or volatile memory. The nonvolatile memory can include Read Only Memory (ROM), programmable ROM (PROM), electrically Programmable ROM (EPROM), electrically Erasable Programmable ROM (EEPROM), or flash memory. Volatile memory can include Random Access Memory (RAM) or external cache memory. By way of illustration and not limitation, RAM is available in a variety of forms such as Static RAM (SRAM), dynamic RAM (DRAM), synchronous DRAM (SDRAM), double Data Rate SDRAM (DDRSDRAM), enhanced SDRAM (ESDRAM), synchronous Link DRAM (SLDRAM), memory bus direct RAM (RDRAM), direct memory bus dynamic RAM (DRDRAM), and memory bus dynamic RAM (RDRAM), among others.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application, which are described in detail and are not to be construed as limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of protection of the present application is to be determined by the appended claims.

Claims (10)

1. A torque recovery method, characterized in that the torque recovery method comprises:
acquiring recovery constraint power of a vehicle, motor rotation speed of a driving motor and initial target torque; wherein the vehicle is in a low power condition;
calculating a recovery constraint torque based on the recovery constraint power and the motor rotation speed, and comparing the initial target torque with the recovery constraint torque;
responding to the initial target torque exceeding the recovery constraint torque, and performing first constraint on the initial target torque by utilizing the recovery constraint torque to obtain a first request torque, and sending the first request torque to a motor control module;
and responding to the initial target torque not exceeding the recovery constraint torque, analyzing constraint torque by combining the vehicle speed and the recovery constraint power, and carrying out second constraint on the initial target torque by utilizing the constraint torque to obtain a second request torque, and sending the second request torque to a motor control module.
2. The method of claim 1, wherein the first constraining the initial target torque using the reclaiming constraint torque to obtain a first requested torque comprises:
taking the larger of the recovery constraint torque and the initial target torque as a first target torque;
and adjusting the first target torque according to the current state of the vehicle and the previous torque parameter to obtain the first request torque.
3. The torque recovery method according to claim 2, wherein the previous torque parameter is a previous recovery constraint torque;
the adjusting the first target torque in combination with the current state of the vehicle and the previous torque parameter to obtain the first request torque includes:
obtaining the vehicle speed and the previous recovery constraint torque;
combining the vehicle speed and the previous recovery constraint torque analysis adjustment factor;
subtracting the adjustment factor from the first target torque to obtain a first request torque.
4. The torque recovery method of claim 1, wherein said second constraining the initial target torque with the tie-up torque comprises:
selecting a larger one of the binding torque and the initial target torque as a second target torque;
and adjusting and analyzing a constraint factor by combining the current state of the vehicle and the previous torque parameter, and reducing the second target torque by using the constraint factor to form the second request torque.
5. The torque recovery method according to claim 1, wherein the initial target torque exceeding the recovery constraint torque comprises: the difference between the recovery constraint torque and the initial target torque is greater than a first threshold.
6. The torque recovery method according to claim 1, characterized in that the torque recovery method further comprises:
acquiring a previous request torque, and comparing the initial target torque with the previous request torque;
and in response to the difference between the initial target torque and the previous requested torque being less than a second threshold, determining that torque recovery is complete, and requesting the initial target torque from a motor control module.
7. The torque recovery method according to claim 1, characterized in that the torque recovery method further comprises:
resolving a filter factor by combining the vehicle speed and the difference between the initial target torque and the previous request torque;
weighting and fusing the second request torque and the previous request torque by using the filtering factor and the adjusting factor to obtain the current request torque; the filtering factor and the adjusting factor are balance numbers related to a preset value, and the second torque request is to request the current request torque to a motor control module.
8. A torque recovery device, characterized in that the torque recovery device comprises:
the acquisition module is used for acquiring recovery restriction power of the vehicle, motor rotation speed of the driving motor and initial target torque;
a control module, connected to the acquisition module, for implementing the torque recovery method according to any one of claims 1 to 7.
9. A vehicle, characterized in that the vehicle comprises:
the torque recovery device of claim 8;
the motor control module is connected with the torque recovery device and the driving motor, receives the first torque request and the second torque request, and adjusts the torque of the driving motor according to the first torque request and the second torque request.
10. A computer device comprising a memory, a processor and a computer program stored on the memory and executable on the processor, characterized in that the processor implements the steps of the torque recovery method according to any one of claims 1 to 7 when the computer program is executed.
CN202310791802.8A 2023-06-30 2023-06-30 Torque recovery method, torque recovery device, vehicle and computer equipment Pending CN116872747A (en)

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Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117755103A (en) * 2024-02-22 2024-03-26 成都赛力斯科技有限公司 Control method and device for vehicle torque and storage medium

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
CN117755103A (en) * 2024-02-22 2024-03-26 成都赛力斯科技有限公司 Control method and device for vehicle torque and storage medium
CN117755103B (en) * 2024-02-22 2024-04-16 成都赛力斯科技有限公司 Control method and device for vehicle torque and storage medium

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