CN117416219A - Torque control method, device, equipment and medium for electrically driven vehicle - Google Patents
Torque control method, device, equipment and medium for electrically driven vehicle Download PDFInfo
- Publication number
- CN117416219A CN117416219A CN202311563144.3A CN202311563144A CN117416219A CN 117416219 A CN117416219 A CN 117416219A CN 202311563144 A CN202311563144 A CN 202311563144A CN 117416219 A CN117416219 A CN 117416219A
- Authority
- CN
- China
- Prior art keywords
- torque
- rotating speed
- hysteresis
- interval
- driven vehicle
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 74
- 230000033228 biological regulation Effects 0.000 claims abstract description 78
- 230000009467 reduction Effects 0.000 claims abstract description 47
- 230000008569 process Effects 0.000 claims abstract description 26
- 238000004590 computer program Methods 0.000 claims description 16
- 238000013507 mapping Methods 0.000 claims description 12
- 230000001276 controlling effect Effects 0.000 description 9
- 238000004891 communication Methods 0.000 description 8
- 230000008859 change Effects 0.000 description 6
- 238000012545 processing Methods 0.000 description 6
- 238000010586 diagram Methods 0.000 description 5
- 230000009194 climbing Effects 0.000 description 4
- 230000007423 decrease Effects 0.000 description 3
- 230000003287 optical effect Effects 0.000 description 3
- 230000002265 prevention Effects 0.000 description 3
- 230000001105 regulatory effect Effects 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000006870 function Effects 0.000 description 2
- 230000005484 gravity Effects 0.000 description 2
- 230000003993 interaction Effects 0.000 description 2
- 238000012986 modification Methods 0.000 description 2
- 230000004048 modification Effects 0.000 description 2
- 230000000630 rising effect Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 1
- 238000013473 artificial intelligence Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004364 calculation method Methods 0.000 description 1
- 230000001413 cellular effect Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000013461 design Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000010801 machine learning Methods 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
- 230000001953 sensory effect Effects 0.000 description 1
- 238000006467 substitution reaction Methods 0.000 description 1
- 238000012360 testing method Methods 0.000 description 1
- 230000007704 transition Effects 0.000 description 1
- 230000000007 visual effect Effects 0.000 description 1
Classifications
-
- 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
-
- 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
Landscapes
- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The invention discloses a torque control method, a device, equipment and a medium of an electrically driven vehicle. The method comprises the following steps: acquiring the current rotating speed of a walking driving motor of the electrically driven vehicle in real time; when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve; if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque reduction interval into a plurality of hysteresis regulation intervals according to the rotating speed of a speed reduction point when the current rotating speed drops for the first time; when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section. According to the embodiment of the invention, overspeed control is performed according to the torque limiting curve, so that motor torque fluctuation in the overspeed control process is avoided, and driving efficiency and driving comfort are improved.
Description
Technical Field
The present invention relates to the field of engineering machinery technologies, and in particular, to a method, an apparatus, a device, and a medium for controlling torque of an electrically driven vehicle.
Background
In order to prevent the overspeed of the drive motor of an electrically driven transport vehicle, there is generally an allowable maximum safe operating speed, and conventionally, the maximum output torque of the motor is reduced according to the rotational speed of the motor, 0 torque is output when the rotational speed of the motor is equal to the allowable maximum speed for safe operation, and the anti-tug torque is output when the rotational speed of the motor is greater than the allowable maximum speed for safe operation.
However, because the load of the transport vehicle is greatly changed, particularly when the transport vehicle is on an uphill road section, repeated increase and decrease of the motor torque easily occur, so that the whole vehicle shakes, and extremely poor driving experience is caused.
Therefore, a new control method for preventing the motor from overspeed is needed, which solves the problem that the motor speed is easy to fluctuate back and forth in the motor overspeed prevention control process, and improves the walking driving efficiency and the riding comfort.
Disclosure of Invention
The invention provides a torque control method, a device, equipment and a medium of an electric drive vehicle, which solve the problem that the motor rotation speed is easy to fluctuate back and forth in overspeed control in the running process of the existing electric drive transport vehicle.
In a first aspect, an embodiment of the present invention provides a torque control method of an electrically driven vehicle, including:
acquiring the current rotating speed of a walking driving motor of the electrically driven vehicle in real time;
when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve;
if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the rotating speed of the speed down point when the current rotating speed drops for the first time, wherein one hysteresis adjustment interval corresponds to one torque limit value;
when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section.
In a second aspect, an embodiment of the present invention further provides a torque control apparatus for an electrically driven vehicle, the apparatus including:
the real-time rotating speed acquisition module is used for acquiring the current rotating speed of a traveling driving motor of the electrically-driven vehicle in real time;
the torque control curve acquisition module is used for acquiring a target torque control curve from a plurality of torque control curves when the current rotating speed is determined to fall into a torque reduction interval, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve;
The hysteresis regulation interval dividing module is used for dividing the torque reduction interval into a plurality of hysteresis regulation intervals according to the speed reduction point rotating speed when the current rotating speed is reduced for the first time if the current rotating speed is detected to be reduced for the first time in the process of controlling the output torque according to the target torque control curve, wherein one hysteresis regulation interval corresponds to one torque limit value;
and the output torque adjusting module is used for adjusting the output torque of the electrically driven vehicle according to the rotating speed limit value corresponding to at least one hysteresis adjusting section when the torque hysteresis adjusting condition is met according to the real-time rotating speed.
In a third aspect, an embodiment of the present invention further provides an electronic device, including:
at least one processor; and
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 control method of the electrically driven vehicle according to any one of the embodiments of the present invention.
According to another aspect of the embodiments of the present invention, there is provided a computer-readable storage medium storing computer instructions for causing a processor to execute the torque control method of an electrically driven vehicle according to any one of the embodiments of the present invention.
According to the technical scheme provided by the embodiment of the invention, the overspeed control is performed on the electrically driven vehicle by utilizing the torque limiting curve, so that the adaptability of the motor output torque to the load and the climbing gradient is improved, the motor torque is prevented from fluctuating back and forth in the overspeed control process, and the driving efficiency and the driving comfort are improved.
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 of an electrically driven vehicle according to a first embodiment of the present invention;
FIG. 2 is a schematic diagram of different torque control methods for three speed intervals according to an embodiment of the present invention;
FIG. 3 is a flow chart of another method of torque control for an electrically driven vehicle according to a second embodiment of the present invention;
fig. 4 is a schematic structural view of a torque control device for an electrically driven vehicle according to a third embodiment of the present invention;
fig. 5 is a schematic structural view of an electronic device implementing a torque control method of an electrically driven vehicle 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 control method for an electrically driven vehicle according to an embodiment of the present invention, where the method may be performed by a torque control device for an electrically driven vehicle, and the torque control device for an electrically driven vehicle may be implemented in hardware and/or software, and the torque control device for an electrically driven vehicle may be configured in an electrically driven transport vehicle such as an electric wide vehicle or an engineering dump truck. As shown in fig. 1, the method includes:
s110, acquiring the current rotating speed of a walking driving motor of the electrically-driven vehicle in real time.
The vehicle torque control method in the embodiment of the invention is mainly aimed at electrically driven transport vehicles such as an electric wide vehicle or an engineering dump truck, when the vehicles execute load transport operation on an uphill road section, the rotation speed of a driving motor can continuously change along with the rising of the gradient, and the follow-up control of the torque is realized by acquiring the current rotation speed of the driving motor in real time.
Optionally, after acquiring the current rotation speed of the travel driving motor of the electrically driven vehicle in real time, it may include:
When the current rotating speed is determined to fall into the judging section, adjusting the output torque of the electrically driven vehicle according to the fixed forward torque;
when the current rotating speed is determined to fall into the reverse dragging interval, adjusting the output torque of the electrically driven vehicle according to a preset reverse dragging torque curve;
the rotation speed of the judging section is smaller than that of the torque reducing section, and the rotation speed of the torque reducing section is smaller than that of the anti-dragging section.
In the embodiment of the present invention, the rotation speed interval of the driving motor is divided into three intervals, which are respectively: a judging period, a torque reducing section and a reverse dragging section. Fig. 2 is a schematic diagram of a torque adjustment mode in which a rotation speed section is divided into different sections according to rotation speeds, and since a determination section rotation speed is smaller than a torque reduction section rotation speed and a torque reduction section rotation speed is smaller than a reverse drag section rotation speed, three sections are sequentially shown in the figure in a left-to-right direction: judging section, torque reducing section and anti-dragging section.
If the current rotation speed is in the determination section, the depression depth of the accelerator pedal is in a steady state, and the rotation speed is in a relatively low range, so that the output torque of the drive motor is a fixed forward torque value in the section, which is denoted as Tmax in fig. 2. When the rotation speed is continuously increased so that the driving motor falls into a reverse dragging section, the output torque is output as a negative reverse dragging torque according to a preset reverse dragging curve, and the reverse dragging torque is also called resistance torque.
And S120, when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve.
Specifically, when the rotational speed falls within the torque reduction interval, the output torque is no longer a fixed torque value, but the torque needs to be adjusted according to a torque control curve. The torque reduction zone is divided into a plurality of torque reduction zones according to different actual operation conditions. Taking fig. 2 as an example, the torque reduction section includes two torque reduction sections, which are a first torque reduction section and a second torque reduction section. The slopes of the torque limiting curves in different torque reducing areas are different, and the whole vehicle controller controls the output of the motor torque according to the torque limiting curve with a certain slope.
S130, if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the rotating speed of the speed drop point when the current rotating speed drops for the first time, wherein one hysteresis adjustment interval corresponds to one rotating speed limit value.
When the transport vehicle runs to a certain gradient on an uphill road section, the rotating speed is reduced under the influence of resistance such as gravity, and when the rotating speed is reduced for the first time, a hysteresis regulation mode of motor torque is entered, and a node when the rotating speed is reduced for the first time is called a speed reduction point. The hysteresis regulation mode is to divide the torque reduction interval into a plurality of hysteresis regulation intervals, each hysteresis regulation interval corresponds to a rotation speed limit value, and the rotation speed limit value is the highest output value of the torque in the interval. In this mode, since the rotation speed is decreasing, the dividing sequence of the hysteresis adjustment sections is from right to left, referring to fig. 2, the first hysteresis adjustment section is located on the right side of the second hysteresis adjustment section, that is, the first hysteresis adjustment section is determined according to the deceleration point, and other hysteresis adjustment sections and corresponding torque limits can be determined according to the determined boundary of the first hysteresis adjustment section.
Further, after dividing the torque reduction section into a plurality of hysteresis adjustment sections according to the speed reduction point rotation speed at the time of first descent, the method may further include:
in the process of adjusting the output torque of the electrically driven vehicle according to the rotation speed limit value corresponding to at least one hysteresis adjustment interval, if the real-time rotation speed is detected to be increased again, acquiring a first hysteresis adjustment interval where the rotation speed of the increasing point is located and a second hysteresis adjustment interval adjacent to the first hysteresis adjustment interval along the rotation speed increasing direction;
and merging the first hysteresis regulation interval and the second hysteresis regulation interval to obtain a new merged hysteresis regulation interval.
If the output torque of the driving motor is detected to be increased again in the process of adjusting according to the hysteresis adjusting torque limiting curve in the hysteresis adjusting mode, the change direction of the rotating speed is changed from left to right again, and because the original hysteresis adjusting torque limiting curve is adjusted according to the direction from right to left of the rotating speed, a new hysteresis adjusting torque limiting curve needs to be formulated for the current rotating speed.
The new hysteresis regulation torque limit curve divides a new hysteresis regulation section, in the new hysteresis regulation section, the section size is equal to the length of the hysteresis regulation section where the speed increasing point is located and the length of an adjacent hysteresis regulation section, the torque limit value of the new hysteresis regulation section is the torque limit value corresponding to the original speed increasing point, and the adjacent hysteresis regulation section is the next section in the rotating speed increasing direction.
And S140, when the torque hysteresis adjustment condition is met according to the real-time rotating speed, adjusting the output torque of the electrically driven vehicle according to the rotating speed limit value corresponding to at least one hysteresis adjustment section.
The torque hysteresis adjustment condition is met by obtaining a real-time rotating speed value, a corresponding hysteresis adjustment interval can be selected for the current rotating speed value, and in each hysteresis adjustment interval, the output torque is the torque limit value of the current interval.
According to the technical scheme, the current rotating speed of the traveling driving motor of the electrically-driven vehicle is obtained in real time; when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve; if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque reduction interval into a plurality of hysteresis regulation intervals according to the rotating speed of a speed reduction point when the current rotating speed drops for the first time; when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section. According to the technical scheme provided by the embodiment of the invention, the overspeed control is performed on the electrically driven vehicle by utilizing the torque limiting curve, so that the adaptability of the motor output torque to the load and the climbing gradient is improved, the motor torque is prevented from fluctuating back and forth in the overspeed control process, and the driving efficiency and the driving comfort are improved.
Example two
Fig. 3 is a flowchart of another torque control method for an electrically driven vehicle according to a second embodiment of the present invention, which is based on the above embodiment. As shown in fig. 3, the method includes:
s310, acquiring the current rotating speed of a walking driving motor of the electrically driven vehicle in real time.
The vehicle torque control method in the embodiment of the invention is mainly aimed at electrically driven transport vehicles such as an electric wide vehicle or an engineering dump truck, when the vehicles execute load transport operation on an uphill road section, the rotation speed of a driving motor can continuously change along with the rising of the gradient, and the follow-up control of the torque is realized by acquiring the current rotation speed of the driving motor in real time.
S320, when the current rotating speed is determined to fall into the torque reduction interval, a pre-built rotating speed curve mapping table is obtained, a plurality of groups of reference data and torque control curves respectively corresponding to each group of reference data are stored in the rotating speed curve mapping table, and the reference data comprise reference rotating speeds and/or reference rotating speed variation.
In the embodiment of the invention, the torque control is mainly performed on the vehicle through the whole vehicle controller, and the transmission gear information can be sent to the whole vehicle controller by connecting the whole vehicle controller with the transmission gear controller. When the motor is in the judging section, according to the change of gear of the gearbox, the whole vehicle controller can acquire a plurality of groups of motor torque values under different gears, and reference motor rotating speed and rotating speed change quantity corresponding to motor torque, and the corresponding torque limiting curve is built in advance by testing the real vehicle under different loads for each group of motor torque values. Therefore, the reference rotation speed and/or the reference rotation speed variation under the current torque are contained under each set of torque limiting curves, and the corresponding relation is called a rotation speed curve mapping table.
And S330, matching the historical rotation speed and/or the historical rotation speed variation before the electrically driven vehicle enters the torque reduction section with each group of reference data, obtaining target matching reference data, and obtaining a target torque control curve corresponding to the target matching reference data.
When the motor is in a judging section, the collector of the whole vehicle controller calculates the rotating speed variation of the driving motor within a set time, and matches the historical rotating speed and/or the historical rotating speed variation within the set time with reference data in a rotating speed curve mapping table which stores a torque limiting curve in advance, wherein the reference data refer to the reference rotating speed and/or the reference rotating speed variation stored in the rotating speed curve mapping table, a group of corresponding target reference data with the smallest deviation with the historical rotating speed and/or the historical rotating speed variation is selected, and a target torque limiting curve under the group of target reference data is used as a torque limiting curve of a torque reducing section.
S340, if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, acquiring the output torque of the speed reducing point of the electrically driven vehicle at the rotating speed of the speed reducing point, taking the accumulated sum of the output torque of the speed reducing point and the target set value as the torque limit value of the first hysteresis regulation section, and determining the upper and lower boundaries of the rotating speed matched with the first hysteresis regulation section.
When the transport vehicle runs to a certain gradient on an uphill section, the rotating speed can be reduced under the influence of resistance such as gravity, correspondingly, when the rotating speed is reduced, the motor can enter a hysteresis regulation mode, and the torque control in the hysteresis regulation mode is not performed according to a torque limit curve any more, but is performed according to a hysteresis regulation torque limit curve. The hysteresis regulation torque limiting curve is formed by connecting discrete values of a plurality of hysteresis regulation intervals, and the rotating speed is continuously reduced from right to left in a hysteresis regulation mode, so that the torque limiting value of a first hysteresis regulation interval can be firstly constructed through a speed reduction point, and the specific method comprises the following steps of: the torque limit value of the first hysteresis adjustment section=output torque corresponding to the deceleration point+the target set value, and the value of the target set value is changed according to the size of the deceleration point.
When the torque limit value of the first hysteresis regulation section is determined, the upper and lower boundaries of the rotating speed of the first hysteresis regulation section need to be determined, and the upper and lower boundaries of the rotating speed represent the starting point and the ending point of the section. Specifically, the upper boundary (right boundary) of the first hysteresis adjustment section is obtained by moving a certain distance to the left based on the rotation speed value corresponding to the deceleration point. After the upper boundary of the first hysteresis regulation section is determined, setting an expected section value for the hysteresis regulation section, wherein the expected section value limits the section size of the current section, and the position of the lower boundary (right boundary) of the section can be obtained according to the expected section value because the position of the upper boundary of the section is determined, so that the positions of the upper and lower boundaries of the first hysteresis regulation section are determined, namely the upper and lower boundaries of the rotating speed of the section are determined.
The aim of moving to the left by a certain distance is to add a certain buffer space for the change of the motor torque, so as to avoid overlarge torque fluctuation caused by lack of transition in the switching process of the two hysteresis adjustment intervals.
Optionally, after detecting that the current rotation speed drops for the first time in the process of controlling the output torque according to the target torque control curve, the method may include:
and determining a new target torque control curve in the torque control curves again according to the rotating speed of the deceleration point when the first time is declined.
When the rotation speed first drops in the torque reduction interval, the selected torque limiting curve is not suitable for the current motor state any more, a new torque control curve matched with the current rotation speed needs to be reselected in the rotation speed curve mapping table according to the current speed reduction point rotation speed, and the new torque control curve is determined to be a new target torque control curve used for torque control, wherein the new torque control curve is a set of curves matched in the rotation speed curve mapping table and having the smallest deviation from the current speed reduction point rotation speed.
S350, determining the upper and lower boundaries of the rotating speed of at least one other hysteresis regulation section along the rotating speed reducing direction according to the upper and lower boundaries of the rotating speed matched with the first hysteresis regulation section.
Since the torque limit value and the upper and lower rotational speed boundaries of the first hysteresis adjustment section have been determined in S340, the size of the second hysteresis adjustment section can be obtained by multiplying the size of the previous hysteresis adjustment section by a certain reduction ratio, when the size of the second hysteresis adjustment section is determined, the upper and lower rotational speed boundaries of the section can be determined, specifically, the upper rotational speed boundary of the second hysteresis adjustment section is obtained by moving a certain distance to the left on the basis of the lower boundary (left boundary) of the first hysteresis adjustment section, when the upper boundary of the second hysteresis adjustment section is determined, since the size of the section is also determined, the lower boundary of the second hysteresis adjustment section can be obtained. And the torque limit value and the upper and lower boundaries of the rotating speed of each current hysteresis regulation interval can be calculated according to the torque limit value and the upper and lower boundaries of the rotating speed of the previous hysteresis regulation interval.
The value of the above-mentioned reduction ratio decreases with distance from the deceleration point, so that in the hysteresis adjustment mode, the hysteresis adjustment section boundary increases with distance from the deceleration point, and decreases with distance from the deceleration point.
S360, determining the torque limit value of each other hysteresis regulation section according to the upper and lower boundaries of the rotating speed of each other hysteresis regulation section.
After the torque limit value and the upper and lower boundaries of the rotation speed of the first hysteresis adjustment section are determined, the upper and lower boundaries of the rotation speed of the second hysteresis adjustment section, even at least one of the third and fourth hysteresis adjustment sections …, etc. can be determined along the rotation speed reducing direction, and the upper and lower boundaries of the rotation speed of each new hysteresis adjustment section are smaller than the upper and lower boundaries of the rotation speed of the previous hysteresis adjustment section, as shown in fig. 2. The section closest to the deceleration point is referred to as a first hysteresis adjustment section, a second hysteresis adjustment section is located to the left of the first hysteresis adjustment section, and so on.
Further, determining the torque limit value of each other hysteresis adjustment interval according to the upper and lower rotational speed boundaries of each other hysteresis adjustment interval may include:
determining torque upper and lower boundaries respectively corresponding to the rotating speed upper and lower boundaries of each other hysteresis regulation interval according to the target torque control curve;
and determining an average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval as a torque limit value of each other hysteresis adjustment interval.
In the embodiment S340, the calculation manner of the torque limit value of the first hysteresis adjustment section is given, and the torque limit values corresponding to the other hysteresis adjustment sections except the first hysteresis adjustment section are calculated by the relationship between the motor torque and the rotation speed in the target torque control curve. In the target torque control curve, the corresponding torque value can be found for the two rotating speed boundary points of the same hysteresis adjustment interval, so that the torque limit value corresponding to other hysteresis adjustment intervals is the average value of the torques corresponding to the two rotating speed boundary points of the previous hysteresis adjustment interval.
S370, according to the target torque control curve, the expected torque corresponding to the real-time rotating speed is obtained, and in at least one hysteresis adjustment interval, the target hysteresis adjustment interval corresponding to the real-time rotating speed is obtained.
And for the real-time detected rotating speed value, a target hysteresis regulation interval corresponding to the current rotating speed value in a hysteresis regulation mode can be obtained according to the current rotating speed value, and the torque limit value of the current rotating speed value in a hysteresis regulation torque limit curve can be obtained according to the target hysteresis regulation interval. Meanwhile, a corresponding torque value under the torque limit curve can be obtained according to the current rotation speed value, wherein the torque value in the torque limit curve is called as the expected torque.
And S380, when the expected torque is detected to be larger than the torque limit value of the target hysteresis adjustment section, adjusting the output torque of the electrically driven vehicle by using the torque limit value of the target hysteresis adjustment section.
In each hysteresis regulation section, if the expected torque of the driving motor at the current rotating speed is larger than the torque limit value corresponding to the hysteresis regulation section, the driving motor is controlled to output the torque limit value, conversely, if the expected torque of the driving motor at the current rotating speed is smaller than the torque limit value corresponding to the hysteresis regulation section, the hysteresis regulation mode is exited, if the rotating speed is still in the torque reduction section, the output torque is continuously regulated according to the torque limit curve, and if the rotating speed is in the judgment section, the torque is output according to the fixed value.
According to the technical scheme provided by the embodiment of the invention, the acquisition mode of the torque control curve and the determination method of the hysteresis adjustment interval and the torque limit value of each hysteresis adjustment interval are perfected through refinement of the overall scheme. The technical scheme of the embodiment of the invention provides a novel torque control method of an electric drive vehicle, which can determine a torque limit curve according to the torque and the rotating speed of a drive motor and the rotating speed variation, and then perform overspeed prevention control according to the torque limit curve, so that the adaptability of the output torque of the motor to loads and climbing slopes is improved, the back-and-forth fluctuation of the torque of the motor in the overspeed prevention control process is avoided, and the drive efficiency and the driving comfort are improved.
Example III
Fig. 4 is a schematic structural diagram of a torque control device for an electrically driven vehicle according to a third embodiment of the present invention. As shown in fig. 4, the apparatus includes:
the real-time rotation speed acquisition module 410 is used for acquiring the current rotation speed of the traveling driving motor of the electrically-driven vehicle in real time;
a torque control curve acquisition module 420, configured to acquire a target torque control curve from a plurality of torque control curves when it is determined that the current rotational speed falls within the torque reduction interval, and adjust an output torque of the electrically driven vehicle according to the target torque control curve;
The hysteresis adjustment interval dividing module 430 is configured to divide the torque reduction interval into a plurality of hysteresis adjustment intervals according to the rotational speed of the speed reduction point when the current rotational speed is first reduced if the current rotational speed is detected to be reduced in the first time during the control of the output torque according to the target torque control curve, wherein one hysteresis adjustment interval corresponds to one torque limit;
the output torque adjustment module 440 is configured to adjust an output torque of the electrically driven vehicle according to a rotational speed limit corresponding to at least one hysteresis adjustment interval when the torque hysteresis adjustment condition is determined to be satisfied based on the real-time rotational speed.
According to the technical scheme, the current rotating speed of the traveling driving motor of the electrically-driven vehicle is obtained in real time; when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve; if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque reduction interval into a plurality of hysteresis regulation intervals according to the rotating speed of a speed reduction point when the current rotating speed drops for the first time; when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section. According to the technical scheme provided by the embodiment of the invention, the overspeed control is performed on the electrically driven vehicle by utilizing the torque limiting curve, so that the adaptability of the motor output torque to the load and the climbing gradient is improved, the motor torque is prevented from fluctuating back and forth in the overspeed control process, and the driving efficiency and the driving comfort are improved.
Based on the above embodiments, the speed real-time obtaining module 410 may specifically include:
a determination section output torque adjustment unit for adjusting an output torque of the electrically driven vehicle according to the fixed forward torque when it is determined that the current rotation speed falls within the determination section;
the anti-dragging interval output torque adjusting unit is used for adjusting the output torque of the electrically driven vehicle according to a preset anti-dragging torque curve when the current rotating speed is determined to fall into the anti-dragging interval;
the rotation speed of the judging section is smaller than that of the torque reducing section, and the rotation speed of the torque reducing section is smaller than that of the anti-dragging section.
Based on the above embodiments, the torque control curve acquisition module 420 may specifically include:
the rotating speed curve mapping table acquisition unit is used for acquiring a pre-constructed rotating speed curve mapping table, wherein a plurality of groups of reference data and torque control curves respectively corresponding to each group of reference data are stored in the rotating speed curve mapping table, and the reference data comprise reference rotating speed and/or reference rotating speed variation;
and the target torque control curve acquisition unit is used for matching the historical rotating speed and/or the historical rotating speed variation before the electrically driven vehicle enters the torque reduction interval with each group of reference data, acquiring target matching reference data and acquiring a target torque control curve corresponding to the target matching reference data.
On the basis of the above embodiments, the hysteresis adjustment interval dividing module 430 may include:
a deceleration point output torque obtaining unit, configured to obtain a deceleration point output torque of the electric drive vehicle at a deceleration point rotation speed, and use an accumulated sum of the deceleration point output torque and a target set value as a torque limit value of a first hysteresis adjustment interval, and determine an upper and lower rotation speed boundary matched with the first hysteresis adjustment interval;
the upper and lower boundaries of the rotating speeds of the other hysteresis regulation intervals are determined according to the upper and lower boundaries of the rotating speeds matched with the first hysteresis regulation interval, and the upper and lower boundaries of the rotating speeds of at least one other hysteresis regulation interval are determined along the rotating speed reducing direction;
and the other torque limit value determining unit is used for determining the torque limit value of each other hysteresis regulating section according to the upper and lower boundaries of the rotating speed of each other hysteresis regulating section.
On the basis of the above embodiments, the hysteresis adjustment interval dividing module 430 may further include:
and the new target torque control curve determining unit is used for determining a new target torque control curve in the plurality of torque control curves again according to the rotation speed of the deceleration point when the vehicle first descends.
On the basis of the above embodiments, the hysteresis adjustment interval dividing module 430 may further include:
The first hysteresis regulation section and the second hysteresis regulation section acquiring unit are used for acquiring a first hysteresis regulation section where the rotating speed of the increasing point is located and a second hysteresis regulation section adjacent to the first hysteresis regulation section along the rotating speed increasing direction if the real-time rotating speed is detected to be increased again in the process of adjusting the output torque of the electrically driven vehicle according to the rotating speed limit value corresponding to at least one hysteresis regulation section;
and the new hysteresis regulation interval merging unit is used for merging the first hysteresis regulation interval and the second hysteresis regulation interval to obtain a new merged hysteresis regulation interval.
Based on the above embodiments, the output torque adjustment module 440 may include:
the target hysteresis adjustment interval acquisition unit is used for acquiring the expected torque corresponding to the real-time rotating speed according to the target torque control curve, and acquiring the target hysteresis adjustment interval corresponding to the real-time rotating speed in at least one hysteresis adjustment interval;
and an output torque adjustment unit for adjusting the output torque of the electrically driven vehicle using the torque limit value of the target hysteresis adjustment section when the detected desired torque is greater than the torque limit value of the target hysteresis adjustment section and the tread depth of the current accelerator pedal is not increased.
On the basis of the above embodiments, the other torque limit value determination unit may be further configured to:
determining torque upper and lower boundaries respectively corresponding to the rotating speed upper and lower boundaries of each other hysteresis regulation interval according to the target torque control curve;
and determining an average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval as a torque limit value of each other hysteresis adjustment interval.
The torque control device for the electric drive vehicle provided by the embodiment of the invention can execute the torque control method for the electric drive vehicle provided by any embodiment of the invention, and has the corresponding functional modules and beneficial effects of the execution method.
Example IV
Fig. 5 shows a schematic diagram of the structure of an electronic device 10 that may be used to implement an embodiment of the invention. Electronic devices are intended to represent various forms of digital computers, such as laptops, desktops, workstations, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. Electronic equipment may also represent various forms of mobile devices, such as personal digital processing, cellular telephones, smartphones, 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 electronic device 10 includes at least one processor 11, and a memory, such as a Read Only Memory (ROM) 12, a Random Access Memory (RAM) 13, etc., communicatively connected to the at least one processor 11, in which the memory stores a computer program executable by the at least one processor, and the processor 11 may perform various appropriate actions and processes according to the computer program stored in the Read Only Memory (ROM) 12 or the computer program loaded from the storage unit 18 into the Random Access Memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 may also be stored. The processor 11, the ROM 12 and the RAM 13 are connected to each other via a bus 14. An input/output (I/O) interface 15 is also connected to bus 14.
Various components in the electronic device 10 are connected to the I/O interface 15, including: an input unit 16 such as a keyboard, a mouse, etc.; an output unit 17 such as various types of displays, speakers, and the like; a storage unit 18 such as a magnetic disk, an optical disk, or the like; and a communication unit 19 such as a network card, modem, wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information/data with other devices via a computer network, such as the internet, and/or various telecommunication networks.
The processor 11 may be a variety of general and/or special purpose processing components having processing and computing capabilities. Some examples of processor 11 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 11 performs the respective methods and processes described above, for example, a torque control method of an electrically driven vehicle.
Namely: acquiring the current rotating speed of a walking driving motor of the electrically driven vehicle in real time;
when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve;
if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the rotating speed of the speed down point when the current rotating speed drops for the first time, wherein one hysteresis adjustment interval corresponds to one torque limit value;
when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section.
In some embodiments, a torque control method of an electrically driven vehicle may be implemented as a computer program tangibly embodied on a computer readable storage medium, such as storage unit 18. In some embodiments, part or all of the computer program may be loaded and/or installed onto the electronic device 10 via the ROM 12 and/or the communication unit 19. When the computer program is loaded into the RAM 13 and executed by the processor 11, one or more steps of torque control of an electrically driven vehicle as described above may be performed. Alternatively, in other embodiments, the processor 11 may be configured to perform a torque control method of an electrically driven vehicle 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 an electronic device 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 a pointing device (e.g., a mouse or a trackball) through which a user can provide input to the electronic device. 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. A torque control method of an electrically driven vehicle, characterized by comprising:
acquiring the current rotating speed of a walking driving motor of the electrically driven vehicle in real time;
when the current rotating speed is determined to fall into the torque reduction zone, acquiring a target torque control curve from a plurality of torque control curves, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve;
if the first drop of the current rotating speed is detected in the process of controlling the output torque according to the target torque control curve, dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the rotating speed of the speed down point when the current rotating speed drops for the first time, wherein one hysteresis adjustment interval corresponds to one torque limit value;
when the torque hysteresis adjustment condition is met according to the real-time rotation speed, the output torque of the electrically driven vehicle is adjusted according to the rotation speed limit value corresponding to at least one hysteresis adjustment section.
2. The method of claim 1, wherein obtaining a target torque control curve from a plurality of torque control curves comprises:
obtaining a pre-constructed rotating speed curve mapping table, wherein a plurality of groups of reference data and torque control curves respectively corresponding to each group of reference data are stored in the rotating speed curve mapping table, and the reference data comprise reference rotating speeds and/or reference rotating speed variation;
And matching the historical rotating speed and/or the historical rotating speed variation before the electrically driven vehicle enters the torque reduction interval with each group of reference data, obtaining target matching reference data, and obtaining a target torque control curve corresponding to the target matching reference data.
3. The method according to claim 1, wherein dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the speed down point rotation speed at the time of the first descent includes:
acquiring a deceleration point output torque of the electrically driven vehicle at a deceleration point rotating speed, taking the accumulated sum of the deceleration point output torque and a target set value as a torque limit value of a first hysteresis regulation interval, and determining a rotating speed upper boundary and a rotating speed lower boundary matched with the first hysteresis regulation interval;
determining the upper and lower rotational speed boundaries of at least one other hysteresis regulation section along the rotational speed reduction direction according to the upper and lower rotational speed boundaries matched with the first hysteresis regulation section;
and determining the torque limit value of each other hysteresis regulation interval according to the upper and lower boundaries of the rotating speed of each other hysteresis regulation interval.
4. A method according to claim 3, wherein after detecting that the current rotation speed has fallen for the first time during the control of the output torque in accordance with the target torque control curve, further comprising:
Determining a new target torque control curve in the torque control curves again according to the rotating speed of the speed reducing point when the speed is firstly reduced;
determining a torque limit value of each other hysteresis adjustment interval according to the upper and lower rotational speed boundaries of each other hysteresis adjustment interval, including:
determining torque upper and lower boundaries respectively corresponding to the rotating speed upper and lower boundaries of each other hysteresis regulation interval according to the target torque control curve;
and determining an average value of the upper and lower torque boundaries corresponding to each other hysteresis adjustment interval as a torque limit value of each other hysteresis adjustment interval.
5. The method of claim 4, wherein adjusting the output torque of the electrically driven vehicle according to the rotational speed limit corresponding to the at least one hysteresis adjustment interval when the torque hysteresis adjustment condition is determined to be satisfied based on the real-time rotational speed comprises:
according to the target torque control curve, acquiring a desired torque corresponding to the real-time rotating speed, and acquiring a target hysteresis regulation interval corresponding to the real-time rotating speed in at least one hysteresis regulation interval;
when the desired torque is detected to be greater than the torque limit of the target hysteresis adjustment interval, the torque limit of the target hysteresis adjustment interval is used to adjust the output torque of the electrically driven vehicle.
6. A method according to claim 3, further comprising, after dividing the torque down interval into a plurality of hysteresis adjustment intervals according to the first-time deceleration point rotation speed at the time of the descent:
in the process of adjusting the output torque of the electrically driven vehicle according to the rotation speed limit value corresponding to at least one hysteresis adjustment interval, if the real-time rotation speed is detected to be increased again, acquiring a first hysteresis adjustment interval where the rotation speed of the increasing point is located and a second hysteresis adjustment interval adjacent to the first hysteresis adjustment interval along the rotation speed increasing direction;
and merging the first hysteresis regulation interval and the second hysteresis regulation interval to obtain a new merged hysteresis regulation interval.
7. The method according to any one of claims 1 to 6, further comprising, after acquiring in real time a current rotational speed of a travel drive motor of the electrically-driven vehicle:
when the current rotating speed is determined to fall into the judging section, adjusting the output torque of the electrically driven vehicle according to the fixed forward torque;
when the current rotating speed is determined to fall into the reverse dragging interval, adjusting the output torque of the electrically driven vehicle according to a preset reverse dragging torque curve;
the rotation speed of the judging section is smaller than that of the torque reducing section, and the rotation speed of the torque reducing section is smaller than that of the anti-dragging section.
8. A torque control apparatus for an electrically driven vehicle, comprising:
the real-time rotating speed acquisition module is used for acquiring the current rotating speed of a traveling driving motor of the electrically-driven vehicle in real time;
the torque control curve acquisition module is used for acquiring a target torque control curve from a plurality of torque control curves when the current rotating speed is determined to fall into a torque reduction interval, and adjusting the output torque of the electrically driven vehicle according to the target torque control curve;
the hysteresis regulation interval dividing module is used for dividing the torque reduction interval into a plurality of hysteresis regulation intervals according to the speed reduction point rotating speed when the current rotating speed is reduced for the first time if the current rotating speed is detected to be reduced for the first time in the process of controlling the output torque according to the target torque control curve, wherein one hysteresis regulation interval corresponds to one torque limit value;
and the output torque adjusting module is used for adjusting the output torque of the electrically driven vehicle according to the rotating speed limit value corresponding to at least one hysteresis adjusting section when the torque hysteresis adjusting condition is met according to the real-time rotating speed.
9. A vehicle, characterized in that the vehicle comprises:
whole vehicle controller
A memory communicatively coupled to the vehicle control unit; wherein,
The memory stores a computer program executable by the vehicle controller to enable the vehicle controller to execute the torque control method of the electrically driven vehicle according to any one of claims 1 to 7.
10. A computer readable storage medium storing computer instructions for causing a processor to execute the torque control method of an electrically driven vehicle according to any one of claims 1-7.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311563144.3A CN117416219A (en) | 2023-11-22 | 2023-11-22 | Torque control method, device, equipment and medium for electrically driven vehicle |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202311563144.3A CN117416219A (en) | 2023-11-22 | 2023-11-22 | Torque control method, device, equipment and medium for electrically driven vehicle |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN117416219A true CN117416219A (en) | 2024-01-19 |
Family
ID=89526570
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202311563144.3A Pending CN117416219A (en) | 2023-11-22 | 2023-11-22 | Torque control method, device, equipment and medium for electrically driven vehicle |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN117416219A (en) |
-
2023
- 2023-11-22 CN CN202311563144.3A patent/CN117416219A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN114275487B (en) | Belt speed control method and device for belt conveyor | |
| CN111976500B (en) | Torque filtering method, torque filtering device and vehicle | |
| CN115476837A (en) | Vehicle speed control method and system and vehicle | |
| CN114872701A (en) | Vehicle control method, device, vehicle and storage medium | |
| CN117416219A (en) | Torque control method, device, equipment and medium for electrically driven vehicle | |
| CN116620254A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN116729395A (en) | Method and device for suppressing vehicle resonance jitter, electronic equipment and storage medium | |
| CN117002274A (en) | Torsion clearing slope control method and device, vehicle and storage medium | |
| CN115288872B (en) | Torque control method, device and system | |
| CN116552476A (en) | Method, device, equipment and medium for determining liquid filling rate state of hydrodynamic retarder | |
| CN115234649B (en) | Off-hook control method, device and system, electronic equipment and storage medium | |
| CN116620292A (en) | Gear control method and device, electronic equipment and medium | |
| CN114013450B (en) | Vehicle operation control method, system and computer equipment | |
| CN115179921A (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN113442909B (en) | Autonomous parking control method and device | |
| CN113947895A (en) | Data processing method, device, equipment and storage medium | |
| CN118560294A (en) | Anti-slip control method and device, vehicle and storage medium | |
| CN116572973B (en) | Whole vehicle quality determining method and device, vehicle and storage medium | |
| CN117985002A (en) | Vehicle speed control method and device, electronic equipment and storage medium | |
| CN117681683B (en) | Gear shifting control method and device of power assembly and vehicle | |
| CN117400941A (en) | Vehicle control method, device, electronic equipment and storage medium | |
| CN116653941A (en) | Cruise mode torque control method and device, vehicle and storage medium | |
| CN116061985B (en) | Constant speed control method and device for hump three-position speed reducer and hump control system | |
| CN115402291B (en) | Vehicle control method and device, electronic equipment and storage medium | |
| CN116255452A (en) | Vehicle gear control method, device, equipment and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination |