CN117922319A

CN117922319A - Motor torque control method, motor torque control device, motor controller and motor torque control system

Info

Publication number: CN117922319A
Application number: CN202410231253.3A
Authority: CN
Inventors: 牟小龙; 周安健; 胡建军; 杜长虹; 李宗华
Original assignee: Deep Blue Automotive Technology Co ltd
Current assignee: Deep Blue Automotive Technology Co ltd
Priority date: 2024-02-29
Filing date: 2024-02-29
Publication date: 2024-04-26
Anticipated expiration: 2044-02-29
Also published as: CN117922319B

Abstract

The application relates to a motor torque control method, a motor torque control device, a motor controller and a motor torque control system, and relates to the technical field of automobile power. The method comprises the following steps: the motor torque control device obtains motor torque, motor rotating speed and driving wheel rotating speed of the vehicle under a target working condition; and determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed. Further, the motor torque control device receives a required torque sent by the whole vehicle controller, and the required torque is determined based on control parameters of the vehicle under a target working condition; and adjusting the required torque according to the wheel end load, and controlling the motor of the vehicle to run according to the adjusted required torque. Therefore, the motor is controlled to output reasonable torque, and abnormal shaking of the whole vehicle is avoided.

Description

Motor torque control method, motor torque control device, motor controller and motor torque control system

Technical Field

The application relates to the technical field of automobiles, in particular to the technical field of automobile power, and particularly relates to a motor torque control method, a motor torque control device, a motor controller and a motor system.

Background

The pure electric vehicle comprises three large electricity, namely a motor, a motor controller and a battery, wherein the motor is an electromechanical composite system, and under the electromechanical coupling effect, a plurality of unstable torque interferences exist, and the abnormal shaking is easy to generate in the running process; the motor controller controls the motor to operate by using the electric quantity of the battery.

The torsional vibration control design of the pure electric vehicle transmission system is very important, and the driving performance, the dynamic performance and the economy of the whole vehicle are directly related. Because the actual vehicle is in the fixed-point starting of the ramp, the skid of the low-adhesion road surface, suddenly stepping on the brake and other non-steady working conditions, the problem of sudden increase or sudden decrease of the load torque of the wheel end is accompanied, the vehicle is easy to shake, and the driving experience is influenced.

Disclosure of Invention

The application aims to provide a motor torque control method, a motor torque control device, a motor controller and a motor torque control system, which are used for realizing the control of reasonable torque output by a motor and avoiding abnormal shake of the whole vehicle.

In order to achieve the above purpose, the technical scheme adopted by the application is as follows:

According to a first aspect to which the present application relates, there is provided a motor torque control method comprising: the motor torque control device obtains motor torque, motor rotating speed and driving wheel rotating speed of the vehicle under a target working condition; and determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed. Further, the motor torque control device receives a required torque sent by the whole vehicle controller, wherein the required torque is determined based on control parameters of the vehicle; and adjusting the required torque according to the wheel end load, and controlling the motor of the vehicle to run according to the adjusted required torque.

According to the technical means, in the motor torque control method provided by the application, the wheel end load is calculated through the acquired motor rotating speed, the driving wheel rotating speed and the motor torque, a braking signal, a braking trigger signal and the like are not needed, the problem that a signal received from a chassis controller in the related art is delayed is solved, and after the wheel end load is obtained, the required torque sent by the whole vehicle controller is adjusted based on the wheel end load, so that the motor controller makes reasonable judgment, abnormal shake of the whole vehicle is avoided, the ride comfort and the comfort of the vehicle are improved, and the driving experience of a driver is ensured.

In one possible embodiment, the motor torque control device determines a wheel end load of the vehicle under a target working condition according to a motor torque, a motor rotation speed and a driving wheel rotation speed, and includes: the motor torque control device determines a half-axle load according to the motor rotating speed and the driving wheel rotating speed; and further determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed, the driving wheel rotating speed and the half-axle load.

According to the technical means, the axle side load of the vehicle is calculated through the acquired motor rotating speed and the acquired driving wheel rotating speed, and the axle side load is further calculated by combining the motor torque and the calculated axle side load, so that the determination of the wheel end load is realized.

In one possible embodiment, the motor torque control device determines the axle load according to the motor rotation speed and the driving wheel rotation speed, and includes: the motor torque control device obtains the half-axle rigidity and half-axle damping of vehicle calibration; and determining the half-axle load according to the half-axle rigidity, the half-axle damping, the motor rotating speed and the driving wheel rotating speed.

According to the technical means, the method and the device for determining the axle load obtain the axle rigidity and the axle damping of the vehicle calibration, and further calculate the axle load by combining the obtained motor rotating speed and the obtained driving wheel rotating speed, so that the determination of the axle load is realized.

In one possible embodiment, the motor torque control device controls the motor to operate according to the adjusted required torque, including: the motor torque control device obtains a voltage actual measurement value of a motor bus; calculating control current, control voltage and duty ratio according to the adjusted required torque, the actual measured voltage value of the motor bus and the motor rotating speed; the motor is further controlled to operate at a control current, a control voltage, and a duty cycle.

According to the technical means, after the adjusted required torque, namely the torque which is finally required to be executed, is determined, parameters for controlling the operation of the motor, including control current, control voltage and duty ratio, are calculated according to the adjusted required torque by combining the measured voltage value of the motor bus and the motor rotating speed, and after the control parameters are obtained, the motor is controlled to operate with the adjusted required torque based on the calculated control parameters.

In one possible embodiment, the motor torque control device obtains a driving wheel rotation speed, including: the motor torque control device receives a driving wheel rotating speed signal sent by the chassis controller; and determining the rotation speed indicated by the rotation speed signal of the driving wheel as the rotation speed of the driving wheel under the condition that the rotation speed indicated by the rotation speed signal of the driving wheel is larger than the preset rotation speed; further, under the condition that the rotating speed indicated by the rotating speed signal of the driving wheel is smaller than or equal to a preset rotating speed, the rotating speed signal of the driving wheel is processed based on low-pass filtering with phase compensation, and the processed rotating speed signal of the driving wheel is obtained; and determining the rotation speed indicated by the processed rotation speed signal of the driving wheel as the rotation speed of the driving wheel.

According to the technical means, the accuracy of the rotation speed signal of the driving wheel is improved by processing the rotation speed signal of the driving wheel with lower rotation speed, so that the accuracy of the determined rotation speed of the driving wheel is further ensured, and the accuracy of the load of the wheel end is improved.

According to a second aspect of the present application, there is provided a motor torque control system including a motor controller, a chassis controller, a vehicle controller, a speed sensor, and a motor. The motor controller is used for acquiring the motor rotating speed of the vehicle under the target working condition through the speed sensor. The chassis controller is used for sending a driving wheel rotating speed signal of the vehicle under a target working condition to the motor controller. The motor controller is also configured to determine a drive wheel speed based on the drive wheel speed signal. The motor controller is also used for determining the wheel end load according to the motor torque, the motor rotating speed and the driving wheel rotating speed of the vehicle under the target working condition. The vehicle controller is used for sending a required torque to the motor controller, wherein the required torque is determined based on control parameters of the vehicle. The motor controller is also used for adjusting the required torque according to the wheel end load and controlling the motor to operate according to the adjusted required torque.

In one possible implementation manner, the motor controller is specifically configured to determine a magnitude relation between a rotational speed indicated by the rotational speed signal of the driving wheel and a preset rotational speed; and determining the rotation speed indicated by the rotation speed signal of the driving wheel as the rotation speed of the driving wheel under the condition that the rotation speed indicated by the rotation speed signal of the driving wheel is larger than the preset rotation speed; under the condition that the rotating speed indicated by the rotating speed signal of the driving wheel is less than or equal to the preset rotating speed, the rotating speed signal of the driving wheel is processed based on low-pass filtering with phase compensation, and the processed rotating speed signal of the driving wheel is obtained; and determining the rotation speed indicated by the processed rotation speed signal of the driving wheel as the rotation speed of the driving wheel.

According to a third aspect of the present application, there is provided a motor torque control device disposed in a motor controller, the motor torque control device including an acquisition unit, a determination unit, a receiving unit, and a processing unit. And the acquisition unit is used for acquiring the motor torque, the motor rotating speed and the driving wheel rotating speed of the vehicle under the target working condition. And the determining unit is used for determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed. And the receiving unit is used for receiving the required torque sent by the whole vehicle controller, wherein the required torque is determined based on the control parameters of the vehicle. And the processing unit is used for adjusting the required torque according to the wheel end load and controlling the motor to run according to the adjusted required torque.

In one possible embodiment, the determination unit is specifically configured to determine the axle load based on the motor speed and the driving wheel speed; and determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed, the driving wheel rotating speed and the half-axle load.

In one possible embodiment, the acquisition unit is further configured to acquire a calibrated axle stiffness and axle damping of the vehicle. The determining unit is specifically used for determining the half-axle load according to the half-axle rigidity, the half-axle damping, the motor rotating speed and the driving wheel rotating speed.

In one possible embodiment, the acquisition unit is further configured to acquire a measured voltage value of the motor bus. And the processing unit is also used for calculating control current, control voltage and duty ratio according to the adjusted required torque, the voltage actual measurement value of the motor bus and the motor rotating speed. And the processing unit is also used for controlling the motor to operate with a control current, a control voltage and a duty ratio.

In one possible embodiment, the receiving unit is further configured to receive a driving wheel rotation speed signal sent by the chassis controller. And the determining unit is also used for determining the rotating speed indicated by the driving wheel rotating speed signal as the driving wheel rotating speed under the condition that the rotating speed indicated by the driving wheel rotating speed signal is larger than the preset rotating speed. And the processing unit is also used for processing the driving wheel rotating speed signal based on low-pass filtering with phase compensation under the condition that the rotating speed indicated by the driving wheel rotating speed signal is less than or equal to the preset rotating speed, so as to obtain the processed driving wheel rotating speed signal. And the determining unit is also used for determining the rotation speed indicated by the processed rotation speed signal of the driving wheel as the rotation speed of the driving wheel.

According to a fourth aspect of the present application, there is provided a motor controller for deployment in a vehicle. The motor controller comprises a memory and a processor, and the memory is coupled with the processor; the memory is for storing computer program code, the computer program code comprising computer instructions; when the processor executes computer instructions, the motor controller performs the motor torque control method provided by the first aspect and any possible implementation manner thereof.

According to a fifth aspect of the present application there is provided a computer readable storage medium having instructions stored therein which, when run on a motor controller, cause the motor controller to perform the motor torque control method provided by the first aspect and any one of its possible embodiments.

According to a sixth aspect of the present application, there is provided a vehicle including the motor controller provided in the third aspect.

According to a seventh aspect of the present application there is provided a computer program product comprising computer instructions which, when run on a motor controller, cause the motor controller to perform the motor torque control method provided in the first aspect and any one of its possible embodiments.

Therefore, the technical characteristics of the application have the following beneficial effects:

(1) According to the motor torque control method provided by the application, the wheel end load is calculated through the acquired motor rotating speed, the driving wheel rotating speed and the motor torque, a braking signal, a braking trigger signal and the like are not needed, the problem that a signal received from a chassis controller is delayed in the related art is solved, and after the wheel end load is obtained, the required torque sent by the whole vehicle controller is adjusted based on the wheel end load, so that the motor controller can reasonably judge, abnormal shaking of the whole vehicle is avoided, the ride comfort and the comfort of the vehicle are improved, and the driving experience of a driver is ensured.

(2) In the motor torque control method provided by the application, the wheel end load is determined according to the motor rotating speed and the driving wheel rotating speed, and in order to ensure the accuracy of the wheel end load, the accuracy of the driving wheel rotating speed signal is improved by processing the driving wheel rotating speed signal with lower rotating speed, so that the accuracy of the determined driving wheel rotating speed is ensured, and the accuracy of the wheel end load is improved.

(3) Because the actual vehicle starts on a slope fixed point, the skid of the road surface with low adhesion and the sudden stepping on the brake are accompanied with the problem of sudden increase or sudden decrease of the wheel load torque, after the motor controller provided by the application has the wheel load identification, the final execution torque is determined by combining the identified wheel load, so that the drivability calculation is more intelligent and automatic, passengers cannot perceive the sudden change of the wheel load, and the starting is more stable, the skid and the braking working condition are smoother.

It should be noted that, the technical effects caused by any implementation manner of the second aspect to the seventh aspect may refer to the technical effects caused by the corresponding implementation manner in the first aspect, which are not described herein.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

FIG. 1 is a schematic diagram illustrating a motor torque control system according to an exemplary embodiment;

FIG. 2 is a flowchart illustrating a motor torque control method according to an exemplary embodiment;

FIG. 3 is a graph showing a trend of a parameter over time according to an exemplary embodiment;

FIG. 4 is a flowchart illustrating yet another motor torque control method according to an exemplary embodiment;

FIG. 5 is a schematic diagram illustrating a signal transmission according to an exemplary embodiment;

FIG. 6 is a system control schematic diagram according to an exemplary embodiment;

FIG. 7 is a schematic diagram of a motor controller according to an exemplary embodiment;

FIG. 8 is a block diagram illustrating a motor torque control device according to an exemplary embodiment;

fig. 9 is a block diagram of a motor controller, according to an exemplary embodiment.

Detailed Description

Further advantages and effects of the present application will become readily apparent to those skilled in the art from the disclosure herein, by referring to the accompanying drawings and the preferred embodiments. The application may be practiced or carried out in other embodiments that depart from the specific details, and the details of the present description may be modified or varied from the spirit and scope of the present application. It should be understood that the preferred embodiments are presented by way of illustration only and not by way of limitation.

It should be noted that the illustrations provided in the following embodiments merely illustrate the basic concept of the present application by way of illustration, and only the components related to the present application are shown in the drawings and are not drawn according to the number, shape and size of the components in actual implementation, and the form, number and proportion of the components in actual implementation may be arbitrarily changed, and the layout of the components may be more complicated.

In the description of the embodiments, unless otherwise indicated, "/" means "or" and, for example, a/B may mean a or B. "and/or" herein is merely an association relationship describing an association object, and means that three relationships may exist, for example, a and/or B may mean: a exists alone, A and B exist together, and B exists alone. Further, "at least one", "a plurality" means two or more. The terms "first," "second," and the like do not limit the number and order of execution, and the terms "first," "second," and the like do not necessarily differ.

The torsional vibration control design of the pure electric vehicle transmission system is very important, and the driving performance, the dynamic performance and the economy of the whole vehicle are directly related. The problems of sudden increase or sudden decrease of the load torque of the wheel end can be caused in the processes of fixed-point starting of the actual vehicle on the slope, low-adhesion road surface slipping, sudden stepping on the brake and the like. Therefore, under these non-steady working conditions, if the motor torque is not adjusted based on the change of the wheel end load, the motor is controlled to run by reasonable motor torque, so that the vehicle shakes, the serious shaking can reduce the ride smoothness and comfort of the vehicle, the quality feel of the vehicle is affected, and the defect can affect the mood of passengers and even the fatigue life of certain key parts of the vehicle.

In the related art, according to the vehicle dynamics principle, a wheel end torque calculation formula is to sum various resistance torques, including a brake torque caused by brake caliper pressure during braking, an air resistance torque caused by vehicle speed, a road friction torque and a ramp resistance torque (the ramp angle of a flat road is zero degree), so that the wheel end torque is a wheel end load torque calculated according to parameters such as the vehicle speed, the ramp angle, the windward area, the brake caliper pressure and the like, and the calculation formula is as follows:

Wherein δ is the angle of the ramp, f _μ is the friction coefficient between the ground and the tire, m _v is the mass of the vehicle, ρ is the air resistance coefficient, the friction coefficient is obtained by the fluid mechanics principle or CFD simulation calculation or certain special test, a is the windward area of the whole vehicle, r _w is the radius of the tire, g is the coefficient of gravity, P _m is the pressure of the brake caliper, when the pressure is zero, the brake caliper is not active, and when the pressure is not zero, the brake caliper is active, and C _m is the brake torque coefficient taking the number of brake cylinders, the contact area of the brake caliper, the brake direction and the friction coefficient into consideration.

A problem with the current control is that the chassis signal is provided by the vendor and there is a significant sampling delay in the signal sent from the chassis controller to the controller area network (controller area network, CAN) bus, which has a significant impact on the control design, increases the control difficulty and deteriorates drivability. The wheel end load mechanism is complex and is influenced by weather conditions, road surface wet and slippery conditions, and the wheel end load mechanism is related to factors such as part installation differences, brake pad abrasion differences and the like, so that the wheel end load is difficult to accurately identify.

In order to solve the problems, the application provides a motor torque control method, a motor torque control device, a motor controller and a motor torque control system, wherein the motor torque control device obtains motor torque, motor rotating speed and driving wheel rotating speed of a vehicle under a target working condition; and determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed. Further, the motor torque control device receives a required torque sent by the whole vehicle controller, and the required torque is determined based on control parameters of the vehicle under a target working condition; and adjusting the required torque according to the wheel end load, and controlling the motor of the vehicle to run according to the adjusted required torque.

In this way, in the motor torque control method provided by the application, the wheel end load is calculated through the acquired motor rotation speed, the driving wheel rotation speed and the motor torque, a braking signal, a braking trigger signal and the like are not needed, the problem that a signal received from a chassis controller is delayed in the related art is solved, and after the wheel end load is obtained, the required torque sent by the whole vehicle controller is adjusted based on the wheel end load, so that the motor controller makes reasonable judgment, abnormal shake of the whole vehicle is avoided, the ride comfort and the comfort of the vehicle are improved, and the driving experience of a driver is ensured.

Fig. 1 shows a motor torque control system, and the motor torque control method provided by the embodiment of the application can be applied to the motor torque control system shown in fig. 1, and is used for realizing control of reasonable torque output by a motor and avoiding abnormal shake of the whole vehicle. As shown in fig. 1, the motor torque control system 10 includes a motor torque control device 11, a motor controller 12, a vehicle control 13, a chassis controller 14, a motor 15, and a speed sensor 16.

The motor torque control device 11 is disposed on the motor controller 12, the motor controller 12 is used for controlling the motor to output torque, the motor controller 12 is respectively connected with the whole vehicle controller 13 and the chassis controller 14 through a CAN bus, and the whole vehicle controller 13 is also connected with the chassis controller 14 through the CAN bus.

The motor torque control system 10, and the motor torque control device 11, the motor controller 12, the vehicle control unit 13, the chassis controller 14, the motor 15, and the speed sensor 16 included in the motor torque control system are all disposed on the same vehicle, which is an electrically driven vehicle.

The speed sensor 16 may be used to monitor the rotational speed of the motor 15 and send it to the motor controller 12.

The motor 15 may be used to output torque to power the vehicle under the control of the motor controller 12.

The chassis controller 14 may be configured to monitor the drive wheel speed signal and send it to the motor controller 12.

The overall vehicle controller 13 may be configured to perform torque arbitration, determine the required torque, and send it to the motor controller 12.

The motor controller 12 may be configured to receive the rotational speed of the motor 15 from the speed sensor 16, the required torque from the overall vehicle controller 13, and the drive wheel rotational speed signal from the chassis controller 14, and determine the motor rotational speed, the required torque, and the drive wheel rotational speed.

The motor controller 12 may also be configured to collect three-phase current signals, bus voltage signals of the motor 15, and determine motor torque of the motor 15.

The motor controller 12 may also be configured to determine a wheel end load based on the motor speed, the drive wheel speed, and the motor torque, and adjust the requested torque based on the wheel end load to obtain an adjusted requested torque.

The motor controller 12 may also be configured to control operation of the motor 15 based on the adjusted torque demand.

In some embodiments, the motor controller 12 determines the drive wheel speed from the drive wheel speed signal sent from the chassis controller 14 specifically includes:

the motor controller 12 determines the rotational speed indicated by the driving wheel rotational speed signal and determines the magnitude relationship between the rotational speed indicated by the driving wheel rotational speed signal and the preset rotational speed.

Further, the motor controller 12 determines the rotation speed indicated by the driving wheel rotation speed signal as the driving wheel rotation speed in the case where the rotation speed indicated by the driving wheel rotation speed signal is greater than the preset rotation speed.

The preset rotational speed may be, for example, 30rpm (rotational speed per minute).

The motor controller 12 processes the driving wheel rotation speed signal based on the low-pass filtering with phase to obtain a processed driving wheel rotation speed signal when the rotation speed indicated by the driving wheel rotation speed signal is less than or equal to the preset rotation speed.

Further, the motor controller 12 determines the rotational speed indicated by the processed driving wheel rotational speed signal as the driving wheel rotational speed.

FIG. 2 is a flow chart diagram illustrating a motor torque control method according to some example embodiments. In some embodiments, the motor torque control method described above may be applied to the motor torque control device 11 in the motor torque control system 10 shown in fig. 1. Hereinafter, the motor torque control method according to the embodiment of the present application will be described by taking the motor torque control method applied to the motor torque control device 11 as an example.

As shown in fig. 2, the motor torque control method provided by the embodiment of the application includes the following steps S201 to S205.

S201, the motor torque control device obtains motor torque, motor rotating speed and driving wheel rotating speed of the vehicle under a target working condition.

As one possible implementation manner, the motor torque control device collects three-phase current signals of the vehicle under the target working condition and voltage signals of the motor bus, and determines motor torque according to the collected three-phase current signals and the voltage signals of the motor bus.

The motor torque control device obtains a motor rotating speed signal sent by a speed sensor of the vehicle under a target working condition, and determines the motor rotating speed.

The motor torque control device receives a driving wheel rotating speed signal sent by a chassis controller of the vehicle under a target working condition, and determines the rotating speed of a driving wheel.

It should be noted that the target working conditions may be a stable working condition and a non-stable working condition, where the non-stable working condition is a working condition that the wheel end has abnormal torque fluctuation, and the working conditions include a condition that the load of the wheel end suddenly increases or suddenly drops due to the fact that the vehicle passes through a deceleration strip, starts on a hill, slides on a low-adhesion road surface, and suddenly brakes (suddenly steps on a brake).

In some embodiments, after the motor torque control device collects the three-phase current signal and the voltage signal of the motor bus, the motor torque is estimated by filtering to remove burrs and converting the three-phase current signal into a synchronous coordinate system.

The speed sensor may be an eddy current sensor or a resolver, and is configured to detect a motor speed, generate a motor speed signal, and send the motor speed signal to the motor torque control device.

S202, the motor torque control device determines the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed.

As one possible implementation, the motor torque control determines the axle load based on the motor speed and the drive wheel speed. Further, the motor torque control device determines a wheel end load of the vehicle under a target working condition according to the motor torque, the motor rotating speed, the driving wheel rotating speed and the half-axle load.

Wherein, motor torque control device is according to motor rotational speed and driving wheel rotational speed, and the confirm semi-axis load includes:

the motor torque control device obtains the half-axle rigidity and half-axle damping of vehicle calibration; and determining the half-axle load according to the half-axle rigidity, the half-axle damping, the motor rotating speed and the driving wheel rotating speed.

The motor torque control device determines the axle load according to the axle rigidity, the axle damping, the motor rotation speed and the driving wheel rotation speed, and can calculate by adopting the following formulas II, III and IV.

Wherein, T _hs is the half-axle load, K _hs is the half-axle rigidity, C _hs is the half-axle damping, θ _m is the motor speed, θ _w is the driving wheel speed, λ is the speed ratio, and is the vehicle calibration value.

The motor torque control device determines the wheel end load according to the motor torque, the motor rotation speed, the driving wheel rotation speed and the half axle load, and can calculate the wheel end load by adopting the following formula five, the formula six and the formula seven.

Wherein, T _hs is the half-axle load,For motor speed,/>For the driving wheel rotation speed, T _m is the motor torque, J _m is the motor moment of inertia, J _w is the tire moment of inertia, m _v is the vehicle mass, r _w is the tire radius, λ is the speed ratio, k _L is the scaling factor, sign () is the sign function,/>Is a wheel end load.

It should be noted that, among the parameters related to the above formulas five, six and seven, the motor torque, the motor rotation speed and the driving wheel rotation speed are obtained in the above step S201, the axle side load is calculated based on the motor rotation speed and the driving wheel rotation speed according to the above formulas two, three and four, the other parameters (motor moment of inertia, tire moment of inertia, vehicle mass, tire radius, speed ratio and proportionality coefficient) are all vehicle calibration values stored in the motor torque control device in advance, and the motor torque control device can adjust the above parameters to calculate the wheel side load after obtaining the motor torque, the motor rotation speed, the driving wheel rotation speed and the axle side load.

In some embodiments, the motor torque control device may further process the formula five, the formula six and the formula seven based on a prestored observer to obtain an equivalent differential equation, and iterate the differential equation to obtain a state variable at a current moment, so as to obtain the wheel end load through equivalent numerical integration calculation.

It should be noted that the observer may be set in advance in the motor torque control device by an operator of the motor torque control system, for example, the observer may be a kalman observer or a synovial observer, and the embodiment of the present application does not specifically limit what observer is used.

In some embodiments, fig. 3 shows the trend of the motor speed and the wheel end load over time during actual measurement of a real vehicle.

S203, the motor torque control device receives the required torque sent by the whole vehicle controller.

The required torque is determined based on control parameters of the vehicle, wherein the control parameters comprise an accelerator pedal signal, a gear signal, a brake request signal and the like, and capability values and limit values of various controllers.

As one possible implementation manner, the whole vehicle controller obtains a motor torque capacity value and a battery discharge capacity value based on a torque command sent by the chassis controller, analyzes an accelerator pedal signal, a gear signal, a brake request signal and the like, synthesizes the capacity value and a limit value of each controller to perform torque arbitration, generates a required torque, and then sends the required torque to the motor torque control device.

Accordingly, the motor torque control receives the requested torque.

S204, the motor torque control device adjusts the required torque according to the wheel end load.

As a possible implementation manner, the motor torque control device adjusts the required torque received based on the step S203 based on the wheel end load determined in the step S202. Under the condition that the wheel end load determined in the step S202 is increased compared with the wheel end load determined in the previous moment, calculating the sum of the wheel end load determined in the step S202 and the required torque, and determining the calculation result as the adjusted required torque; in the case where the wheel end load determined in the above step S202 is reduced as compared with the wheel end load determined in the previous time, the difference between the required torque and the wheel end load determined in the above step S202 is calculated, and the calculation result is determined as the adjusted required torque.

In some embodiments, the motor torque control device determines the wheel end load variation according to the wheel end load determined in step S202 and the wheel end load determined at the previous time. Further, the motor torque control device determines an active torsional vibration suppression torque coefficient having a mapping relationship with the motor torque and the wheel end load variation based on the motor torque and the wheel end load variation obtained in the step S201 and the pre-stored active torsional vibration suppression torque coefficient table, where the mapping relationship between the motor torque and the wheel end load variation and the active torsional vibration suppression torque coefficient is stored in the active torsional vibration suppression torque coefficient table, as shown in the following table 1. Further, the motor torque control device adjusts the required torque according to the determined active torsional vibration suppression torque coefficient, and determines the product between the active torsional vibration suppression torque coefficient and the required torque as the adjusted required torque.

Table 1: active torsional vibration suppression torque coefficient meter

Motor torque	Wheel end load variation	Active torsional damping torque coefficient
			A1	B1	C1
A1	B2	C2
			A2	B1	C3
A2	B3	C4
			A3	B4	C5

For example, referring to table 1, if the motor torque control device determines that the motor torque is A2 and the wheel load variation is B3, the motor torque control device determines that the active torsional suppression torque coefficient is C4, and determines that the adjusted required torque is C4×q when the required torque is Q.

S205, the motor torque control device controls the motor of the vehicle to run according to the adjusted required torque.

As a possible implementation manner, the motor torque control device obtains the adjusted required torque control based on the step S204, and controls the motor to operate, and the output torque is the adjusted required torque.

In some embodiments, the motor torque control means controls motor operation according to the adjusted demand torque, comprising:

The motor torque control device obtains a voltage actual measurement value of a motor bus, calculates control current, control voltage and duty ratio according to the adjusted required torque, the adjusted voltage actual measurement value of the motor bus and the motor rotating speed, and further controls the motor to run with the control current, the control voltage and the duty ratio. The motor torque control device drives the chip to superimpose dead zone parameters, monitors current to avoid overcurrent of a motor controller, outputs control gate level voltage according to a duty ratio, and is used for controlling the high-speed switch power module to be opened and closed, thereby outputting three-phase current and realizing control of motor output adjusted required torque.

It can be understood that in the motor torque control method provided by the embodiment of the application, the obtained motor rotation speed, the obtained driving wheel rotation speed and the obtained motor torque are used for calculating the wheel end load, so that the brake signals, the brake trigger signals and the like sent by the chassis controller are not needed to be relied on, the problem that the signals received from the chassis controller in the related art are delayed is solved, and after the wheel end load is obtained, the required torque sent by the whole vehicle controller is adjusted based on the wheel end load, so that the motor controller makes reasonable judgment, abnormal shake of the whole vehicle is avoided, the ride comfort and the comfort of the vehicle are improved, and the driving experience of a driver is ensured.

In one design, since the accuracy of the rotation speed signal of the driving wheel is poor in the low speed region, in order to ensure the accuracy of the determined wheel end load, as shown in fig. 4, the motor torque control method provided by the embodiment of the application further includes S301-S304.

S301, a motor torque control device receives a driving wheel rotating speed signal sent by a chassis controller.

And S302, the motor torque control device determines the rotating speed indicated by the rotating speed signal of the driving wheel as the rotating speed of the driving wheel under the condition that the rotating speed indicated by the rotating speed signal of the driving wheel is larger than the preset rotating speed.

As a possible implementation manner, the motor torque control device determines the indicated rotation speed based on the rotation speed signal of the driving wheel received in the step S301, and compares the rotation speed with a preset rotation speed stored in advance. Further, the motor torque control device determines the rotation speed indicated by the rotation speed signal of the driving wheel as the rotation speed of the driving wheel when the rotation speed indicated by the rotation speed signal of the driving wheel is greater than a preset rotation speed.

It should be noted that the preset rotation speed may be preset in the motor torque control device by an operator of the motor torque control system, for example, may be 30rpm, which is not particularly limited in the embodiment of the present application.

And S303, under the condition that the rotating speed indicated by the rotating speed signal of the driving wheel is less than or equal to the preset rotating speed, the motor torque control device processes the rotating speed signal of the driving wheel based on low-pass filtering with phase compensation, and the processed rotating speed signal of the driving wheel is obtained.

As a possible implementation manner, the motor torque control device processes the driving wheel rotation speed signal based on a preset low-pass filter with phase compensation to obtain a processed driving wheel rotation speed signal when it is determined that the rotation speed indicated by the driving wheel rotation speed signal is less than or equal to a preset rotation speed.

And S304, the motor torque control device determines the rotation speed indicated by the processed rotation speed signal of the driving wheel as the rotation speed of the driving wheel.

It can be understood that in the motor torque control method provided by the embodiment of the application, the accuracy of the driving wheel rotation speed signal is improved by processing the driving wheel rotation speed signal with lower rotation speed, so that the accuracy of the determined driving wheel rotation speed is ensured, and the accuracy of the wheel end load is improved.

In one design, FIG. 5 shows a signal transmission schematic including a chassis controller, a vehicle controller, and a motor controller. The chassis controller is used for monitoring wheels, acquiring wheel speed signals and calculating the tire slip rate by combining the acquired vehicle speed signals. The whole vehicle controller is used for analyzing the gear signal, the accelerator signal and the brake request signal, receiving the capacity value and the limit value sent by other controllers, carrying out torque arbitration, obtaining the required torque and sending the required torque to the motor controller. The motor controller is used for carrying out identification of wheel end load and motor torque compensation according to the received wheel speed signal, the required torque and the collected motor rotating speed signal.

Fig. 6 shows a system control schematic diagram, and in combination with the signal transmission schematic diagram shown in fig. 5, the chassis controller, the vehicle controller and the motor controller belong to one CAN network, the chassis controller sends the wheel speed signal to the CAN network, the vehicle controller sends the wheel speed signal to the CAN network, and the motor controller receives the wheel speed signal.

The chassis controller receives a vehicle speed signal sent by the whole vehicle controller, calculates the tire slip rate, calculates the required driving torque to drive the vehicle, calculates the braking torque, analyzes a braking request signal, calculates the braking torque, controls a brake caliper to implement braking action, and marks a braking enabling signal; the chassis controller is also used for reading the brake master cylinder pressure signal and sending information to the CAN network.

The whole vehicle controller analyzes the accelerator pedal signal, eliminates adverse effects caused by dead zone travel of the accelerator pedal, and completes the pretreatment of the request torque. And the whole vehicle controller is also used for combining the demands of other modules or domain controllers, completing torque arbitration and sending the final demanded torque to the motor controller.

The motor controller receives the required torque sent by the whole vehicle controller, receives the increasing and decreasing torque trigger signal sent by the chassis controller, receives the motor rotating speed sent by the speed sensor, further calculates a supplementary torque coefficient required by the active torque control design according to the required torque, the wheel speed of a driving wheel, the speed of the vehicle, the motor rotating speed, the load of a wheel end at the previous moment and the increasing and decreasing torque requirement, calculates the execution torque according to the limit of the external performance of the motor, the maximum and minimum torque gradient confirmed according to the state of charge (SOC) of a battery module and the favorable condition of energy recovery efficiency in a low-speed area. The motor controller sends the final execution torque to the whole vehicle controller, and the whole vehicle controller sends the final execution torque to the chassis controller. The motor controller calculates the wheel end load at this time by combining the torque, the motor rotation speed, the wheel speed and the vehicle speed which are executed at the previous time step (discrete time).

Before initialization, the motor controller checks the high-voltage power-on state and checks the battery supply voltage state. And when the two voltages meet the conditions, entering into a torque control mode for executing the whole vehicle controller request, and when the high-voltage condition is not met or the low-voltage condition is not met, performing derating operation or not starting the torque mode, so that the torque output capacity is limited in a reasonable manner. The main content of the power-on inspection comprises, but is not limited to, that each associated subsystem is normal in communication, the failure information state of the bottom layer is inspected, and the correctness and the precision of signals acquired by the bottom layer are inspected. After the power-on inspection is completed, the initial value of each main signal is set to be zero, and the initial value comprises a current signal, a rotating speed signal, a voltage signal and a wheel end load estimated value.

In addition, the battery module is used for providing continuous high-voltage direct current power supply not less than 240V. The direct current-direct current (DC-DC) power supply module has a bidirectional charging function, and can charge a 12V storage battery and charge the battery module in an energy recovery mode of the motor. The storage battery supplies power to a control board of the motor controller, the control board realizes three-phase duty ratio output through an algorithm, and three-phase alternating current high-voltage output is completed by utilizing the inversion function of the driving board, so that the operation output torque of the three-phase alternating current motor is controlled. The motor and the speed reducer are connected together through a spline, the speed reducer is connected with the differential mechanism, torque is distributed to the left half shaft and the right half shaft, and the tires and the vehicles are driven to run through the ball cage and the half shafts.

In one design, the motor torque control system 10 of fig. 1 is deployed on a vehicle, and includes a battery pack, a vehicle controller, four tires, and at least one electric drive system.

The electric driving system may be a front-end precursor, a rear-end precursor, or a four-drive system, which is not particularly limited in the embodiment of the present application. Structurally, the electric driving system integrates a motor, a motor controller, a speed reducer and the like, drives the whole vehicle tyre to run through the differential mechanism and the transmission half shaft, and is an energy conversion device for converting electric energy into mechanical energy. Functionally, the whole vehicle battery pack is used for providing electric energy for an electric drive system and supplying power for other vehicle-mounted electronic equipment, brushless direct current motors, pumps and other equipment.

In terms of hardware, the electric drive assembly system comprises a three-phase alternating current motor control system, a single-gear two-stage speed reducer, lubricating fluid thereof, a motor stator, a motor rotor and the like. The motor and the speed reducer adopt a common shell structure, not a split type, and a motor rotor shaft and a speed reducer gear shaft are connected through a spline. Other additional subsystems include necessary components and subsystems such as a DC-DC high-voltage power supply system, an AC-DC charging system, a heating and cooling system, a battery low-temperature heating management subsystem, a bearing lubrication subsystem, an EMC filtering impedance subsystem, a high-voltage junction box and the like.

The whole vehicle controller is a whole vehicle control center, analyzes and calculates the requirements of all subsystems, and completes real-time control. The vehicle controller accesses all subsystems including, but not limited to, a motor control subsystem, a battery management subsystem, a chassis control subsystem, a thermal management subsystem, a body control subsystem, a vehicle control subsystem, and a steering control subsystem.

The battery management controller, the whole vehicle controller, the motor controller and the chassis controller are positioned in the same CAN/CANFD network. The whole vehicle CAN have a plurality of CAN/CANFD networks, and data packets are sent among subsystems among the cross networks through a gateway or an Ethernet.

The motor controller is an energy control and conversion entity. The operation modes of the motor controller include a driving mode, an energy recovery mode, an active discharge mode, and the like. In the driving mode, the motor consumes the battery pack to provide energy, and drives the motor to do positive work and output mechanical energy; in the energy recovery mode, the driving motor performs negative work, recovers kinetic energy of the vehicle body, performs negative work, and stores electric charge in the battery module. In the active discharging mode, the driving motor does not work, the lower bridge arm of the power module is closed, the upper bridge arm of the functional module is opened, high voltage possibly existing on three-phase terminals of the motor is released, and the internal dissipation element absorbs stray charges, so that the power module is protected, and all bridge arm power modules are closed after the completion of the power module.

The motor controller is a control circuit module comprising a drive module with a motor control unit (motor control unit, MCU) chip, a CAN communication or CANFD communication function, an analog-to-digital converter (ADC) sampling function and necessary sensors, a plurality of power modules with different ripple levels, a three-phase alternating current motor stator, a three-phase alternating current motor rotor, a three-phase high-power wiring harness, a rotary transformer rotor, a rotary transformer stator and wiring harnesses thereof. The MCU chip processes analog communication, digital communication and CANFD communication in a centralized manner, calculates the state of the motor through integrated codes and programs, feeds information back to the whole vehicle controller, and controls the motor to increase and decrease torque through output torque so as to control acceleration and deceleration of the vehicle.

The motor controller mainly comprises a control board, a driving board, a power module, a communication module, a programmable logic device and the like. The control board completes the calculation of signals required by the real-time control of the motor, the drive board utilizes a drive program to control an insulated gate bipolar crystal (insulated gate bipolar transistor, IGBT) or silicon carbide SiC as a power device to complete the control of the motor, and three-phase current signals are fed back to an ADC channel after being filtered and conditioned. The power supply module completes DC-DC and DC-AC conversion functions, and is a power supply capable of outputting different voltage amplitudes, different driving powers and different voltage precision. The communication module is responsible for completing communication among the motor control domain, other equipment and other control domains, and mainly comprises CAN communication, local interconnection network (local interconnect network, LIN) communication and Ethernet communication. The ADC module completes signal real-time monitoring through various signal monitoring and sampling circuits, and acquires converted signals including bus voltage, three-phase current, IGBT temperature signals and rotary transformer signals, so as to condition test noise and correct zero drift in a proper mode.

The bottom layer driving and application layer software completes fault signal detection and diagnosis, including current signal, rotation speed signal, motor stator temperature, voltage signal, etc. and completes the necessary information transfer, receiving and transmitting the key information stored in the programmable logic device EEPROM.

In one design, an embodiment of the present application proposes a schematic structure of a motor controller, as shown in fig. 7, mainly surrounding two processors at the level of the motor controller.

The main processor is responsible for control, realizes signal sharing, state control, application layer fault state marking and working mode marking with the whole vehicle controller through CAN communication, and realizes sampling of temperature signals ADC.

The slave processor completes management of a bottom layer driving program, sampling of current signals and voltage signals ADC, and realizes state sharing of a motor controller with the main processor through CAN communication, and marking of bottom layer fault signals. The driving board comprises a driving circuit and a protection circuit, and the control board comprises a current detection processing circuit, a direct-current voltage detection processing circuit, a rotary transformer signal preprocessing circuit, a necessary power supply circuit, a crystal oscillator peripheral device and the like.

In the aspect of software, the system mainly comprises a plurality of sub-modules, a task scheduling module, an initialization module, an input module, an output module, a control module, a state resolving and working mode control function module and the like. The control module mainly comprises a functional safety analysis and fault management function module, an input signal filtering and gradient resolving module, a core parameter resolving module, a torsional vibration active control module, an efficiency optimization analysis module, a current loop PI control module, a voltage loop PI control module, a weak magnetic control module, a fast Fourier transform (Fast Fourier Transform, FFT) and inverse fast Fourier transform (INVERSE FAST Fourier Transform, IFFT) analysis module, an optimal design analysis module, an overmodulation and duty ratio optimization calculation module and the like, wherein a torque gradient limit, an external characteristic amplitude limit, a deration protection operation function, a torsional vibration active control sub-module and a wheel end torque load identification function are all in the torsional vibration active control module.

The foregoing description of the solution provided by the embodiments of the present application has been mainly presented in terms of a method. To achieve the above functions, the motor torque control device or motor controller includes corresponding hardware structures and/or software modules that perform the respective functions. Those of skill in the art will readily appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as hardware or combinations of hardware and computer software. Whether a function is implemented as hardware or computer software driven hardware 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.

The embodiment of the application can divide the functional modules of the motor torque control device or the motor controller according to the method, for example, the motor torque control device or the motor controller can comprise each functional module corresponding to each functional division, or two or more functions can be integrated in one processing module. The integrated modules may be implemented in hardware or in software functional modules. It should be noted that, in the embodiment of the present application, the division of the modules is schematic, which is merely a logic function division, and other division manners may be implemented in actual implementation.

Fig. 8 is a schematic structural diagram of a motor torque control device according to an embodiment of the present application. The motor torque control device is used for executing the motor torque control method. As shown in fig. 8, the motor torque control device 40 includes an acquisition unit 401, a determination unit 402, a reception unit 403, and a processing unit 404.

The acquiring unit 401 is configured to acquire a motor torque, a motor rotation speed, and a driving wheel rotation speed of the vehicle under a target working condition.

A determining unit 402, configured to determine a wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotation speed and the driving wheel rotation speed.

And the receiving unit 403 is configured to receive a required torque sent by the vehicle controller, where the required torque is determined based on a control parameter of the vehicle.

The processing unit 404 is configured to adjust the required torque according to the wheel end load, and control the motor operation of the vehicle according to the adjusted required torque.

Optionally, the determining unit 402 is specifically configured to determine the axle load according to the motor rotation speed and the driving wheel rotation speed; and determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed, the driving wheel rotating speed and the half-axle load.

Optionally, the acquiring unit 401 is further configured to acquire a half-axle stiffness and a half-axle damping calibrated by the vehicle.

The determining unit 402 is specifically configured to determine the axle load according to the axle stiffness, the axle damping, the motor speed, and the driving wheel speed.

Optionally, the obtaining unit 401 is further configured to obtain a measured voltage value of the motor bus.

The processing unit 404 is further configured to calculate a control current, a control voltage, and a duty cycle according to the adjusted required torque, the measured voltage value of the motor bus, and the motor rotation speed.

The processing unit 404 is further configured to control the motor to operate with a control current, a control voltage, and a duty cycle.

Optionally, the receiving unit 403 is further configured to receive a driving wheel rotation speed signal sent by the chassis controller.

The determining unit 402 is further configured to determine the rotation speed indicated by the driving wheel rotation speed signal as the driving wheel rotation speed, in a case where the rotation speed indicated by the driving wheel rotation speed signal is greater than a preset rotation speed.

The processing unit 404 is further configured to process the driving wheel rotation speed signal based on low-pass filtering with phase compensation to obtain a processed driving wheel rotation speed signal when the rotation speed indicated by the driving wheel rotation speed signal is less than or equal to the preset rotation speed.

The determining unit 402 is further configured to determine the rotational speed indicated by the processed driving wheel rotational speed signal as the driving wheel rotational speed.

Fig. 9 is a block diagram of a motor controller, according to an exemplary embodiment. As shown in fig. 9, motor controller 50 includes, but is not limited to: a processor 501 and a memory 502.

The memory 502 is used for storing executable instructions of the processor 501. It will be appreciated that the processor 501 is configured to execute instructions to implement the motor torque control method of the above embodiment.

It should be noted that the motor controller structure shown in fig. 9 is not limited to the motor controller, and the motor controller may include more or less components than those shown in fig. 9, or may combine some components, or may be arranged with different components, as will be appreciated by those skilled in the art.

The processor 501 is a control center of the motor controller, and uses various interfaces and lines to connect various parts of the entire motor controller, and by running or executing software programs and/or modules stored in the memory 502, and invoking data stored in the memory 502, performs various functions of the motor controller and processes the data, thereby performing overall monitoring of the motor controller. The processor 501 may include one or more processing units. Alternatively, the processor 501 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 501.

Memory 502 may be used to store software programs as well as various data. The memory 502 may mainly include a storage program area and a storage data area, wherein the storage program area may store an operating system, application programs (such as a determination unit, a processing unit, etc.) required for at least one functional module, and the like. In addition, memory 502 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device.

In an exemplary embodiment, a computer readable storage medium is also provided, such as a memory 502 including instructions executable by the processor 501 of the motor controller 50 to implement the motor torque control method of the above embodiments.

In actual implementation, the functions of the acquisition unit 401, the determination unit 402, the reception unit 403, and the processing unit 404 in fig. 8 may be implemented by the processor 501 in fig. 9 calling a computer program stored in the memory 502. For specific implementation, reference may be made to the description of the motor torque control method in the above embodiment, and details are not repeated here.

Alternatively, the computer readable storage medium may be a non-transitory computer readable storage medium, for example, a Read-Only Memory (ROM), a random access Memory (Random Access Memory, RAM), a CD-ROM, a magnetic tape, a floppy disk, an optical data storage device, and the like.

In an exemplary embodiment, the embodiment of the application further provides a vehicle comprising the motor controller.

In an exemplary embodiment, the present application also provides a computer program product comprising one or more instructions executable by the processor 501 of the motor controller to perform the motor torque control method of the above-described embodiment.

It should be noted that, when the instructions in the computer readable storage medium or one or more instructions in the computer program product are executed by the processor of the motor controller, the processes of the embodiments of the motor torque control method are implemented, and the technical effects same as those of the motor torque control method can be achieved, so that repetition is avoided, and no description is repeated here.

From the foregoing description of the embodiments, it will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-described division of functional modules is illustrated, and in practical application, the above-described functional allocation may be performed by different functional modules according to needs, i.e. the internal structure of the apparatus is divided into different functional modules, so as to perform all the classification parts or part of the functions described above.

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

The units described as separate parts may or may not be physically separate, and the parts shown as units may be one physical unit or a plurality of physical units, may be located in one place, or may be distributed in a plurality of different places. The purpose of the embodiment scheme can be achieved by selecting part or all of the classification part units according to actual needs.

In addition, each functional unit in the embodiments 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 readable storage medium. Based on such understanding, the technical solution of the embodiments of the present application, or the portion contributing to the prior art or the whole classification portion or portion of the technical solution, may be embodied in the form of a software product stored in a storage medium, where the software product includes several instructions to cause a device (may be a single-chip microcomputer, a chip or the like) or a processor (processor) to execute the whole classification portion or part of the steps of the method of the embodiments of the present application. And the aforementioned storage medium includes: a usb disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk, etc.

The present application is not limited to the above embodiments, and any changes or substitutions within the technical scope of the present application should be covered by the scope of the present application. Therefore, the protection scope of the application is subject to the protection scope of the claims.

Claims

1. A method of controlling torque in an electric machine, the method comprising:

Acquiring motor torque, motor rotating speed and driving wheel rotating speed of a vehicle under a target working condition;

Determining a wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed;

receiving a required torque sent by a vehicle controller, wherein the required torque is determined based on control parameters of the vehicle;

and adjusting the required torque according to the wheel end load, and controlling the motor of the vehicle to run according to the adjusted required torque.

2. The motor torque control method of claim 1, wherein said determining a wheel end load of said vehicle under said target operating condition based on said motor torque, said motor speed, and said drive wheel speed comprises:

determining a half-axle load according to the motor rotating speed and the driving wheel rotating speed;

And determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed, the driving wheel rotating speed and the half-axle load.

3. The motor torque control method of claim 2 wherein said determining a half-axle load based on said motor speed and said drive wheel speed comprises:

Acquiring the half-axle rigidity and half-axle damping of the vehicle calibration;

And determining the half-axle load according to the half-axle rigidity, the half-axle damping, the motor rotating speed and the driving wheel rotating speed.

4. The motor torque control method according to claim 1, characterized in that controlling the motor operation of the vehicle according to the adjusted required torque includes:

obtaining a voltage actual measurement value of a motor bus;

Calculating a control current, a control voltage and a duty ratio according to the adjusted required torque, the actual voltage measurement value of the motor bus and the motor rotating speed;

the control motor is operated at the control current, the control voltage, and the duty cycle.

5. The motor torque control method according to any one of claims 1 to 4, characterized in that the obtaining of the driving wheel rotation speed includes:

receiving a driving wheel rotating speed signal sent by a chassis controller;

Determining the rotation speed indicated by the rotation speed signal of the driving wheel as the rotation speed of the driving wheel under the condition that the rotation speed indicated by the rotation speed signal of the driving wheel is larger than a preset rotation speed;

Processing the driving wheel rotation speed signal based on low-pass filtering with phase compensation under the condition that the rotation speed indicated by the driving wheel rotation speed signal is smaller than or equal to the preset rotation speed, so as to obtain a processed driving wheel rotation speed signal;

And determining the rotation speed indicated by the processed rotation speed signal of the driving wheel as the rotation speed of the driving wheel.

6. The motor torque control system is characterized by comprising a motor controller, a chassis controller, a whole vehicle controller, a speed sensor and a motor;

the motor controller is used for acquiring the motor rotating speed of the vehicle under the target working condition through the speed sensor;

The chassis controller is used for sending a driving wheel rotating speed signal of the vehicle under the target working condition to the motor controller;

the motor controller is also used for determining the rotation speed of the driving wheel according to the rotation speed signal of the driving wheel;

the motor controller is further used for determining a wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed of the vehicle under the target working condition;

the whole vehicle controller is used for sending a required torque to the motor controller, and the required torque is determined based on control parameters of the vehicle;

The motor controller is also used for adjusting the required torque according to the wheel end load and controlling the motor of the vehicle to run according to the adjusted required torque.

7. The motor torque control system of claim 6 wherein said motor controller is configured to determine a magnitude relationship between a rotational speed indicated by said drive wheel rotational speed signal and a preset rotational speed;

and determining the rotation speed indicated by the rotation speed signal of the driving wheel as the rotation speed of the driving wheel under the condition that the rotation speed indicated by the rotation speed signal of the driving wheel is larger than a preset rotation speed;

8. The motor torque control device is characterized by being arranged on a motor controller and comprising an acquisition unit, a determination unit, a receiving unit and a processing unit;

The acquisition unit is used for acquiring motor torque, motor rotating speed and driving wheel rotating speed of the vehicle under a target working condition;

The determining unit is used for determining the wheel end load of the vehicle under the target working condition according to the motor torque, the motor rotating speed and the driving wheel rotating speed;

the receiving unit is used for receiving the required torque sent by the whole vehicle controller, and the required torque is determined based on the control parameters of the vehicle;

the processing unit is used for adjusting the required torque according to the wheel end load and controlling the motor of the vehicle to run according to the adjusted required torque.

9. The motor torque control of claim 8 wherein said receiving unit is further configured to receive a drive wheel rotational speed signal sent by a chassis controller;

the determining unit is further configured to determine, as the driving wheel rotation speed, the rotation speed indicated by the driving wheel rotation speed signal when the rotation speed indicated by the driving wheel rotation speed signal is greater than a preset rotation speed;

The processing unit is further configured to process the driving wheel rotation speed signal based on low-pass filtering with phase compensation, and obtain a processed driving wheel rotation speed signal when the rotation speed indicated by the driving wheel rotation speed signal is less than or equal to the preset rotation speed;

The determining unit is further configured to determine a rotational speed indicated by the processed driving wheel rotational speed signal as the driving wheel rotational speed.

10. A motor controller, characterized by being deployed in a vehicle, comprising a memory and a processor;

the memory is coupled to the processor;

the memory is used for storing computer program codes, and the computer program codes comprise computer instructions;

When the processor executes the computer instructions, the motor controller performs the motor torque control method of any one of claims 1-5.

11. A computer readable storage medium having instructions stored therein, which when run on a motor controller, cause the motor controller to perform the motor torque control method according to any one of claims 1-5.

12. A vehicle comprising the motor controller of claim 10.