CN117002274A - Torsion clearing slope control method and device, vehicle and storage medium - Google Patents
Torsion clearing slope control method and device, vehicle and storage medium Download PDFInfo
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- CN117002274A CN117002274A CN202311063910.XA CN202311063910A CN117002274A CN 117002274 A CN117002274 A CN 117002274A CN 202311063910 A CN202311063910 A CN 202311063910A CN 117002274 A CN117002274 A CN 117002274A
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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
- B60L2240/421—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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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a torque clearing slope control method, a torque clearing slope control device, a vehicle and a storage medium. The torque clearing slope control method comprises the following steps: when the whole electric automobile is in a gear shifting torque clearing stage, controlling the motor to require torque, clearing the torque according to a first torque clearing slope, acquiring the current motor rotating speed in real time, and determining the corresponding motor rotating speed change rate according to the current motor rotating speed; and determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared by the second torque clearing slope. The invention realizes the self-adaptive adjustment of the gear shifting torque clearing slope, automatically corrects the torque clearing slope when the overspeed risk of the motor is monitored, improves the whole vehicle performance and reduces the failure rate.
Description
Technical Field
The invention relates to the technical field of electric automobile control, in particular to a torque-clearing slope control method and device, a vehicle and a storage medium.
Background
The electric vehicle (BEV, battery electric vehicle) is a vehicle which uses a vehicle-mounted power supply as power and uses a motor to drive wheels to run, meets various requirements of road traffic and safety regulations, and has a smaller influence on environment than a traditional vehicle, so that the electric vehicle has a wide prospect.
When the whole electric automobile is in a gear shifting torque clearing stage, the motor torque is cleared with a fixed torque clearing slope, the fixed torque clearing slope is the off-line calibration result of the calibration personnel in the field, and in order to ensure that the impact degree of the electric automobile in the process meets the requirements, the fixed torque clearing slope is mild, the wheel end resistance of the electric automobile is relatively small under the working conditions of no-load, downhill and the like, the torque clearing is slow, the motor rotation speed is further increased or even overspeed is easily caused, and the operation of the electric automobile is further influenced.
Disclosure of Invention
The invention provides a torque clearing slope control method, a torque clearing slope control device, a vehicle and a storage medium, which are used for solving the problems that the torque of a motor is cleared by a fixed torque clearing slope when the whole electric vehicle is in a gear shifting torque clearing stage, flexible adjustment cannot be carried out according to the current working condition of the electric vehicle, and the motor rotation speed is further increased or even overspeed is easily caused by slow torque clearing.
According to an aspect of the present invention, there is provided a torque control method, including:
when the whole electric automobile is in a gear shifting torque clearing stage, controlling the motor to require torque, clearing the torque according to a first torque clearing slope, acquiring the current motor rotating speed in real time, and determining the corresponding motor rotating speed change rate according to the current motor rotating speed;
and determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared by the second torque clearing slope.
Optionally, determining the slope adjustment coefficient according to the motor rotation speed change rate includes:
if the motor rotation speed change rate is larger than a set rotation speed change rate threshold value, determining a slope adjustment coefficient according to the motor rotation speed change rate;
and if the rotating speed change rate of the motor is not greater than the set rotating speed change rate threshold, judging whether the current electric automobile is completely clear.
Optionally, determining the slope adjustment coefficient according to the motor rotation speed change rate includes:
and inquiring a pre-calibrated relation table of the rotation speed change rate and the slope adjustment according to the rotation speed change rate of the motor to determine a slope adjustment coefficient.
Optionally, the torque clearing slope control method further includes:
and after the torque required by the control motor is cleared by the second torque clearing slope, judging whether the current electric automobile is torque cleared.
Optionally, determining whether the current electric automobile is torque-cleaned is completed includes:
acquiring the actual motor torque of the current electric automobile;
if the actual motor torque is smaller than a set torque threshold, determining that torque cleaning of the current electric automobile is completed;
and if the actual motor torque is not smaller than the set torque threshold, continuously controlling the motor required torque to be cleared by the first torsion slope or the second torsion slope.
Optionally, the torque clearing slope control method further includes:
if the motor required torque is continuously controlled to be cleared by the first torsion slope or the second torsion slope, determining the current motor rotating speed change rate in real time, and determining an updated torsion slope according to the current motor rotating speed change rate so as to control the motor required torque to be cleared by the updated torsion slope.
Optionally, the first torque gradient is a fixed torque gradient;
the torque clearing slope control method further comprises the following steps:
when the whole electric automobile is in a gear shifting torque clearing stage, the required torque of the motor is controlled to be cleared with a fixed torque clearing slope for the first time.
According to another aspect of the present invention, there is provided a torque gradient control device including:
the motor rotation speed change rate determining module is used for performing real-time acquisition of the current motor rotation speed after controlling the motor required torque to be cleared with a first clearing slope when the whole electric automobile is in a gear shifting and clearing stage, and determining the corresponding motor rotation speed change rate according to the current motor rotation speed;
and the torque clearing slope updating module is used for determining a slope adjustment coefficient according to the motor rotating speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared with the second torque clearing slope.
According to another aspect of the present invention, there is provided a vehicle including:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the torque slope control method according to any one of the embodiments of the present invention.
According to another aspect of the present invention, there is provided a computer readable storage medium storing computer instructions for causing a processor to implement the torque gradient control method according to any one of the embodiments of the present invention when executed.
According to the technical scheme, when the whole electric vehicle is in a gear shifting torque clearing stage, the motor required torque is controlled to be cleared by a first torque clearing slope, the current motor rotating speed is obtained in real time, and the motor rotating speed change rate corresponding to the current motor rotating speed is determined according to the current motor rotating speed; and determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared by the second torque clearing slope. The invention solves the problems that when the whole electric automobile is in a gear shifting torque clearing stage, the motor torque is cleared by the fixed torque clearing slope, flexible adjustment cannot be carried out according to the current working condition of the electric automobile, and the motor rotation speed is further increased or even overspeed is easily caused by slow torque clearing, realizes the self-adaptive adjustment of the gear shifting torque clearing slope, automatically corrects the torque clearing slope when the overspeed risk of the motor is monitored, improves the whole automobile performance and reduces the failure rate.
It should be understood that the description in this section is not intended to identify key or critical features of the embodiments of the invention or to delineate the scope of the invention. Other features of the present invention will become apparent from the description that follows.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is apparent that the drawings in the following description are only some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a flowchart of a torque control method according to a first embodiment of the present invention;
fig. 2 is a flowchart of a torque control method according to a second embodiment of the present invention;
FIG. 3 is a flowchart of a torque control method according to a third embodiment of the present invention;
fig. 4 is a schematic structural diagram of a torque control device according to a fourth embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle implementing a torque control method according to an embodiment of the present invention.
Detailed Description
In order that those skilled in the art will better understand the present invention, a technical solution in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in which it is apparent that the described embodiments are only some embodiments of the present invention, not all embodiments. All other embodiments, which can be made by those skilled in the art based on the embodiments of the present invention without making any inventive effort, shall fall within the scope of the present invention.
It should be noted that the terms "first," "second," and the like in the description and the claims of the present invention and the above figures are used for distinguishing between similar objects and not necessarily for describing a particular sequential or chronological order. It is to be understood that the data so used may be interchanged where appropriate such that the embodiments of the invention described herein may be implemented in sequences other than those illustrated or otherwise described herein. Furthermore, the terms "comprises," "comprising," and "having," and any variations thereof, are intended to cover a non-exclusive inclusion, such that a process, method, system, article, or apparatus that comprises a list of steps or elements is not necessarily limited to those steps or elements expressly listed but may include other steps or elements not expressly listed or inherent to such process, method, article, or apparatus.
Example 1
Fig. 1 is a flowchart of a torque clearing slope control method according to an embodiment of the present invention, where the present embodiment is applicable to a situation of adaptively adjusting a torque clearing slope when a current electric vehicle is in a gear shifting torque clearing stage, the torque clearing slope control method may be performed by a torque clearing slope control device, the torque clearing slope control device may be implemented in a form of hardware and/or software, and the torque clearing slope control device may be configured in a vehicle such as an electric vehicle. As shown in fig. 1, the torque gradient control method includes:
s110, when the whole electric automobile is in a gear shifting torque clearing stage, controlling the motor required torque to be cleared with a first torque clearing slope, acquiring the current motor rotating speed in real time, and determining the corresponding motor rotating speed change rate according to the current motor rotating speed.
When the current electric vehicle is in the gear shifting and torque clearing stage, that is, the current electric vehicle is detected by the vehicle controller VCU (Vehicle control unit) to enter the gear shifting and torque clearing stage, the method for judging whether the current electric vehicle is in the gear shifting and torque clearing stage by the vehicle controller VCU can be realized by adopting the prior art, and the embodiment does not limit the method.
The first torque-clearing slope is a slope for controlling the motor required torque according to the zero clearing operation when the whole electric vehicle is in the gear-shifting torque-clearing stage, and it can be understood that in the embodiment, if the motor required torque is controlled for the first time when the whole electric vehicle enters the gear-shifting torque-clearing stage, the first torque-clearing slope is a fixed torque-clearing slope calibrated in advance, and if the motor required torque is not controlled for the first time when the whole electric vehicle is in the gear-shifting torque-clearing stage, the first torque-clearing slope is an adjusted slope obtained by performing self-adaptive adjustment on the monitored motor rotation speed in real time.
It can be understood that when the current electric automobile enters the gear shifting torque-clearing stage, the motor requirement torque is controlled for the first time, at this moment, the first torque-clearing slope is a pre-calibrated fixed torque-clearing slope, the fixed torque-clearing slope can be calibrated by a person skilled in the art when the electric automobile is offline, and in order to ensure that the impact degree of the electric automobile in the process meets the requirement, the fixed torque-clearing slope is mild, and the fixed torque-clearing slope is a fixed numerical value.
Based on the above, under the working conditions that the electric automobile is in idle load, downhill slope and the like, the wheel end resistance is relatively small, the motor demand torque is controlled to zero by adopting the pre-calibrated fixed torque clearing slope, the torque is cleared slowly, the motor rotation speed is further increased and even overspeed is easily caused, in order to solve the problems, the motor demand torque is controlled for the first time when the whole electric automobile enters a gear shifting torque clearing stage, the motor demand torque is controlled to zero by the fixed torque clearing slope for the first time, and the motor rotation speed is further monitored in real time.
On the basis, the current motor rotating speed is obtained in real time through the whole vehicle controller VCU, and the motor rotating speed change rate corresponding to the current motor rotating speed is determined according to the current motor rotating speed. Further, if the motor rotation speed change rate is larger than a set rotation speed change rate threshold, determining a slope adjustment coefficient according to the motor rotation speed change rate; and if the rotating speed change rate of the motor is not greater than the set rotating speed change rate threshold, judging whether the current electric automobile is completely clear.
In an embodiment, after the whole electric automobile enters a gear shifting torque clearing stage, the motor required torque is not controlled for the first time, and the first torque clearing slope is cleared by the first torque clearing slope, and at this time, the first torque clearing slope can be a torque clearing slope calculated after the motor rotation speed is monitored in real time and based on fixed torque clearing slope adjustment, or a torque clearing slope calculated after the motor rotation speed is monitored in real time and based on torque clearing slope adjustment for clearing the motor required torque based on the previous period. It will be appreciated that the torque ramp rate for the motor torque demand zero at the previous cycle herein may be either a pre-calibrated fixed torque ramp rate or a new torque ramp rate calculated for updating.
S120, determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared with the second torque clearing slope.
Specifically, the slope adjustment coefficient is determined by inquiring a pre-calibrated relation table of the rotation speed change rate and the slope adjustment according to the rotation speed change rate of the motor, and the principle is that the larger the rotation speed change rate of the motor is, the larger the slope adjustment coefficient is, and the slope adjustment coefficient is larger than 1.
The second torque-clearing slope is obtained by calculating a torque-clearing slope which is obtained by multiplying a slope adjustment coefficient by a pre-calibrated fixed torque-clearing slope when the whole electric automobile enters a gear-shifting torque-clearing stage and is obtained by calculating a torque-clearing slope which is obtained by multiplying the slope adjustment coefficient by a torque-clearing slope which is obtained by not controlling the motor for the first time when the whole electric automobile enters the gear-shifting torque-clearing stage.
On the basis of the embodiment, after the torque required by the control motor is cleared by the second torque clearing slope, whether the current electric automobile is torque cleared is judged.
The specific step of judging whether the current electric automobile is clear to be finished comprises the following steps: acquiring the actual motor torque of the current electric automobile; if the actual motor torque is smaller than a set torque threshold, determining that torque cleaning of the current electric automobile is completed; and if the actual motor torque is not smaller than the set torque threshold, continuously controlling the motor required torque to be cleared by the first torsion slope or the second torsion slope.
On the basis, the motor required torque is controlled for the first time at the stage that the whole electric automobile enters the gear shifting torque clearing stage, if the motor rotation speed change rate is not larger than the set rotation speed change rate threshold, and the actual motor torque is not smaller than the set torque threshold, namely the torque clearing of the current electric automobile is not completed, the motor required torque is continuously controlled to clear with the fixed torque clearing slope until the torque clearing of the current electric automobile is completed.
And when the whole electric vehicle enters a gear shifting torque clearing stage, the motor required torque is not controlled for the first time, if the change rate of the motor rotation speed is not greater than the set rotation speed change rate threshold value, and the actual motor torque is not less than the set torque threshold value, namely the torque clearing of the current electric vehicle is not completed, the motor required torque is continuously controlled to be cleared by a first torque clearing slope until the torque clearing of the current electric vehicle is completed.
Further, after the motor rotation speed change rate is greater than the set rotation speed change rate threshold, determining a second torque clearing slope, if it is determined that the actual motor torque is not less than the set torque threshold, that is, torque clearing of the current electric automobile is not completed, continuously controlling the motor required torque to clear with the second torque clearing slope until torque clearing of the current electric automobile is completed.
On the basis, if the actual motor torque is not smaller than a set torque threshold, namely the torque of the current electric automobile is not complete, continuously controlling the motor required torque to be cleared by the first torque slope or the second torque slope, determining the current motor rotating speed change rate in real time, determining an updated torque slope according to the current motor rotating speed change rate, and controlling the motor required torque to be cleared by the updated torque slope.
According to the technical scheme, when the whole electric vehicle is in a gear shifting torque clearing stage, the motor required torque is controlled to be cleared by a first torque clearing slope, the current motor rotating speed is obtained in real time, and the motor rotating speed change rate corresponding to the current motor rotating speed is determined according to the current motor rotating speed; and determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared by the second torque clearing slope. The invention solves the problems that when the whole electric automobile is in a gear shifting torque clearing stage, the motor torque is cleared by the fixed torque clearing slope, flexible adjustment cannot be carried out according to the current working condition of the electric automobile, and the motor rotation speed is further increased or even overspeed is easily caused by slow torque clearing, realizes the self-adaptive adjustment of the gear shifting torque clearing slope, automatically corrects the torque clearing slope when the overspeed risk of the motor is monitored, improves the whole automobile performance and reduces the failure rate.
Example two
Fig. 2 is a flowchart of a torque clearing slope control method according to a second embodiment of the present invention, where, based on the foregoing embodiment, after a current electric vehicle enters a gear shifting torque clearing stage, a torque required by a non-first control motor is cleared with a first torque clearing slope, so as to provide an alternative implementation manner. As shown in fig. 2, the torque gradient control method includes:
s210, judging whether the whole electric automobile is in a gear shifting and torque clearing stage, if so, executing a step S220, and if not, executing a step S210.
S220, controlling the motor to require torque to be cleared with the first torsion slope.
S230, acquiring the current motor rotation speed in real time, and determining the motor rotation speed change rate corresponding to the current motor rotation speed according to the current motor rotation speed.
S240, judging whether the motor rotation speed change rate is larger than a set rotation speed change rate threshold, if so, executing the step S250, and if not, executing the step S260.
The setting of the rotation speed change rate threshold may be, but not limited to, selected and set by a person skilled in the art according to the actual requirement that the electric vehicle is in the gear-shifting torque-clearing stage, which is not particularly limited in this embodiment.
S250, determining a slope adjustment coefficient according to the motor rotation speed change rate query pre-calibrated rotation speed change rate and slope adjustment relation table, determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope, controlling the motor required torque to clear according to the second torque clearing slope, and executing step S260.
The pre-calibrated relation table between the rotation speed change rate and the slope adjustment can be determined by data in a pre-calibrated two-dimensional coordinate axis, or can be determined by other modes, and the embodiment does not limit the relation table at all.
Second torque slope = first torque slope.
And S260, judging whether the acquired actual motor torque of the current electric automobile is smaller than a set torque threshold, if so, executing the step S270, and if not, executing the step S220.
The actual motor torque of the current electric automobile can be obtained in real time through the whole vehicle controller VCU, and can also be collected in other modes, and the embodiment is not particularly limited.
The torque threshold may be set selectively by a person skilled in the art according to the actual requirement of the electric vehicle in the gear-shifting torque-clearing stage, which is not particularly limited in this embodiment.
On the basis of the above, if the actual motor torque is not less than the set torque threshold, that is, the current torque of the electric vehicle is not complete, the motor demand torque is continuously controlled to be cleared with the second torque slope, that is, the second torque slope at this time is used as the first torque slope in step S220, and further the subsequent steps are executed.
It is known that in the subsequent steps, the current motor rotation speed change rate is determined in real time, and the updated torque slope is determined according to the current motor rotation speed change rate, so as to control the motor required torque to be cleared with the updated torque slope. It can be understood that the updated torque gradient at this time is taken as a new second torque gradient, and steps S220 to S260 are sequentially and circularly executed until it is determined that the actual motor torque is less than the set torque threshold, that is, the torque of the current electric automobile is completed.
S270, the current electric automobile is completed in torque clearing.
According to the technical scheme provided by the embodiment of the invention, the motor rotating speed of the electric automobile is monitored in real time in the gear shifting and torque clearing stage, and when the overspeed risk of the motor is judged, the torque clearing slope of the motor is adaptively adjusted according to the real-time monitored motor rotating speed change rate, so that the torque clearing slope of the motor is automatically corrected, the whole automobile performance is improved, and the failure rate is reduced.
Example III
Fig. 3 is a flowchart of a torque clearing slope control method provided by a third embodiment of the present invention, where on the basis of the foregoing embodiment, when the whole electric vehicle is in a gear shifting torque clearing stage, the required torque of the control motor is cleared with a fixed torque clearing slope for the first time, so as to provide an alternative implementation mode. As shown in fig. 3, the torque gradient control method includes:
and S310, judging whether the whole electric automobile is in a gear shifting and torque clearing stage, if so, executing the step S320, and if not, executing the step S310.
S320, controlling the motor to require torque to be cleared with a fixed torque clearing slope for the first time.
S330, acquiring the current motor rotation speed in real time, and determining the motor rotation speed change rate corresponding to the current motor rotation speed according to the current motor rotation speed.
S340, judging whether the motor rotation speed change rate is larger than a set rotation speed change rate threshold, if so, executing step S350, and if not, executing step S360.
S350, inquiring a pre-calibrated relation table of the rotation speed change rate and the slope adjustment according to the rotation speed change rate of the motor to determine a slope adjustment coefficient, determining a second torque clearing slope according to the slope adjustment coefficient and the fixed torque clearing slope, controlling the motor to require torque, clearing the torque with the second torque clearing slope, and executing step S360.
Specifically, the second torque slope=fixed torque slope×slope adjustment coefficient.
S360, judging whether the obtained actual motor torque of the current electric automobile is smaller than a set torque threshold, if yes, executing a step S370, and if not, executing a step S320.
On the basis of the above, if the actual motor torque is not less than the set torque threshold, that is, the torque of the current electric vehicle is not completed, the motor torque is continuously controlled to be cleared with a second torque clearing slope, that is, the second torque clearing slope at this time is used as the fixed torque clearing slope in step S220, and further the subsequent steps are executed.
It is known that in the subsequent steps, the current motor rotation speed change rate is determined in real time, and the updated torque slope is determined according to the current motor rotation speed change rate, so as to control the motor required torque to be cleared with the updated torque slope. It can be understood that the updated torque gradient at this time is taken as a new second torque gradient, and steps S220 to S260 are sequentially and circularly executed until it is determined that the actual motor torque is less than the set torque threshold, that is, the torque of the current electric automobile is completed.
S370, the current electric automobile is completed in torque clearing.
Example IV
Fig. 4 is a schematic structural diagram of a torque clearing slope control device according to a fourth embodiment of the present invention. As shown in fig. 4, the torque gradient control device includes:
the motor rotation speed change rate determining module 410 is configured to perform, when the current electric vehicle is in a gear shifting torque clearing stage, control a motor required torque to clear with a first torque clearing slope, obtain a current motor rotation speed in real time, and determine a motor rotation speed change rate corresponding to the current motor rotation speed according to the current motor rotation speed;
the torque clearing slope updating module 420 is configured to determine a slope adjustment coefficient according to the motor rotation speed change rate, and determine a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope, so as to control the motor required torque to be cleared with the second torque clearing slope.
Optionally, the slope adjustment coefficient is determined according to the motor rotation speed change rate, and is specifically used for:
if the motor rotation speed change rate is larger than a set rotation speed change rate threshold value, determining a slope adjustment coefficient according to the motor rotation speed change rate;
and if the rotating speed change rate of the motor is not greater than the set rotating speed change rate threshold, judging whether the current electric automobile is completely clear.
Optionally, the slope adjustment coefficient is determined according to the motor rotation speed change rate, and is specifically used for:
and inquiring a pre-calibrated relation table of the rotation speed change rate and the slope adjustment according to the rotation speed change rate of the motor to determine a slope adjustment coefficient.
Optionally, the torque gradient control device further includes:
and the torque clearing completion judging module is used for judging whether the current electric automobile is torque cleared after the torque required by the control motor is cleared by the second torque clearing slope.
Optionally, judging whether the current electric automobile is torque-cleaned, which is specifically used for:
acquiring the actual motor torque of the current electric automobile;
if the actual motor torque is smaller than a set torque threshold, determining that torque cleaning of the current electric automobile is completed;
and if the actual motor torque is not smaller than the set torque threshold, continuously controlling the motor required torque to be cleared by the first torsion slope or the second torsion slope.
Optionally, the torque gradient control device further includes:
and the updated torque clearing slope module is used for determining the current motor rotating speed change rate in real time if the motor required torque is continuously controlled to be cleared by the first torque clearing slope or the second torque clearing slope, and determining the updated torque clearing slope according to the current motor rotating speed change rate so as to control the motor required torque to be cleared by the updated torque clearing slope.
Optionally, the first torque gradient is a fixed torque gradient;
the torque gradient control device further comprises:
the fixed torque clearing slope zero clearing module is used for executing zero clearing of the required torque of the control motor with the fixed torque clearing slope for the first time when the whole electric automobile is in a gear shifting torque clearing stage.
The torque clearing slope control device provided by the embodiment of the invention can execute the torque clearing slope control method provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of executing the torque clearing slope control method.
Example five
Fig. 5 shows a schematic structural diagram of a vehicle 510 that may be used to implement an embodiment of the invention. Vehicles include digital computers intended to represent various forms, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The vehicle may also include a device representing various forms of mobile devices, such as personal digital assistants, cellular telephones, smart phones, wearable devices (e.g., helmets, glasses, watches, etc.), and other similar computing devices. The components shown herein, their connections and relationships, and their functions, are meant to be exemplary only, and are not meant to limit implementations of the inventions described and/or claimed herein.
As shown in fig. 5, the vehicle 510 includes at least one processor 511, and a memory communicatively connected to the at least one processor 511, such as a read only memory (ROM 512), a random access memory (RAM 513), etc., in which the memory stores computer programs executable by the at least one processor, and the processor 511 may perform various suitable actions and processes according to the computer programs stored in the read only memory (ROM 512) or the computer programs loaded from the storage unit 518 into the random access memory (RAM 513). In the RAM 513, various programs and data required for the operation of the vehicle 510 may also be stored. The processor 511, the ROM 512, and the RAM 513 are connected to each other by a bus 514. An I/O (input/output) interface 515 is also connected to bus 514.
Various components in the vehicle 510 are connected to the I/O interface 515, including: an input unit 516 such as a keyboard, a mouse, etc.; an output unit 517 such as various types of displays, speakers, and the like; a storage unit 518 such as a magnetic disk, optical disk, etc.; and a communication unit 519 such as a network card, modem, wireless communication transceiver, or the like. The communication unit 519 allows the vehicle 510 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunications networks.
The processor 511 may be a variety of general and/or special purpose processing components with processing and computing capabilities. Some examples of processor 511 include, but are not limited to, a Central Processing Unit (CPU), a Graphics Processing Unit (GPU), various specialized Artificial Intelligence (AI) computing chips, various processors running machine learning model algorithms, digital Signal Processors (DSPs), and any suitable processor, controller, microcontroller, etc. The processor 511 performs the various methods and processes described above, such as the torque slope control method.
In some embodiments, the torque slope control method may be implemented as a computer program tangibly embodied on a computer-readable storage medium, such as the storage unit 518. In some embodiments, some or all of the computer program may be loaded and/or installed onto the vehicle 510 via the ROM 512 and/or the communication unit 519. When a computer program is loaded into RAM 513 and executed by processor 511, one or more steps of the torque slope control method described above may be performed. Alternatively, in other embodiments, the processor 511 may be configured to perform the torque slope control method in any other suitable manner (e.g., by means of firmware).
Various implementations of the systems and techniques described here above may be implemented in digital electronic circuitry, integrated circuit systems, field Programmable Gate Arrays (FPGAs), application Specific Integrated Circuits (ASICs), application Specific Standard Products (ASSPs), systems On Chip (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and/or combinations thereof. These various embodiments may include: implemented in one or more computer programs, the one or more computer programs may be executed and/or interpreted on a programmable system including at least one programmable processor, which may be a special purpose or general-purpose programmable processor, that may receive data and instructions from, and transmit data and instructions to, a storage system, at least one input device, and at least one output device.
A computer program for carrying out methods of the present invention may be written in any combination of one or more programming languages. These computer programs may be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus, such that the computer programs, when executed by the processor, cause the functions/acts specified in the flowchart and/or block diagram block or blocks to be implemented. The computer program may execute entirely on the machine, partly on the machine, as a stand-alone software package, partly on the machine and partly on a remote machine or entirely on the remote machine or server.
In the context of the present invention, a computer-readable storage medium may be a tangible medium that can contain, or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. The computer readable storage medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, the computer readable storage medium may be a machine readable signal medium. More specific examples of a machine-readable storage medium would include an electrical connection based on one or more wires, a portable computer diskette, a hard disk, a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.
To provide for interaction with a user, the systems and techniques described here can be implemented on a vehicle having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to a user; and a keyboard and pointing device (e.g., a mouse or a trackball) by which a user can provide input to the vehicle. Other kinds of devices may also be used to provide for interaction with a user; for example, feedback provided to the user may be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user may be received in any form, including acoustic input, speech input, or tactile input.
The systems and techniques described here can be implemented in a computing system that includes a background component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front-end component (e.g., a user computer having a graphical user interface or a web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such background, middleware, or front-end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: local Area Networks (LANs), wide Area Networks (WANs), blockchain networks, and the internet.
The computing system may include clients and servers. The client and server are typically remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also called a cloud computing server or a cloud host, and is a host product in a cloud computing service system, so that the defects of high management difficulty and weak service expansibility in the traditional physical hosts and VPS service are overcome.
It should be appreciated that various forms of the flows shown above may be used to reorder, add, or delete steps. For example, the steps described in the present invention may be performed in parallel, sequentially, or in a different order, so long as the desired results of the technical solution of the present invention are achieved, and the present invention is not limited herein.
The above embodiments do not limit the scope of the present invention. It will be apparent to those skilled in the art that various modifications, combinations, sub-combinations and alternatives are possible, depending on design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present invention should be included in the scope of the present invention.
Claims (10)
1. The torque clearing slope control method is characterized by comprising the following steps of:
when the whole electric automobile is in a gear shifting torque clearing stage, controlling the motor to require torque, clearing the torque according to a first torque clearing slope, acquiring the current motor rotating speed in real time, and determining the corresponding motor rotating speed change rate according to the current motor rotating speed;
and determining a slope adjustment coefficient according to the motor rotation speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared by the second torque clearing slope.
2. The torque control method according to claim 1, wherein determining a slope adjustment coefficient based on the motor rotation speed change rate includes:
if the motor rotation speed change rate is larger than a set rotation speed change rate threshold value, determining a slope adjustment coefficient according to the motor rotation speed change rate;
and if the rotating speed change rate of the motor is not greater than the set rotating speed change rate threshold, judging whether the current electric automobile is completely clear.
3. The torque control method according to claim 1, wherein determining a slope adjustment coefficient based on the motor rotation speed change rate includes:
and inquiring a pre-calibrated relation table of the rotation speed change rate and the slope adjustment according to the rotation speed change rate of the motor to determine a slope adjustment coefficient.
4. The torque control method according to claim 1, characterized in that the torque control method further comprises:
and after the torque required by the control motor is cleared by the second torque clearing slope, judging whether the current electric automobile is torque cleared.
5. The torque control method according to claim 2 or 4, wherein determining whether the current electric vehicle is torque complete comprises:
acquiring the actual motor torque of the current electric automobile;
if the actual motor torque is smaller than a set torque threshold, determining that torque cleaning of the current electric automobile is completed;
and if the actual motor torque is not smaller than the set torque threshold, continuously controlling the motor required torque to be cleared by the first torsion slope or the second torsion slope.
6. The torque control method of claim 5, further comprising:
if the motor required torque is continuously controlled to be cleared by the first torsion slope or the second torsion slope, determining the current motor rotating speed change rate in real time, and determining an updated torsion slope according to the current motor rotating speed change rate so as to control the motor required torque to be cleared by the updated torsion slope.
7. The torque gradient control method according to claim 1, wherein the first torque gradient is a fixed torque gradient;
the torque clearing slope control method further comprises the following steps:
when the whole electric automobile is in a gear shifting torque clearing stage, the required torque of the motor is controlled to be cleared with a fixed torque clearing slope for the first time.
8. A torque control device, comprising:
the motor rotation speed change rate determining module is used for performing real-time acquisition of the current motor rotation speed after controlling the motor required torque to be cleared with a first clearing slope when the whole electric automobile is in a gear shifting and clearing stage, and determining the corresponding motor rotation speed change rate according to the current motor rotation speed;
and the torque clearing slope updating module is used for determining a slope adjustment coefficient according to the motor rotating speed change rate, and determining a second torque clearing slope according to the slope adjustment coefficient and the first torque clearing slope so as to control the motor required torque to be cleared with the second torque clearing slope.
9. A vehicle, characterized in that the vehicle comprises:
at least one processor; the method comprises the steps of,
a memory communicatively coupled to the at least one processor; wherein,
the memory stores a computer program executable by the at least one processor to enable the at least one processor to perform the torque slope control method of any one of claims 1-7.
10. A computer readable storage medium storing computer instructions for causing a processor to implement the torque ramp rate control method of any one of claims 1-7 when executed.
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN117681683A (en) * | 2024-02-02 | 2024-03-12 | 潍柴动力股份有限公司 | Gear shifting control method and device of power assembly and vehicle |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
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| CN117681683A (en) * | 2024-02-02 | 2024-03-12 | 潍柴动力股份有限公司 | Gear shifting control method and device of power assembly and vehicle |
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