CN117533153A

CN117533153A - Control method and device for motor in vehicle and vehicle

Info

Publication number: CN117533153A
Application number: CN202210924695.7A
Authority: CN
Inventors: 刘志刚
Original assignee: Great Wall Motor Co Ltd
Current assignee: Great Wall Motor Co Ltd
Priority date: 2022-08-02
Filing date: 2022-08-02
Publication date: 2024-02-09

Abstract

The application is applicable to the technical field of motor control, and provides a control method and device of a motor in a vehicle and the vehicle, wherein the method comprises the following steps: acquiring a first request torque of a motor at an i-2 th sampling moment, a second request torque at an i-1 th sampling moment and a third request torque at the i-th sampling moment; judging whether the first request torque, the second request torque and the third request torque meet a first preset requirement or not; and controlling the motor to run for a preset time based on the second request torque when the first request torque, the second request torque and the third request torque meet the first preset requirement. According to the method and the device, when the change direction of the requested torque of the vehicle is changed, the motor is operated for the preset time according to the second requested torque, so that the vehicle can be operated according to the new requested torque when the second requested torque is operated stably, and the shake of the vehicle is reduced.

Description

Control method and device for motor in vehicle and vehicle

Technical Field

The application belongs to the technical field of motor control, and particularly relates to a control method and device of a motor in a vehicle and the vehicle.

Background

With the continuous development of automobiles, people have not only the requirement of riding instead of walking, but also the requirement of various performances of automobiles is higher and higher, wherein the requirement of people on the comfort of automobiles is higher and higher.

The motor is an indispensable device in the vehicle, and the motor in the vehicle drives wheels to move so as to realize the running of the vehicle. Due to the inherent stiffness in the vehicle, if the motor is improperly controlled when the direction of the change in the requested torque of the vehicle is changed, the vehicle may be excited, resulting in vehicle jerk.

Disclosure of Invention

The embodiment of the application provides a control method and device for a motor in a vehicle and the vehicle, and can solve the problem of vehicle shake when the change direction of the requested torque of the vehicle changes suddenly.

In a first aspect, an embodiment of the present application provides a method for controlling a motor in a vehicle, including:

acquiring a first request torque of a motor at an i-2 th sampling moment, a second request torque at an i-1 th sampling moment and a third request torque at an i-1 th sampling moment, wherein the i-th sampling moment is the current sampling moment, and i is more than or equal to 3;

controlling the motor to run for a preset time based on the second request torque if the first request torque, the second request torque and the third request torque meet a first preset requirement, wherein the first preset requirement comprises that the first request torque is larger than the second request torque and the second request torque is smaller than the third request torque; alternatively, the first preset request includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

In a second aspect, an embodiment of the present application provides a control device for a motor in a vehicle, including:

the system comprises a request torque acquisition module, a torque control module and a torque control module, wherein the request torque acquisition module is used for acquiring a first request torque of a motor at an ith-2 sampling moment, a second request torque at an ith-1 sampling moment and a third request torque at an ith sampling moment, wherein the ith sampling moment is the current sampling moment, and i is more than or equal to 3;

the motor control module is used for controlling the motor to run for a preset time based on the second request torque if the first request torque, the second request torque and the third request torque meet a first preset requirement, wherein the first preset requirement comprises that the first request torque is larger than the second request torque and the second request torque is smaller than the third request torque; alternatively, the first preset request includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

In a third aspect, embodiments of the present application provide a vehicle, including: a memory, a processor and a computer program stored in the memory and executable on the processor, the processor implementing the method of controlling a motor in a vehicle according to any one of the above first aspects when the computer program is executed.

In a fourth aspect, embodiments of the present application provide a computer-readable storage medium storing a computer program that, when executed by a processor, implements the method for controlling a motor in a vehicle according to any one of the first aspects described above.

In a fifth aspect, embodiments of the present application provide a computer program product, which, when run on a terminal device, causes the terminal device to perform the method for controlling a motor in a vehicle according to any one of the first aspects above.

Compared with the prior art, the embodiment of the first aspect of the application has the beneficial effects that: the method comprises the steps of firstly obtaining a first request torque of a motor at an ith-2 sampling moment, a second request torque at an ith-1 sampling moment and a third request torque at the ith sampling moment; judging whether the first request torque, the second request torque and the third request torque meet a first preset requirement or not; when the first request torque, the second request torque and the third request torque meet a first preset requirement, the change direction of the request torque is determined to change, and when the change direction of the request torque is changed, the motor is controlled to run for preset time based on the second request torque. Compared with the prior art that the vehicle is directly changed from the second request torque to the third request torque whenever the vehicle runs unstably due to the change of the change direction of the request torque, the vehicle shakes; when the change direction of the request torque is changed, the motor is operated for the preset time according to the second request torque, so that the vehicle can continuously control the motor to operate after the second request torque operates stably, the request torque of the vehicle is ensured to be changed in a stable state, and the shake of the vehicle is reduced.

It will be appreciated that the advantages of the second to fifth aspects may be found in the relevant description of the first aspect, and are not described here again.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are required for the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that 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 method for controlling a motor in a vehicle according to an embodiment of the present disclosure;

FIG. 2 is a comparative schematic diagram of the prior art requested torque provided by an embodiment of the present application and the change in the requested torque of the present application;

FIG. 3 is a flow chart of a method for correcting a third requested torque according to an embodiment of the present disclosure;

FIG. 4 is a flow chart of a method for determining whether to modify a third requested torque provided by an embodiment of the present application;

FIG. 5 is a schematic diagram of corresponding region division of requested torque versus vehicle speed provided by an embodiment of the present application;

Fig. 6 is a schematic structural view of a control device for a motor in a vehicle according to an embodiment of the present application;

fig. 7 is a schematic structural diagram of a vehicle according to an embodiment of the present application.

Detailed Description

It should be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

As used in this specification and the appended claims, the term "if" may be interpreted in context as "when … …" or "upon" or "in response to determining" or "in response to detecting". Similarly, the phrase "if a determination" or "if a [ described condition or event ] is detected" may be interpreted in the context of meaning "upon determination" or "in response to determination" or "upon detection of a [ described condition or event ]" or "in response to detection of a [ described condition or event ]".

In addition, in the description of the present application and the appended claims, the terms "first," "second," "third," and the like are used merely to distinguish between descriptions and are not to be construed as indicating or implying relative importance.

Reference in the specification to "one embodiment" or "some embodiments" or the like means that a particular feature, structure, or characteristic described in connection with the embodiment is included in one or more embodiments of the application. Thus, appearances of the phrases "in one embodiment," "in some embodiments," "in other embodiments," and the like in the specification are not necessarily all referring to the same embodiment, but mean "one or more but not all embodiments" unless expressly specified otherwise.

When the direction of change of the requested torque suddenly changes, for example, the accelerator is suddenly increased by loosening the accelerator to half, the vehicle generates shock due to the play in the vehicle, and the vehicle shakes. The play is the length and the size of the machine parts which can keep free running.

Alternatively, when the requested torque of the vehicle suddenly increases or decreases, system excitation is easily generated due to the inherent rigidity existing in the vehicle, resulting in vehicle hunting.

Based on the reasons, when the required torque suddenly increases, the motor control method in the vehicle actively dampens the motor by correcting the required torque, so that the motor torque active inhibition system is excited, and the shake of the vehicle is reduced. When the direction of change of the requested torque of the vehicle is suddenly changed, the peak value of the requested torque is eliminated, so that the requested torque change is smoother, and the vehicle shake is reduced.

Fig. 1 shows a schematic flow chart of a control method of a motor in a vehicle provided by the application, and referring to fig. 1, the method is described in detail as follows:

s101, acquiring a first request torque of the motor at the ith-2 sampling time, a second request torque at the ith-1 sampling time and a third request torque at the ith sampling time.

The ith sampling time is the current sampling time, and i is more than or equal to 3.

In the present embodiment, the vehicle obtains the requested torque at a preset period when the vehicle speed is greater than 0. The preset period may be set as needed, for example, the preset period may be 10ms or 20ms, or the like.

Specifically, the requested torque is determined based on a pedal opening of a brake pedal or a pedal opening of an accelerator pedal. For example, the larger the pedal opening of the accelerator pedal, the larger the requested torque; the smaller the pedal opening of the accelerator pedal, the smaller the requested torque.

After the first, second and third requested torques are obtained, whether the direction of change of the requested torque is changed or not is judged by using the first, second and third requested torques.

S102, if the first request torque, the second request torque and the third request torque meet a first preset requirement, controlling the motor to run for a preset time based on the second request torque.

In this embodiment, the first preset request includes the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque. Alternatively, the first preset request includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

The first request torque is larger than the second request torque, and the second request torque is smaller than the third request torque, and the first request torque is changed from continuous decrease to continuous increase.

The first request torque is smaller than the second request torque, and the second request torque is larger than the third request torque, and the first request torque is changed from continuous increase to continuous decrease.

In an actual application, based on the second requested torque, controlling the motor to operate includes:

determining a driving torque of the motor based on the second requested torque; the motor operation is controlled based on the drive torque.

Specifically, the second request torque is input into a torque distribution model to obtain the driving torque of the motor.

In addition, since the driving torque is obtained from the requested torque, the direction of change of the driving torque is the same as the direction of change of the requested torque. For example, the requested torque is continuously reduced, and accordingly, the driving torque is continuously reduced. Therefore, the direction of change of the requested torque is changed, and the direction of change of the driving torque is also changed.

In this embodiment, the preset time may be set as needed, for example, the preset time may be set to 20ms or 15ms, or the like. And controlling the motor to run for a preset time based on the second request torque, wherein the second request torque is kept for the preset time, and meanwhile, the driving torque corresponding to the second request torque is kept for the preset time.

By way of example, as shown in fig. 2, the dashed line portion of the graph is a real-time variation graph of the request torque (or the drive torque) in the prior art. The solid line part is that in the present application, the first request torque, the second request torque and the third request torque meet the first preset requirement, and when the maximum value and the minimum value of the request torque (or the driving torque) are met, the current request torque (or the driving torque) Tms is kept, so that the peak value when the request torque (or the driving torque) changes is eliminated, the peak value part is smoother, and the probability of vehicle shake caused by sudden change of the change direction of the request torque is reduced.

In the embodiment of the application, first request torque of a motor at the ith-2 sampling moments, second request torque at the ith-1 sampling moments and third request torque at the ith sampling moments are acquired firstly; judging whether the first request torque, the second request torque and the third request torque meet a first preset requirement or not; and controlling the motor to run for a preset time based on the second request torque when the first request torque, the second request torque and the third request torque meet a first preset requirement. Compared to the prior art vehicle which changes from the second request torque to the third request torque whenever directly, the vehicle is dithered due to the change in direction of the request torque; when the change direction of the request torque is changed, the motor is operated for the preset time according to the second request torque, so that the motor can be continuously controlled to operate after the second request torque is operated stably, the direction of the request torque is not changed suddenly, the request torque of the vehicle is ensured to be changed in a stable state, and the shake of the vehicle is reduced.

In one possible implementation manner, after step S102, the method may further include:

And after the motor runs for the preset time based on the second request torque, acquiring a fourth request torque at a j-th sampling moment, wherein j=i+the preset time. And if the second request torque, the third request torque and the fourth request torque do not meet a second preset requirement, controlling the motor to run between the j sampling time and the j+1th sampling time based on the fourth request torque.

In this embodiment, the second preset request includes the second requested torque being greater than the third requested torque and the third requested torque being less than the fourth requested torque; alternatively, the second preset request includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

In this embodiment, after the motor is operated for a preset time according to the second request torque, the fourth request torque at the current time is reacquired. The driving torque of the motor is calculated based on the fourth requested torque. And using a torque following method, and using the driving torque of the motor calculated by the fourth request torque to drive the motor to run between the j sampling time and the j+1th sampling time.

In this embodiment, if the second requested torque, the third requested torque, and the fourth requested torque meet the second preset requirement, the motor is controlled to run for a preset time based on the third requested torque.

In one possible implementation, the requested torque is obtained based on a pedal opening of an accelerator pedal or a pedal opening of a brake pedal, and specifically, a method of obtaining the third requested torque is described as an example.

In practical application, the method for obtaining the third request torque comprises the following steps:

acquiring opening data of the vehicle at an ith sampling moment, wherein the opening data comprises pedal opening of an accelerator pedal or pedal opening of a brake pedal in the vehicle; and determining a third request torque of the motor at the ith sampling moment based on the opening data.

In the present embodiment, the pedal opening degree may be determined according to the descending depth of the pedal. The larger the descent depth, the larger the opening degree.

Specifically, according to the descending depth, a first preset table is searched, and the pedal opening is determined. The first preset table stores the corresponding relation between the descending depth and the pedal opening. The first preset table may also be a relation diagram of a descent depth and a pedal opening, where an X axis is the descent depth and a Y axis is the pedal opening.

And searching a second preset table according to the opening data, and determining the request torque corresponding to the opening data. And storing the corresponding relation between the opening data and the request torque in a second preset table. The second preset table may also be a relation diagram of pedal opening and requested torque, where the X-axis is pedal opening and the Y-axis is requested torque.

In one possible implementation, to ensure the effectiveness of the method of the present application, the third requested torque may use the method of the present application within a preset range.

Specifically, after the third requested torque at the ith sampling time is obtained, the method may further include:

and judging whether the absolute value of the third request torque is larger than a preset value.

Correspondingly, if the absolute value of the third request torque is larger than the preset value, and the first request torque, the second request torque and the third request torque meet the first preset requirement, the motor is controlled to run for preset time based on the second request torque. The preset value may be set as needed, and for example, the preset value may be set to 20Nm or 10Nm or the like.

Specifically, when the absolute value of the third request torque is larger than a preset value, judging whether the first request torque, the second request torque and the third request torque meet a first preset requirement or not; and if the first request torque, the second request torque and the third request torque meet a first preset requirement, controlling the motor to run for a preset time based on the second request torque.

When the absolute value of the third request torque is smaller than or equal to the preset value, the method does not need to be used for controlling the motor to operate.

In one possible implementation, the requested torque may be modified in order to ensure accuracy of the requested torque. In addition, when the requested torque suddenly changes, in order to prevent the vehicle from shaking, the requested torque can be corrected so as to change the driving torque of the motor, thereby achieving the purposes of actively restraining the system excitation through the torque of the motor and reducing the shaking of the vehicle. For convenience of explanation, the explanation is made to judge whether the third requested torque needs correction or not, and the judgment method of the first requested torque and the second requested torque is the same as the judgment method of the third requested torque.

As shown in fig. 3, specifically, after the third requested torque is obtained, the method may further include: the process for determining whether the requested torque suddenly changes specifically includes:

s201, subtracting the second request torque from the third request torque to obtain a torque variation.

S202, if the absolute value of the torque variation is within a preset variation range, determining that the third request torque needs to be corrected.

In this embodiment, the torque variation characterizes the variation of the requested torque from the last sampling time to the current sampling time. If the torque variation is within the preset variation range, it is determined that the variation of the requested torque from the last sampling time to the current sampling time is large, and in order to prevent vehicle shake, the requested torque may be corrected.

Specifically, the process of determining whether the requested torque suddenly changes may specifically further include:

s301, determining the vibration frequency of a motor rotation speed signal based on the historical rotation speed, wherein the rotation speed of the motor is determined based on the motor rotation speed signal.

In this embodiment, a time-dependent graph of the rotational speed is drawn from the historical rotational speed, and the vibration frequency of the motor rotational speed signal is determined from the time-dependent graph of the rotational speed.

Or, the historical rotation speed is input into a frequency calculation model to obtain the vibration frequency of the motor rotation speed signal, and the frequency calculation model can be a neural network model.

S302, calculating a difference value between the second rotating speed of the motor at the i-1 th sampling moment and the third rotating speed at the i-2 th sampling moment to obtain a first rotating speed difference.

S303, calculating a difference value between the first rotating speed of the motor at the ith sampling moment and the second rotating speed of the motor at the (i-1) th sampling moment to obtain a second rotating speed difference.

S304, calculating the difference value of the first rotating speed difference and the second rotating speed difference to obtain the amplitude variation.

S305, if the vibration frequency is in a first preset range and the amplitude variation is in a second preset range, determining that the third request torque needs to be corrected.

In this embodiment, whether the rotational speed has changed greatly or not may be determined based on the amplitude change amount, and the degree of occurrence of the rotational speed reflects the degree of occurrence of the change in the request torque. The degree of change in the requested torque can be determined using the vibration frequency.

The first preset range and the second preset range can be selected according to the needs.

The method and the device for determining the torque by using the amplitude variation and the vibration frequency determine whether the torque is suddenly changed or not, and ensure the accuracy of judgment.

In one possible implementation, the requested torque may be corrected upon determining that the requested torque requires correction. Specifically, the correction of the third requested torque will be described as an example, and the correction method of the requested torque at other sampling times is the same as the correction method of the third requested torque.

As shown in fig. 4, specifically, the third requested torque correction method includes:

s401, acquiring the historical rotating speed of the motor acquired before the ith sampling moment.

In this embodiment, the historical rotation speed may be a rotation speed acquired at each sampling time in the historical period. For example, the rotational speed acquired at each sampling instant within 1 minute or 2 minutes prior to the current time.

S402, predicting the expected rotating speed of the motor at the ith sampling moment based on the historical rotating speed.

In this embodiment, the historical rotation speed is input into a preset model to obtain the expected rotation speed.

And drawing a corresponding graph of time and rotation speed according to the historical rotation speed, and determining the expected rotation speed at the ith sampling moment according to the change rule of the graph.

Or, according to the historical rotation speed, determining the rotation speed change rate of the rotation speed at the last time (i-1 th sampling time) of the current time, and predicting the expected rotation speed at the i-1 th sampling time according to the rotation speed change rate at the last time.

S403, determining the correction torque of the third request torque based on the first rotating speed of the motor at the ith sampling time and the expected rotating speed.

Specifically, the first rotation speed and the expected rotation speed are input into a correction torque calculation model, and the correction torque of the third request torque is obtained.

In practical applications, step S403 may further specifically include:

s4031, calculating a difference value between the first rotating speed of the motor at the ith sampling moment and the expected rotating speed to obtain a first difference value.

S4032, inputting the first difference value into a PID controller to obtain the corrected torque of the third request torque.

Specifically, according to the relation diagram of the first rotation speed and the third request torque, the area where the third request torque is located is determined, for example, as shown in fig. 5, the horizontal axis is the first rotation speed, the vertical axis is the third request torque, the area one is the low rotation speed and low intensity area, the area two is the high rotation speed and high intensity area, the area three is the low rotation speed and low intensity area, and the area four is the high rotation speed and high intensity area. The third request torque is larger than 0 when the accelerator is stepped on or the brake is released, and is smaller than 0 when the accelerator is released or the brake is stepped on. And determining parameters in PID control according to the region where the third request torque is located, wherein different regions correspond to different parameters, so that the purpose of accurately correcting the torque according to the scene is achieved.

And S404, correcting the third request torque based on the correction torque to obtain a corrected third request torque.

In the present embodiment, the sum of the third requested torque and the corrected torque is calculated, resulting in the corrected third requested torque.

In practical applications, the first determined requested torque to be corrected may not be corrected during the running of the vehicle, because the first determined requested torque to be corrected may be caused by interference. Torque correction is performed starting from the second determined requested torque to be corrected.

Correspondingly, if the first request torque, the second request torque and the corrected third request torque meet the first preset requirement, controlling the motor to run for preset time based on the second request torque.

In one possible implementation, the correction of the requested torque is performed under a preset condition, and if the current vehicle is not under the preset condition, the correction of the requested torque is not required, that is, the process from step S401 to step S404 is not performed.

Specifically, before step S201, the method may further include: judging whether the current working condition of the vehicle is a preset working condition, and if the current working condition is the preset working condition, performing the processing from step S201 to step S202 and the processing from step S401 to step S404. Alternatively, after step S202, the above method may further include: and judging whether the current working condition of the vehicle is a preset working condition, and if the current working condition is the preset working condition, performing the processing from the step S401 to the step S404.

The preset working conditions are other than a steady-state uniform-speed driving working condition, an idle working condition, a vehicle body stabilizing system intervention working condition and a gear shifting requesting working condition.

The steady-state uniform-speed running condition is the condition of vehicle uniform-speed running.

The idle condition is when the vehicle is in N (neutral) or P (park).

The intervention working condition of the vehicle body stabilizing system is that the vehicle body stabilizing system is started and is in an operating state. The vehicle body stabilization system may include an antilock braking system, an acceleration slip prevention system, and the like. The vehicle body stabilizing system can also comprise a pure electric creeping mode, which is also called a low-speed cruising driving auxiliary system, so that the phenomenon that wheels slip and vehicle sinking are caused by too high running speed of the vehicle is avoided.

The gear-shifting request working condition is the condition that a TCU (Transmission-Control-Unit) requests lifting torque.

Specifically, before step S301, the method may further include: judging whether the current working condition of the vehicle is a preset working condition, and if the current working condition is the preset working condition, performing the processing of the steps S301 to S305 and the steps S401 to S404. Alternatively, after step S305, the method may further include: and judging whether the current working condition of the vehicle is a preset working condition, and if the current working condition is the preset working condition, performing the processing from the step S401 to the step S404.

It should be understood that the sequence number of each step in the foregoing embodiment does not mean that the execution sequence of each process should be determined by the function and the internal logic of each process, and should not limit the implementation process of the embodiment of the present application in any way.

Corresponding to the control method of the motor in the vehicle described in the above embodiments, fig. 6 shows a block diagram of the control device of the motor in the vehicle provided in the embodiment of the present application, and for convenience of explanation, only the portions related to the embodiments of the present application are shown.

Referring to fig. 6, the apparatus 500 may include: a requested torque acquisition module 510 and the motor control module 520.

The request torque obtaining module 510 is configured to obtain a first request torque of the motor at an i-2 th sampling time, a second request torque at an i-1 st sampling time, and a third request torque at an i-1 th sampling time, where the i-th sampling time is a current sampling time, and i is greater than or equal to 3;

a motor control module 520 configured to control the motor to operate for a preset time based on the second requested torque if the first requested torque, the second requested torque, and the third requested torque meet a first preset requirement, the first preset requirement including the first requested torque being greater than the second requested torque and the second requested torque being less than the third requested torque; alternatively, the first preset request includes the first requested torque being less than the second requested torque and the second requested torque being greater than the third requested torque.

In a possible implementation manner, the requested torque obtaining module 510 is further configured to obtain, after the motor runs for the preset time based on the second requested torque, a fourth requested torque of the motor at a j-th sampling time, where j=i+the preset time;

the motor control module 520 is further configured to control the motor to operate between the jth sampling time and the (j+1) th sampling time based on the fourth requested torque if the second requested torque, the third requested torque, and the fourth requested torque do not meet a second preset requirement, where the second preset requirement includes that the second requested torque is greater than the third requested torque, and the third requested torque is less than the fourth requested torque; alternatively, the second preset request includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

In one possible implementation, the requested torque obtaining module 510 may be further configured to:

acquiring opening data of the vehicle at an ith sampling moment, wherein the opening data comprises pedal opening of an accelerator pedal or pedal opening of a brake pedal in the vehicle;

And determining a third request torque of the motor at the ith sampling moment based on the opening data.

In one possible implementation, coupled to the requested torque acquisition module 510 further includes:

the judging module is used for judging whether the absolute value of the third request torque is larger than a preset value or not;

accordingly, the motor control module 520 may be specifically configured to:

and if the absolute value of the third request torque is larger than the preset value, and the first request torque, the second request torque and the third request torque meet the first preset requirement, controlling the motor to run for preset time based on the second request torque.

In one possible implementation, coupled to the requested torque obtaining module 510 may further include:

the historical data acquisition module is used for acquiring the historical rotating speed of the motor acquired before the ith sampling moment;

the expected rotation speed calculation module is used for predicting the expected rotation speed of the motor at the ith sampling moment based on the historical rotation speed;

a correction torque determining module, configured to determine a correction torque of the third requested torque based on a first rotational speed of the motor at an i-th sampling time and the desired rotational speed;

The torque correction module is used for correcting the third request torque based on the correction torque to obtain corrected third request torque;

accordingly, the motor control module 520 may be specifically configured to:

and if the first request torque, the second request torque and the corrected third request torque meet the first preset requirement, controlling the motor to run for preset time based on the second request torque.

In one possible implementation, the correction torque determination module may be specifically configured to:

calculating a difference value between a first rotating speed of the motor at the ith sampling moment and the expected rotating speed to obtain a first difference value;

and inputting the first difference value into a PID controller to obtain the corrected torque of the third request torque.

In one possible implementation, the connection to the historical data acquisition module further includes:

the variable calculation module is used for subtracting the second request torque from the third request torque to obtain a torque variation;

and the torque correction determining module is used for determining that the third request torque needs to be corrected if the absolute value of the torque variation is in a preset variation range.

The frequency calculation module is used for determining the vibration frequency of a motor rotating speed signal based on the historical rotating speed, wherein the rotating speed of the motor is determined based on the motor rotating speed signal;

the first rotating speed difference calculation module is used for calculating the difference value between the second rotating speed of the motor at the i-1 th sampling moment and the third rotating speed at the i-2 th sampling moment to obtain a first rotating speed difference;

the second rotating speed difference calculation module is used for calculating the difference value between the first rotating speed of the motor at the ith sampling moment and the second rotating speed at the (i-1) th sampling moment to obtain a second rotating speed difference;

the amplitude change determining module is used for calculating the difference value of the first rotating speed difference and the second rotating speed difference to obtain an amplitude change quantity;

and the torque correction determining module is used for determining that the third request torque needs to be corrected if the vibration frequency is in a first preset range and the amplitude variation is in a second preset range.

It should be noted that, because the content of information interaction and execution process between the above devices/units is based on the same concept as the method embodiment of the present application, specific functions and technical effects thereof may be referred to in the method embodiment section, and will not be described herein again.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of the functional units and modules is illustrated, and in practical application, the above-described functional distribution may be performed by different functional units and modules according to needs, i.e. the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-described functions. The functional units and modules in the embodiment may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit, where the integrated units may be implemented in a form of hardware or a form of a software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working process of the units and modules in the above system may refer to the corresponding process in the foregoing method embodiment, which is not described herein again.

The present embodiment also provides a vehicle, referring to fig. 7, the vehicle 600 may include: at least one processor 610, a memory 620 and a computer program stored in the memory 620 and executable on the at least one processor 610, the processor 610, when executing the computer program, implementing the steps of any of the various method embodiments described above, such as steps S101 to S102 in the embodiment shown in fig. 1. Alternatively, the processor 610, when executing the computer program, performs the functions of the modules/units of the apparatus embodiments described above, such as the functions of the request torque acquisition module 510 through the motor control module 520 shown in fig. 6.

By way of example, a computer program may be partitioned into one or more modules/units that are stored in the memory 620 and executed by the processor 610 to complete the present application. The one or more modules/units may be a series of computer program segments capable of performing particular functions for describing the execution of the computer program in the vehicle 600.

It will be appreciated by those skilled in the art that fig. 7 is merely an example of a vehicle and is not intended to be limiting of the vehicle, and may include more or fewer components than shown, or may combine certain components, or different components, such as input-output devices, network access devices, buses, etc.

The processor 610 may be a central processing unit (Central Processing Unit, CPU), but may also be other general purpose processors, digital signal processors (Digital Signal Processor, DSP), application specific integrated circuits (Application Specific Integrated Circuit, ASIC), off-the-shelf programmable gate arrays (Field-Programmable Gate Array, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, or the like. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 620 may be an internal storage unit of the vehicle, or may be an external storage device of the vehicle, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash Card (Flash Card), or the like. The memory 620 is used to store the computer program as well as other programs and data required by the vehicle. The memory 620 may also be used to temporarily store data that has been output or is to be output.

The bus may be an industry standard architecture (Industry Standard Architecture, ISA) bus, an external device interconnect (Peripheral Component, PCI) bus, or an extended industry standard architecture (Extended Industry Standard Architecture, EISA) bus, among others. The buses may be divided into address buses, data buses, control buses, etc. For ease of illustration, the buses in the drawings of the present application are not limited to only one bus or one type of bus.

The control method of the motor in the vehicle provided by the embodiment of the application can be applied to terminal equipment such as a computer, a tablet personal computer, a notebook computer, a netbook, a personal digital assistant (personal digital assistant, PDA) and the like, and the embodiment of the application does not limit the specific type of the terminal equipment.

In the foregoing embodiments, the descriptions of the embodiments are emphasized, and in part, not described or illustrated in any particular embodiment, reference is made to the related descriptions of other embodiments.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware, or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the solution. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present application.

In the embodiments provided in the present application, it should be understood that the disclosed terminal device, apparatus and method may be implemented in other manners. For example, the above-described embodiments of the terminal device are merely illustrative, e.g., the division of the modules or units is merely a logical functional division, and there may be additional divisions when actually implemented, e.g., multiple units or components may be combined or integrated into another system, or some features may be omitted or not performed. Alternatively, the coupling or direct coupling or communication connection shown or discussed may be an indirect coupling or communication connection via interfaces, devices or units, which may be in electrical, mechanical or other forms.

The units described as separate units may or may not be physically separate, and units shown as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units may be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present application may be integrated in one processing unit, or each unit may exist alone physically, or two or more units may be integrated in one unit. The integrated units may be implemented in hardware or in software functional units.

The integrated units, if implemented in the form of software functional units and sold or used as stand-alone products, may be stored in a computer readable storage medium. Based on such understanding, the present application may implement all or part of the flow of the method of the above-described embodiments, or may be implemented by a computer program to instruct related hardware, where the computer program may be stored in a computer readable storage medium, and when the computer program is executed by one or more processors, the computer program may implement the steps of each of the method embodiments described above.

Also, as a computer program product, the steps of the various method embodiments described above may be implemented when the computer program product is run on a terminal device, causing the terminal device to execute.

Wherein the computer program comprises computer program code which may be in source code form, object code form, executable file or some intermediate form etc. The computer readable medium may include: any entity or device capable of carrying the computer program code, a recording medium, a U disk, a removable hard disk, a magnetic disk, an optical disk, a computer Memory, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), an electrical carrier signal, a telecommunications signal, a software distribution medium, and so forth. It should be noted that the computer readable medium may include content that is subject to appropriate increases and decreases as required by jurisdictions in which such content is subject to legislation and patent practice, such as in certain jurisdictions in which such content is not included as electrical carrier signals and telecommunication signals.

The above embodiments are only for illustrating the technical solution of the present application, and are not limiting; although the present application has been described in detail with reference to the foregoing embodiments, it should be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.

Claims

1. A control method of an electric motor in a vehicle, characterized by comprising:

2. The control method of the motor in the vehicle according to claim 1, characterized in that after said controlling the motor to run for a preset time based on the second requested torque, the method further comprises;

after the motor runs for the preset time based on the second request torque, acquiring a fourth request torque of the motor at a j-th sampling moment, wherein j=i+the preset time;

controlling the motor to run between the j-th sampling time and the j+1th sampling time based on the fourth request torque if the second request torque, the third request torque and the fourth request torque do not meet a second preset requirement, wherein the second preset requirement comprises that the second request torque is larger than the third request torque and the third request torque is smaller than the fourth request torque; alternatively, the second preset request includes the second requested torque being less than the third requested torque and the third requested torque being greater than the fourth requested torque.

3. The control method of an electric motor in a vehicle according to claim 1 or 2, characterized in that the third request torque obtaining method includes:

4. The control method of an electric motor in a vehicle according to claim 1, characterized in that, after obtaining the third requested torque of the electric motor at the i-th sampling timing, the method further comprises:

judging whether the absolute value of the third request torque is larger than a preset value or not;

correspondingly, if the absolute value of the third request torque is larger than the preset value, and the first request torque, the second request torque and the third request torque meet the first preset requirement, the motor is controlled to run for preset time based on the second request torque.

5. A control method of an electric motor in a vehicle as set forth in claim 3, characterized in that, after said determining a third requested torque of the electric motor at an i-th sampling timing based on the opening degree data, the method further comprises:

acquiring a historical rotating speed of the motor acquired before the ith sampling moment;

Predicting an expected rotational speed of the motor at the ith sampling instant based on the historical rotational speed;

determining a correction torque of the third request torque based on the first rotation speed of the motor at the ith sampling time and the expected rotation speed;

correcting the third request torque based on the correction torque to obtain a corrected third request torque;

correspondingly, if the first request torque, the second request torque and the third request torque meet a first preset requirement, controlling the motor to run for a preset time based on the second request torque:

6. The control method of the motor in the vehicle according to claim 5, characterized in that the determining of the correction torque of the third requested torque based on the first rotational speed of the motor at the i-th sampling timing and the desired rotational speed includes:

calculating a difference value between a first rotating speed of the motor at an ith sampling moment and the expected rotating speed to obtain a first difference value;

7. The control method of an electric motor in a vehicle according to claim 5, characterized in that, before the acquisition of the historical rotation speed of the electric motor acquired before the i-th sampling timing, the method further comprises:

subtracting the second request torque from the third request torque to obtain a torque variation;

and if the absolute value of the torque variation is within a preset variation range, determining that the third request torque needs to be corrected.

8. The control method of a motor in a vehicle according to claim 5, characterized in that, after said acquisition of the historical rotation speed of the motor acquired before the i-th sampling timing, the method further comprises:

determining a vibration frequency of a motor speed signal based on the historical speed, wherein the speed of the motor is determined based on the motor speed signal;

calculating a difference value between a second rotating speed of the motor at the i-1 sampling moment and a third rotating speed of the motor at the i-2 sampling moment to obtain a first rotating speed difference;

calculating a difference value between a first rotating speed of the motor at the ith sampling moment and a second rotating speed of the motor at the (i-1) th sampling moment to obtain a second rotating speed difference;

Calculating the difference value of the first rotating speed difference and the second rotating speed difference to obtain an amplitude variation;

and if the vibration frequency is in a first preset range and the amplitude variation is in a second preset range, determining that the third request torque needs to be corrected.

9. A control device of an electric motor in a vehicle, characterized by comprising:

10. A vehicle comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the method of controlling an electric motor in a vehicle according to any one of claims 1 to 8 when executing the computer program.