CN118636693A - Motor torque zero crossing control method, device, controller, vehicle and medium - Google Patents
Motor torque zero crossing control method, device, controller, vehicle and medium Download PDFInfo
- Publication number
- CN118636693A CN118636693A CN202410810347.6A CN202410810347A CN118636693A CN 118636693 A CN118636693 A CN 118636693A CN 202410810347 A CN202410810347 A CN 202410810347A CN 118636693 A CN118636693 A CN 118636693A
- Authority
- CN
- China
- Prior art keywords
- torque
- motor
- change rate
- zero
- crossing
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims abstract description 59
- 230000008859 change Effects 0.000 claims abstract description 241
- 238000004590 computer program Methods 0.000 claims description 10
- 230000002159 abnormal effect Effects 0.000 abstract description 27
- 230000008569 process Effects 0.000 description 23
- 238000011084 recovery Methods 0.000 description 11
- 238000010586 diagram Methods 0.000 description 8
- 230000007704 transition Effects 0.000 description 5
- 230000005540 biological transmission Effects 0.000 description 3
- 239000003638 chemical reducing agent Substances 0.000 description 3
- 230000005489 elastic deformation Effects 0.000 description 3
- 230000006870 function Effects 0.000 description 3
- 230000005856 abnormality Effects 0.000 description 2
- 238000003491 array Methods 0.000 description 2
- 230000003247 decreasing effect Effects 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000002474 experimental method Methods 0.000 description 2
- 239000000463 material Substances 0.000 description 2
- 230000001133 acceleration Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000007547 defect Effects 0.000 description 1
- 238000011161 development Methods 0.000 description 1
- 230000003993 interaction Effects 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 230000003287 optical effect Effects 0.000 description 1
- 239000013307 optical fiber Substances 0.000 description 1
- 238000012827 research and development Methods 0.000 description 1
- 230000004044 response Effects 0.000 description 1
- 238000012546 transfer Methods 0.000 description 1
Landscapes
- Electric Propulsion And Braking For Vehicles (AREA)
- Control Of Electric Motors In General (AREA)
Abstract
The application discloses a motor torque zero crossing control method, a device, a controller, a vehicle and a readable storage medium, wherein the method comprises the following steps: judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate; determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate; a target reverse compensation torque is applied to the motor opposite to the motor speed fluctuation direction. According to the scheme disclosed by the application, the target reverse compensation torque is determined according to the VCU request torque change rate and the motor rotation speed change rate, and the target reverse compensation torque opposite to the motor rotation speed fluctuation direction is applied to the motor so as to pull back the motor rotation speed fluctuation, reduce the motor rotation speed fluctuation, buffer impact energy caused by reverse leaning teeth and the whole vehicle inertia, and solve the problem of whole vehicle impact and abnormal sound caused by motor torque zero crossing.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a motor torque zero crossing control method, device, controller, vehicle, and readable storage medium.
Background
In a vehicle, gaps and elastic deformation exist between a speed reducer and a transmission shaft, so that reverse gear leaning can be performed in the process of zero crossing of electric drive torque, the gaps can be eliminated in the process, and the motor rotation speed is fluctuated to cause whole vehicle impact and abnormal sound, so that driving comfort is reduced.
In summary, how to avoid the impact and abnormal sound of the whole vehicle caused by the zero crossing of the motor torque as much as possible is a technical problem to be solved by the present person in the art.
Disclosure of Invention
In view of the above, the present application aims to provide a method, a device, a controller, a vehicle and a readable storage medium for controlling zero crossing of motor torque, which are used for avoiding the impact and abnormal sound of the whole vehicle caused by zero crossing of motor torque as much as possible.
In order to achieve the above object, the present application provides the following technical solutions:
a motor torque zero crossing control method, comprising:
judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate;
determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate;
And applying the target reverse compensation torque to the motor, wherein the target reverse compensation torque is opposite to the motor rotation speed fluctuation direction.
Optionally, after applying the target reverse compensation torque to the motor opposite to the motor rotation speed fluctuation direction, further comprising:
judging whether the fluctuation direction of the motor rotation speed changes or not;
if so, stopping the target reverse compensation torque applied to the motor.
Optionally, determining whether the motor is in a torque zero crossing condition includes:
Judging whether a zero crossing flag bit of the motor is valid or not; the zero crossing flag bit is set to be effective when the wheel end torque enters negative torque from positive torque or positive torque from negative torque, and the positive torque and the negative torque are located in a preset zero crossing interval;
if yes, determining that the motor is in a torque zero-crossing working condition.
Optionally, judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, including:
judging whether the wheel end torque enters negative torque from positive torque or whether the wheel end torque enters positive torque from negative torque; the positive torque and the negative torque are located in a preset zero crossing interval;
If the wheel end torque is determined to enter positive torque from negative torque, determining that the motor is in a Tip in zero crossing working condition;
and if the wheel end torque is determined to enter the negative torque from the positive torque, determining that the motor is in a Tip out zero crossing working condition.
Optionally, determining a target reverse compensation torque according to the type of the torque zero crossing condition, the VCU request torque change rate and the motor rotation speed change rate includes:
Determining the VCU request torque change rate and the target reverse compensation torque corresponding to the motor rotation speed change rate according to the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque, which correspond to the type of the torque zero-crossing working condition and are obtained through calibration in advance;
the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various torque zero-crossing working conditions is obtained through pre-calibration.
Optionally, determining the VCU request torque rate of change and the motor speed rate of change includes:
Obtaining the variation of VCU request torque in a preset time period and the variation of motor rotation speed in the preset time period;
determining the change rate of the VCU request torque according to the change of the VCU request torque in the preset time period, and determining the change rate of the motor rotation speed according to the change of the motor rotation speed in the preset time period.
A motor torque zero crossing control device, comprising:
the first determining module is used for judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate;
The second determining module is used for determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate;
and the control module is used for applying the target reverse compensation torque to the motor, wherein the target reverse compensation torque is opposite to the fluctuation direction of the motor rotating speed.
A controller, comprising:
a memory for storing a computer program;
a processor for implementing the steps of the motor torque zero crossing control method as set forth in any one of the preceding claims when executing the computer program.
A vehicle comprising a controller as described above.
A readable storage medium having stored therein a computer program which, when executed by a processor, implements the steps of the motor torque zero crossing control method as claimed in any one of the preceding claims.
The application provides a motor torque zero crossing control method, a device, a controller, a vehicle and a readable storage medium, wherein the method comprises the following steps: judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate; determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate; a target reverse compensation torque is applied to the motor opposite to the motor speed fluctuation direction.
According to the technical scheme disclosed by the application, when the motor is judged to be in the torque zero-crossing working condition, the type of the torque zero-crossing working condition is identified, the VCU request torque change rate and the motor rotating speed change rate are determined, then, the target reverse compensation torque is determined according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotating speed change rate, and the target reverse compensation torque opposite to the motor rotating speed fluctuation direction is applied to the motor so as to pull back the motor rotating speed fluctuation, reduce the motor rotating speed fluctuation, buffer impact energy caused by reverse leaning teeth and the inertia of the whole vehicle, solve the problem of whole vehicle impact and abnormal sound caused by the motor torque zero crossing, and improve the smoothness and driving comfort of the vehicle.
Additional aspects and advantages of the application will be set forth in part in the description which follows and, in part, will be obvious from the description, or may be learned by practice of the application.
Drawings
FIG. 1 is a flow chart of a motor torque zero crossing control method provided by an embodiment of the application;
FIG. 2 is a schematic diagram of the change of the motor speed and the motor torque under the Tip in zero crossing condition according to the embodiment of the present application;
FIG. 3 is a schematic diagram of the change of the motor speed and the motor torque under the Tip out zero crossing condition according to the embodiment of the present application;
fig. 4 is a schematic structural diagram of a motor torque zero-crossing control device according to an embodiment of the present application;
fig. 5 is a schematic structural diagram of a controller according to an embodiment of the present application.
Detailed Description
In a vehicle, because a gap and elastic deformation exist between a speed reducer and a transmission shaft, the problem that one gear reversely leans against teeth exists in the process of zero crossing of electric drive torque is solved, the gap is eliminated in the process, the fluctuation of the rotating speed of a motor is caused, and the impact and abnormal sound in the process of reversely leaning against the teeth can be brought due to the inertia of the whole vehicle, so that the running smoothness and the driving comfort of the whole vehicle are reduced.
Therefore, the application provides a motor torque zero crossing control method, a device, a controller, a vehicle and a readable storage medium, which are used for avoiding the whole vehicle impact and abnormal sound caused by the motor torque zero crossing as much as possible.
Embodiments of the present application are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to like or similar elements or elements having like or similar functions throughout. The embodiments described below by referring to the drawings are illustrative and intended to explain the present application and should not be construed as limiting the application.
Referring to fig. 1, a flowchart of a motor torque zero-crossing control method provided by an embodiment of the present application is shown, where the motor torque zero-crossing control method provided by the embodiment of the present application may include:
s11: judging whether the motor is in a torque zero-crossing working condition; if not, returning to the step S11; if yes, go to step S12.
S12: and identifying the type of the torque zero-crossing working condition, and determining the change rate of the VCU request torque and the change rate of the motor rotating speed.
It should be noted that, the execution body provided in the embodiment of the present application may be a motor torque zero-crossing control device, a controller (e.g., a motor controller), a vehicle, etc., and the present application is described by taking the execution body as an example of the controller.
In the embodiment of the application, in the running process of the vehicle, the controller can judge whether the motor is in the torque zero-crossing working condition in real time or at fixed time.
If the motor is determined not to be in the torque zero-crossing working condition, the step of judging whether the motor is in the torque zero-crossing working condition can be executed in a returning mode.
If the motor is determined to be in the torque zero-crossing condition, the type of the torque zero-crossing condition can be determined, for example, whether the type of the torque zero-crossing condition is a Tip in (throttle) zero-crossing condition or a Tip out (throttle) zero-crossing condition can be determined. And, a rate of change of the requested torque of the VCU (Vehicle Control Unit, the whole vehicle controller) and a rate of change of the rotational speed of the motor within a preset time period may be determined. The preset time length can be determined in advance through calibration, experiments or the like. The change rate of the VCU request torque is the change rate of the request torque sent by the VCU, namely the change rate of the torque fed back to the motor controller by the VCU, and the change condition of the torque can be obtained in advance by determining the change rate of the VCU request torque so as to be convenient for better performing zero crossing control on the motor torque. Under the condition of considering different rotating speeds, the energy of the leaning teeth is different, so that the target reverse compensation torque can be conveniently and well determined by determining the change rate of the rotating speed of the motor, so that the zero crossing control of the motor torque is well carried out, and the impact energy caused by the reverse leaning teeth and the inertia of the whole vehicle is well buffered, so that the impact of the whole vehicle and abnormal noise of the motor are solved.
In addition, after the motor is determined to be in the torque zero-crossing working condition, the motor rotating speed fluctuation direction can be determined, so that the direction of the applied target reverse compensation torque can be determined conveniently according to the motor rotating speed fluctuation direction.
S13: and determining the target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate.
After the type of the torque zero-crossing working condition is identified and the VCU request torque change rate and the motor rotation speed change rate are determined, the target reverse compensation torque can be determined according to the identified type of the torque zero-crossing working condition, the determined VCU request torque change rate and the motor rotation speed change rate, so that the target reverse compensation torque acts on the motor, the motor zero-crossing is slowed down, the acting force by the teeth is reduced, and smooth transition is realized, so that the impact and abnormal motor noise generated by the motor zero crossing are solved.
The gear-leaning impact force can be conveniently and accurately determined according to the VCU request torque change rate and the motor rotation speed change rate, so that the magnitude of the target reverse compensation torque is accurately determined based on the gear-leaning impact force, the accurate control of the motor torque zero crossing is realized, and the impact and the motor abnormal sound generated by the motor zero crossing are well solved.
S14: a target reverse compensation torque is applied to the motor opposite to the motor speed fluctuation direction.
After determining the target reverse compensation torque through step S13, a target reverse compensation torque opposite to the current motor rotation speed fluctuation direction may be applied to the motor (specifically, the reverse compensation torque applied to the motor may be gradually increased to the target reverse compensation torque) so as to pull back the rotation speed fluctuation, reduce the motor rotation speed fluctuation, and buffer the impact caused by the rotation speed change, thereby solving the whole vehicle impact and the motor abnormal sound caused by the motor rotation speed fluctuation, and further improving the smoothness and the driving comfort of the whole vehicle driving. That is, after the target reverse compensation torque is determined, a target reverse compensation torque opposite to the current actual torque direction of the motor can be applied to the motor so as to reduce the current actual torque of the motor (i.e. the motor executing torque) and solve the impact and abnormal sound in the tooth leaning process.
In addition, as can be seen from the above, the embodiment of the application solves the problem of vehicle impact and abnormal motor noise in a software control manner, thereby not only avoiding the defects of hardware technology, improving the product quality and the vehicle performance, but also avoiding hardware development again and reducing the research and development cost.
According to the technical scheme disclosed by the embodiment of the application, when the motor is judged to be in the torque zero-crossing working condition, the type of the torque zero-crossing working condition is identified, the VCU request torque change rate and the motor rotating speed change rate are determined, then, the target reverse compensation torque is determined according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotating speed change rate, and the target reverse compensation torque opposite to the motor rotating speed fluctuation direction is applied to the motor so as to pull back the motor rotating speed fluctuation, reduce the motor rotating speed fluctuation, buffer impact energy caused by reverse leaning teeth and whole vehicle inertia, solve the whole vehicle impact and abnormal sound problems caused by the motor torque zero crossing, and improve the vehicle running smoothness and driving comfort.
The method for controlling zero crossing of motor torque provided by the embodiment of the application can further comprise the following steps after applying the target reverse compensation torque opposite to the fluctuation direction of the motor rotation speed to the motor:
Judging whether the fluctuation direction of the rotating speed of the motor changes or not;
if so, stopping the target reverse compensation torque applied to the motor.
In the embodiment of the application, after the target reverse compensation torque opposite to the motor rotation speed fluctuation direction is applied to the motor, whether the motor rotation speed fluctuation direction changes or not can be judged in real time, so that whether the motor rotation speed fluctuation direction changes or not can be found in time. Of course, it is also possible to determine whether the motor rotational speed fluctuation direction has changed at regular intervals, wherein the timing interval can be set by calibration or experience, etc.
If the motor rotational speed fluctuation direction is decreased from before the target reverse compensation torque is applied to an increase after the target reverse compensation torque is applied, or if the motor transfer fluctuation direction is decreased from an increase before the target reverse compensation torque is applied to a decrease after the target reverse compensation torque is applied, it is determined that the motor rotational speed fluctuation direction has changed. For example: the motor speed change is 1500→1400→1300→1200→1100 before the target reverse compensation torque opposite to the motor speed fluctuation direction is applied to the motor, and after the target reverse compensation torque opposite to the motor speed fluctuation direction is applied to the motor, the motor speed change is: 1100- & gt 1150- & gt 1200, the motor speed fluctuation direction is changed before the motor applies the target reverse compensation torque opposite to the motor speed fluctuation direction.
If the motor speed fluctuation direction is not changed, the motor speed fluctuation is not pulled back, and at the moment, the target reverse compensation torque opposite to the motor speed fluctuation direction can be continuously applied to the motor. If the motor speed fluctuation direction is determined to be changed, the impact energy caused by reverse leaning teeth and the inertia of the whole vehicle is buffered, and the motor speed fluctuation is pulled back, at the moment, the target reverse compensation torque applied to the motor can be stopped, so that the influence on the subsequent operation of the motor is avoided, and the performance of the whole vehicle is improved.
The method for controlling the zero crossing of the motor torque provided by the embodiment of the application can be used for judging whether the motor is in the zero crossing working condition of the torque or not, and can comprise the following steps:
judging whether a zero crossing flag bit of the motor is valid or not; when the wheel end torque enters the negative torque from the positive torque or enters the positive torque from the negative torque, the zero crossing zone bit is set to be effective, and the positive torque and the negative torque are located in a preset zero crossing interval;
if yes, determining that the motor is in a torque zero-crossing working condition.
In the embodiment of the present application, the above-mentioned controller itself or other controllers (for example, the above-mentioned controller may be a motor controller, and the other controllers may be VCU) other than the above-mentioned controller may acquire the wheel end torque in real time (of course, the wheel end torque may also be acquired at regular intervals, the regular intervals may be calibrated in advance or set empirically, etc.), and determine whether the wheel end torque enters the negative torque from the positive torque or the positive torque from the negative torque. The positive torque and the negative torque mentioned herein are located in a preset zero crossing interval, for example, the preset zero crossing interval may be-5 Nm, which is the maximum interval in which the motor can respond quickly, on the basis of the foregoing, the positive torque may be specifically 5Nm, and the negative torque may be specifically-5 Nm, and of course, the preset zero crossing interval may also be smaller than the foregoing-5 Nm. If it is determined that the wheel end torque enters the negative torque from the positive torque or enters the positive torque from the negative torque, the zero crossing of the motor torque can be determined, and at this time, the zero crossing flag position of the motor can be valid (for example, 1 indicates valid, 0 indicates invalid, the zero crossing flag position is valid, namely, 1 is set, and the zero crossing flag position of the motor is 0 when the zero crossing of the motor is not performed). If it is determined that the wheel end torque does not enter the negative torque from the positive torque and does not enter the positive torque from the negative torque, it may be determined that the motor torque does not cross zero, and at this time, the motor zero crossing flag may be kept inactive (for example, 1 indicates active, 0 indicates inactive, and keeping the motor zero crossing flag inactive is kept 0).
The controller can acquire the motor zero crossing zone bit in real time (of course, the motor zero crossing zone bit can also be acquired at regular time, the timing time interval can be calibrated in advance or set according to experience and the like), and whether the motor zero crossing zone bit is effective is judged.
If the zero crossing flag bit of the motor is determined to be invalid, the motor can be determined not to be in the torque zero crossing working condition, and at the moment, whether the zero crossing flag bit of the motor is valid or not can be continuously judged.
If the zero crossing flag bit of the motor is determined to be valid, the motor can be determined to be in a torque zero crossing working condition. After determining that the motor is in the torque zero-crossing condition, the type of the torque zero-crossing condition can be identified, for example: if the wheel end torque is determined to enter the negative torque from the positive torque, the motor is identified to be in a Tip out zero crossing working condition, and if the wheel end torque is determined to enter the positive torque from the negative torque, the motor is identified to be in a Tip in zero crossing working condition; or if the wheel end torque is determined to be the negative torque, the motor is identified to be in the Tip out zero crossing working condition, and if the wheel end torque is determined to be the positive torque, the motor is identified to be in the Tip in zero crossing working condition.
The mode of judging whether the motor is in the torque zero crossing working condition or not based on whether the motor zero crossing zone bit is effective or not can improve the convenience of judgment, and is convenient for rapid and accurate identification and judgment.
The method for controlling the zero crossing of the motor torque provided by the embodiment of the application judges whether the motor is in the zero crossing working condition of the torque, if so, the type of the zero crossing working condition of the torque is identified, and the method can comprise the following steps:
Judging whether the wheel end torque enters negative torque from positive torque or whether the wheel end torque enters positive torque from negative torque; the positive torque and the negative torque are positioned in a preset zero crossing interval;
If the wheel end torque is determined to enter positive torque from negative torque, determining that the motor is in a Tip in zero crossing working condition;
If the wheel end torque is determined to enter the negative torque from the positive torque, the motor is determined to be in a Tip out zero crossing working condition.
In the embodiment of the application, the controller judges whether the motor is in a torque zero-crossing working condition, and if so, the specific process of identifying the type of the torque zero-crossing working condition can be as follows:
Whether the wheel end torque enters the negative torque from the positive torque or whether the wheel end torque enters the positive torque from the negative torque is judged. The positive and negative torques mentioned here lie within a preset zero crossing, which may be-5 Nm, for example, and correspondingly, the positive torque may be in particular 5Nm and the negative torque may be in particular-5 Nm, although the preset zero crossing may also be smaller than the aforementioned-5 Nm.
If it is determined that the wheel end torque does not enter the positive torque from the negative torque or does not enter the negative torque from the positive torque, it may be determined that the motor is not in a torque zero-crossing condition, at this time, the step of determining whether the wheel end torque enters the negative torque from the positive torque or whether the wheel end torque enters the positive torque from the negative torque may be continuously performed.
If the wheel end torque is determined to enter the positive torque from the negative torque, the motor can be determined to be in a Tip in zero-crossing working condition, and then the motor torque zero-crossing control can be performed in the corresponding mode, so that the problem of vehicle impact and motor abnormal sound caused by the motor zero crossing in the transition process from the negative torque to the positive torque of the motor torque in the accelerator adding process is solved.
If the wheel end torque is determined to enter the negative torque from the positive torque, the motor can be determined to be in a Tip out zero crossing working condition, and then the motor torque zero crossing control can be performed in the corresponding mode, so that the problem of whole car impact and motor abnormal sound caused by the motor zero crossing in the transition process of the motor torque from the positive torque to the negative torque in the throttle loosening process is solved.
Through the mode, whether the motor is in the torque zero-crossing working condition can be judged, the type of the torque zero-crossing working condition can be identified while the motor is determined to be in the torque zero-crossing working condition, so that the judging and identifying efficiency is improved, the motor torque zero-crossing control can be performed faster and more sensitively, and the whole vehicle impact and abnormality in the reverse gear leaning process can be better solved.
The method for controlling zero crossing of motor torque provided by the embodiment of the application can determine the target reverse compensation torque according to the type of the torque zero crossing working condition, the VCU request torque change rate and the motor rotation speed change rate, and can comprise the following steps:
Determining a target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate according to the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque, which correspond to the type of the torque zero-crossing working condition and are obtained through calibration in advance;
the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various torque zero-crossing working conditions is obtained through pre-calibration.
In the embodiment of the application, the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various torque zero-crossing working conditions can be obtained through pre-calibration. The corresponding relation under the zero crossing working condition of each type of torque can comprise a plurality of data sets, each data set comprises a torque change rate, a motor rotating speed change rate and reverse compensation torque, the torque change rates in the data sets can be determined according to the total value range of the torque change rates, and the motor rotating speed change rates in the data sets can be determined according to the total value range of the motor rotating speed change rates. When the calibration is carried out, after the torque change rate and the motor rotation speed change rate in the current group data are determined, the magnitude of reverse compensation torque applied to the motor can be continuously adjusted under the corresponding torque change rate and motor rotation speed change rate, the condition of whole car impact and motor abnormal sound is recorded, and the reverse compensation torque when the whole car impact and motor abnormal sound meet the target requirements (such as no impact of the whole car, no motor abnormal sound or minimum impact of the whole car and minimum abnormal sound of the motor) is determined as the reverse compensation torque corresponding to the torque change rate and the motor rotation speed change rate in the current group data.
The torque zero-crossing conditions of various types can specifically comprise a Tip in zero-crossing condition and a Tip out zero-crossing condition.
For the Tip in zero crossing working condition, the change rate of the VCU request torque is determined according to the target torque of the VCU, the target torque of the VCU is determined according to the opening degree of a throttle valve of the whole vehicle, the opening degree of the throttle valve is generally between 0% and 100%, the opening degree of the throttle valve is small, the change slope of the VCU request torque is slow, otherwise, the opening degree of the throttle valve is large, and the change slope of the VCU request torque is fast. In addition, under different throttle opening degrees, the VCU sends out target torque for a certain time to the motor, the motor can execute the required target torque in the corresponding time to generate certain motor torque change, and the motor torque change rate can enable the motor to generate certain motor rotation speed change rate. When the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under the zero crossing working condition of the Tip in is calibrated, the opening degree of a throttle valve can be adjusted within the range of 0% -100%, so that the target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate is obtained through calibration. For example, as shown in table 1, a table showing the correspondence between the VCU request torque change rate, the motor rotation speed change rate, and the target reverse compensation torque after zero crossing of Tip in is shown, the abscissa represents the VCU request torque change rate, and the ordinate represents the motor rotation speed change rate, where table 1 is described by taking VCU request torque change rate of 0 to 2000 and motor rotation speed change rate of 0 to 3000 as an example, and the specific VCU request torque change rate and motor rotation speed change rate are modified according to the specific condition of the whole vehicle.
TABLE 1 correspondence table after Tip in zero crossing
| 50 | 100 | 200 | 300 | 400 | 600 | 800 | 1000 | 2000 | |
| 200 | 1.5 | 1.5 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 400 | 1.5 | 1.5 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 600 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 800 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 1000 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 1200 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 2000 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
| 3000 | 3 | 3 | 3 | 3 | 3 | 4.5 | 4.5 | 4.5 | 4.5 |
For the Tip out zero crossing working condition, the change rate of the VCU request torque is determined according to the target torque of the VCU, the target torque of the VCU is determined according to the energy recovery grade of the whole vehicle, the energy recovery grade is generally classified into weak, medium and strong, when the energy recovery grade is weak, the change rate of the VCU request torque is slow, the change rate of the VCU request torque is sequentially changed, and when the energy recovery grade is strong, the change rate of the VCU request torque is fast. In addition, under different throttle opening degrees, the VCU sends out target torque for a certain time to the motor, the motor can execute the required target torque in the corresponding time to generate certain motor torque change, and the motor torque change rate can enable the motor to generate certain motor rotation speed change rate. When the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under the zero crossing working condition of the Tip out is calibrated, the calibration can be carried out under each energy recovery level so as to obtain the target reverse compensation torque corresponding to each VCU request torque change rate and each motor rotation speed change rate through calibration. For example, as shown in table 2, a table showing the correspondence between the VCU request torque change rate, the motor rotation speed change rate, and the target reverse compensation torque after the zero crossing of Tip is shown, the abscissa represents the VCU request torque change rate, and the ordinate represents the motor rotation speed change rate, where table 2 is described by taking VCU request torque change rate of 0 to 2000 and motor rotation speed change rate of 0 to 3000 as an example, and the specific VCU request torque change rate and motor rotation speed change rate are modified according to the specific condition of the whole vehicle.
TABLE 2 correspondence table after Tip out zero crossing
On the basis of obtaining the corresponding relation between the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various types of torque zero-crossing working conditions through pre-calibration (for example, a corresponding relation table corresponding to one type of torque zero-crossing working condition), the specific process of determining the target reverse compensation torque according to the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate can be as follows: and then, determining the target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate based on the determined VCU request torque change rate and the determined motor rotation speed change rate, and the corresponding relation between the torque change rate, the motor rotation speed change rate and the reverse compensation torque corresponding to the type of the torque zero crossing working condition of the motor and obtained by pre-calibration. If the corresponding relation has a data set which is identical to the VCU request torque change rate and the motor rotation speed change rate (the data set has the same torque change rate as the determined VCU request torque change rate and the data set has the same motor rotation speed change rate as the determined motor rotation speed change rate), determining the reverse compensation torque in the identical data set as the target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate. If the corresponding relation does not have the data set which is completely the same as the VCU request torque change rate and the motor rotation speed change rate, the data set which is closest to the VCU request torque change rate and the motor rotation speed change rate (specifically, the distance between the determined VCU request torque change rate and the determined motor rotation speed change rate and the determined torque change rate and motor rotation speed change rate in the data set can be calculated in a Euclidean distance mode) can be obtained, and the reverse compensation torque in the data set which is closest to the corresponding data set is determined as the target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate.
Taking the corresponding relation as a relation table as an example, each type of torque zero-crossing working condition corresponds to one relation table, the process comprises the steps of obtaining a target relation table corresponding to the type of the torque zero-crossing working condition where the motor is located from the relation tables corresponding to the various types of torque zero-crossing working conditions obtained through calibration in advance, and then determining the target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotating speed change rate based on the target relation table.
The corresponding target reverse compensation torque can be reasonably, accurately and rapidly determined through the process, so that the whole vehicle impact and motor abnormal sound in the reverse gear leaning process can be better solved.
The method for controlling zero crossing of motor torque provided by the embodiment of the application for determining the change rate of VCU request torque and the change rate of motor rotation speed can comprise the following steps:
Obtaining the variation of the VCU request torque in a preset time period and the variation of the motor rotating speed in the preset time period;
And determining the change rate of the VCU request torque according to the change of the VCU request torque within a preset time period, and determining the change rate of the motor rotation speed according to the change of the motor rotation speed within the preset time period.
In the embodiment of the present application, a specific manner of determining the VCU request torque change rate and the motor rotation speed change rate may be: the method comprises the steps of obtaining the variable quantity of VCU request torque in a preset time period and the variable quantity of motor rotating speed in the preset time period, specifically taking a preset time period of T 0 as an example, namely obtaining VCU request torque T 1 and motor rotating speed n 1 at the time T, obtaining VCU request torque T 2 and motor rotating speed n 2 at the time t+t 0, determining the variable quantity of VCU request torque in the preset time period as T 2-T1 according to the process, and determining the variable quantity of motor rotating speed in the preset time period as n 2-n1. Then, the VCU request torque change rate is determined according to the change amount of the VCU request torque within a preset time period (namely (T 2-T1)/t0), and the motor rotation speed change rate is determined according to the change amount of the motor rotation speed within the preset time period (namely (n 2-n1)/t0)), wherein the preset time period can be specifically determined through pre-calibration or experiments.
To further illustrate the above-described motor torque zero crossing control, tip in and Tip out are described below:
(1) For Tip in, namely in the process of adding accelerator, the problem of zero crossing of the motor in the transition process of the motor torque from negative torque to positive torque causes the whole car impact and abnormal motor noise.
In order to solve the above problem, firstly, the zero crossing of the motor torque is determined firstly, specifically, the zero crossing of the motor torque can be determined through a torque interval, and the wheel end torque interval of the zero crossing of the motor torque is generally determined to be-5 Nm (because the interval is the maximum interval of the motor capable of fast response, the interval can also be small). When the motor wheel end torque enters-5 Nm, starting timing, and when the motor wheel end torque enters 5Nm, starting a motor zero crossing flag position 1 (when the motor zero crossing is not performed, the flag position is 0), wherein the motor zero crossing flag position represents that the entering motor torque has zero crossing. The variable of the zero crossing zone bit of the motor can be defined according to self requirements, and the variable is only reflected in a software model and is used for judging whether the motor crosses zero or not.
Secondly, when the motor crosses zero, the change rate of the VCU request torque needs to be calculated, the change rate of the VCU request torque needs to be determined according to the target torque of the VCU, the target torque of the VCU is also determined according to the opening degree of a throttle valve of the whole vehicle, the opening degree of the throttle valve is generally between 0% and 100%, the opening degree of the throttle valve is small, the change slope of the torque is slow, otherwise, the opening degree of the throttle valve is large, and the change rate of the VCU request torque is fast. When a driver steps on a certain throttle opening, the throttle opening is used for the acceleration working condition of the whole vehicle. The VCU feeds back a certain target torque to the motor controller according to the opening degree of the throttle valve, the motor controller executes the motor torque according to the target torque and feeds back a certain motor torque slope, the motor torque slope is specifically calibrated, a reasonable motor torque slope is calibrated according to the actual condition of the whole vehicle, and the slope is also a change value (the change rate of the motor torque is generally 0-2000 and is changed according to the specific condition of the whole vehicle).
Then, the motor rotation speed change rate is calculated, the motor rotation speed change rate is a target torque which is sent to the motor for a certain time according to different throttle opening degrees of the whole vehicle, the motor can execute the required target torque in the corresponding time to generate a certain motor torque change rate, and the motor torque change rate can enable the motor to generate a certain rotation speed change rate (the motor rotation speed change rate is generally changed at 0-3000 according to the specific situation of the whole vehicle).
Finally, after the VCU request torque change rate and the motor rotation speed change rate are determined, the reversely compensated motor torque can be determined according to the corresponding relation under the zero crossing working condition of the Tip in obtained by calibration in advance, and the method is used for solving the problems of whole car impact and motor abnormal sound generated when the motor torque crosses zero to eliminate motor gaps.
(2) For Tip out, namely in the process of loosening the accelerator, the motor zero crossing problem occurs in the transition process of the motor torque from positive torque to negative torque, so that the whole car is impacted and the motor is abnormal.
In order to solve the above problem, the zero crossing of the motor torque is first determined, specifically, the zero crossing of the motor torque can be determined through a torque interval, and the wheel end torque interval of the zero crossing of the motor torque is generally determined to be-5 Nm (because this interval is the maximum interval that the motor can rapidly respond, the interval can also be small). When the motor wheel end enters 5Nm, starting timing, and when the torque of the motor wheel end enters-5 Nm, starting a motor zero crossing flag position 1 (when the motor zero crossing is not performed, the flag position is 0), wherein the motor zero crossing flag position represents that the torque entering the motor has zero crossing. The variable of the zero crossing zone bit of the motor can be defined according to self requirements, and the variable is only reflected in a software model and is used for judging whether the motor crosses zero or not.
Secondly, when the motor crosses zero, the change rate of the VCU request torque needs to be calculated, the change rate of the VCU request torque needs to be determined according to the target torque of the VCU, the target torque of the VCU is determined according to the energy recovery grade of the whole vehicle, the grade of energy recovery is generally classified into weak, medium and strong, when the energy recovery grade is weak, the change rate of the VCU request torque is slow, the change rate of the VCU request torque is quick when the energy recovery grade is strong, and the change rate of the VCU request torque is slow. When the driver releases the throttle, the whole vehicle is fed back to a certain energy recovery level of the VCU, the VCU feeds back a certain target torque to the motor controller according to the energy recovery level, the motor controller executes the motor torque according to the target torque and feeds back a certain motor torque slope, the motor torque slope is specifically calibrated, a reasonable motor torque slope is calibrated according to the actual condition of the whole vehicle, and the slope is also a change value (the change rate of the motor torque is generally 0-2000 and is changed according to the specific condition of the whole vehicle).
Then, the motor rotation speed change rate is calculated, the motor rotation speed change rate is a target torque which is sent to the motor according to different throttle opening degrees of the whole vehicle and within a certain time period, the motor can execute the required target torque within a corresponding time period, the generated motor torque change rate can enable the motor to generate a certain rotation speed change rate (the motor rotation speed change rate is generally 0-3000 and is changed according to the specific condition of the whole vehicle).
Finally, after the VCU request torque change rate and the motor rotation speed change rate are determined, the reversely compensated motor torque can be determined according to the corresponding relation under the Tip out zero-crossing working condition obtained through calibration in advance, and the problem of whole car impact and motor abnormal sound generated when the motor torque crosses zero to eliminate motor gaps is solved.
Fig. 2 and fig. 3 may specifically be taken, where fig. 2 shows a schematic diagram of a change in a motor speed and a motor torque under a Tip in zero-crossing condition provided by an embodiment of the present application, fig. 3 shows a schematic diagram of a change in a motor speed and a motor torque under a Tip out zero-crossing condition provided by an embodiment of the present application, fig. 2 and fig. 3 are taken as time on an abscissa and a rotational speed unit (rpm)/torque unit (Nm) on an ordinate, and fig. 2 and fig. 3 include a motor speed curve and a motor execution torque curve. Because the speed reducer and the transmission shaft have gaps and elastic deformation, when the electric drive torque passes zero, the gear can be leaned against, the motor rotation speed fluctuation caused by the gaps can be eliminated during the period, and the change can bring impact and abnormality in the process of reversely leaning against the gear due to the inertia of the whole vehicle.
As shown in fig. 2, the zero crossing flag position at the position t 1 is effective and is in a torque zero crossing condition, the torque zero crossing condition is a Tip in zero crossing condition, the position t 1 is a motor rotation speed fluctuation point, and as can be seen from fig. 2, the motor rotation speed fluctuation direction under the Tip in zero crossing condition is upward. And calculating the VCU request torque change rate and the motor rotation speed change rate from the position t 1 to the position t 2, determining a target reverse compensation torque according to the VCU request torque change rate and the motor rotation speed change rate, starting to apply the reverse compensation torque at the position t 2 (namely, the position t 2 is a motor reverse compensation torque compensation point) so as to buffer impact energy caused by reverse leaning teeth and the inertia of the whole vehicle, pull back rotation speed fluctuation, reduce the fluctuation of the motor rotation speed, buffer the impact caused by the rotation speed change, solve the problem of whole vehicle impact and motor abnormal sound caused by the motor rotation speed fluctuation, and increase the drivability of the vehicle. When the motor rotation speed fluctuation is over or when the reverse compensation torque applied to the motor is equal to the target reverse compensation torque, the application of the target reverse compensation torque to the motor is stopped, namely, the application of the target reverse compensation torque to the motor is stopped at a position t 3 in fig. 2.
As shown in fig. 3, the zero crossing flag position at the position t 4 is effective and is in a torque zero crossing condition, the torque zero crossing condition is a Tip out zero crossing condition, the position t 4 is a motor rotation speed fluctuation point, and as can be seen from fig. 3, the motor rotation speed fluctuation direction under the Tip out zero crossing condition is downward. And calculating the VCU request torque change rate and the motor rotation speed change rate from the position t 4 to the position t 5, determining a target reverse compensation torque according to the VCU request torque change rate and the motor rotation speed change rate, starting to apply the reverse compensation torque at the position t 5 (namely, the position t 5 is a motor reverse compensation torque compensation point) so as to buffer impact energy caused by reverse leaning teeth and the inertia of the whole vehicle, pull back rotation speed fluctuation, reduce the fluctuation of the motor rotation speed, buffer the impact caused by the rotation speed change, solve the problem of whole vehicle impact and motor abnormal sound caused by the motor rotation speed fluctuation, and increase the drivability of the vehicle. When the motor rotation speed fluctuation is over or when the reverse compensation torque applied to the motor is equal to the target reverse compensation torque, the application of the target reverse compensation torque to the motor is stopped, namely, the application of the target reverse compensation torque to the motor is stopped at a position t 6 in fig. 3.
The embodiment of the application also provides a motor torque zero crossing control device, referring to fig. 4, which shows a schematic structural diagram of the motor torque zero crossing control device provided by the embodiment of the application, and the motor torque zero crossing control device may include:
The first determining module 41 is configured to determine whether the motor is in a torque zero-crossing condition, if yes, identify a type of the torque zero-crossing condition, and determine a VCU request torque change rate and a motor rotation speed change rate;
A second determining module 42, configured to determine a target reverse compensation torque according to the type of the torque zero-crossing condition, the VCU request torque change rate, and the motor rotation speed change rate;
The first control module 43 is configured to apply a target reverse compensation torque to the motor that is opposite to the motor speed ripple.
The device for controlling zero crossing of motor torque provided by the embodiment of the application can further comprise:
The judging module is used for judging whether the motor rotation speed fluctuation direction changes or not after applying target reverse compensation torque opposite to the motor rotation speed fluctuation direction to the motor;
And the second control module is used for stopping the target reverse compensation torque applied to the motor if the fluctuation direction of the motor rotation speed changes.
The embodiment of the application provides a motor torque zero crossing control device, the first determining module 41 may include:
The first judging unit is used for judging whether the zero crossing flag bit of the motor is valid or not; when the wheel end torque enters the negative torque from the positive torque or enters the positive torque from the negative torque, the zero crossing zone bit is set to be effective, and the positive torque and the negative torque are located in a preset zero crossing interval;
And the first determining unit is used for determining that the motor is in the torque zero crossing working condition if the motor zero crossing flag bit is valid.
The embodiment of the application provides a motor torque zero crossing control device, the first determining module 41 may include:
The second judging unit is used for judging whether the wheel end torque enters the negative torque from the positive torque or whether the wheel end torque enters the positive torque from the negative torque; the positive torque and the negative torque are positioned in a preset zero crossing interval;
The second determining unit is used for determining that the motor is in a Tip in zero crossing working condition if the wheel end torque is determined to enter positive torque from negative torque;
And the third determining unit is used for determining that the motor is in a Tip out zero-crossing working condition if the wheel end torque is determined to enter the negative torque from the positive torque.
The embodiment of the application provides a motor torque zero crossing control device, the second determination module 42 may include:
the fourth determining unit is used for determining a target reverse compensation torque corresponding to the VCU request torque change rate and the motor rotation speed change rate according to the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque, which correspond to the type of the torque zero-crossing working condition and are obtained through calibration in advance;
the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various torque zero-crossing working conditions is obtained through pre-calibration.
The embodiment of the application provides a motor torque zero crossing control device, the first determining module 41 may include:
the acquisition unit is used for acquiring the variation of the VCU request torque in a preset time period and the variation of the motor rotating speed in the preset time period;
and a fifth determining unit, configured to determine a VCU request torque change rate according to a change amount of the VCU request torque within a preset time period, and determine a motor rotation speed change rate according to a change amount of the motor rotation speed within the preset time period.
The embodiment of the application also provides a controller, referring to fig. 5, which shows a schematic structural diagram of the controller provided by the embodiment of the application, and may include:
A memory 51 for storing a computer program;
A processor 52 for implementing any one of the motor torque zero crossing control methods described above when executing a computer program stored in the memory 51.
The embodiment of the application also provides a vehicle which can comprise the controller.
The embodiment of the application also provides a readable storage medium, wherein a computer program is stored in the readable storage medium, and when the computer program is executed by a processor, the steps of any motor torque zero crossing control method are realized.
The description of the relevant parts in the motor torque zero-crossing control device, the controller, the vehicle and the readable storage medium provided by the embodiment of the application can be referred to the detailed description of the corresponding parts in the motor torque zero-crossing control method provided by the embodiment of the application, and the detailed description is omitted herein.
It should be noted that the logic and/or steps represented in the flowcharts or otherwise described herein, for example, may be considered as a ordered listing of executable instructions for implementing logical functions, and may be embodied in any readable storage medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "readable storage medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device. More specific examples (a non-exhaustive list) of the readable storage medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the readable storage medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner if necessary, and then stored in a computer memory.
It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.
In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.
Furthermore, the terms "first," "second," and the like, are used for descriptive purposes only and are not to be construed as indicating or implying a relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defining "a first" or "a second" may explicitly or implicitly include at least one such feature. In the description of the present application, the meaning of "plurality" means at least two, for example, two, three, etc., unless specifically defined otherwise.
In the present application, unless explicitly specified and limited otherwise, the terms "mounted," "connected," "secured," and the like are to be construed broadly, and may be, for example, fixedly connected, detachably connected, or integrally formed; can be mechanically or electrically connected; either directly or indirectly, through intermediaries, or both, may be in communication with each other or in interaction with each other, unless expressly defined otherwise. The specific meaning of the above terms in the present application can be understood by those of ordinary skill in the art according to the specific circumstances.
While embodiments of the present application have been shown and described above, it will be understood that the above embodiments are illustrative and not to be construed as limiting the application, and that variations, modifications, alternatives and variations may be made to the above embodiments by one of ordinary skill in the art within the scope of the application.
Claims (10)
1. A motor torque zero crossing control method, comprising:
judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate;
determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate;
And applying the target reverse compensation torque to the motor, wherein the target reverse compensation torque is opposite to the motor rotation speed fluctuation direction.
2. The motor torque zero-crossing control method according to claim 1, characterized by further comprising, after applying the target reverse compensation torque to the motor in a direction opposite to a motor rotation speed fluctuation direction:
judging whether the fluctuation direction of the motor rotation speed changes or not;
if so, stopping the target reverse compensation torque applied to the motor.
3. The method of claim 1, wherein determining whether the motor is in a torque zero-crossing condition comprises:
Judging whether a zero crossing flag bit of the motor is valid or not; the zero crossing flag bit is set to be effective when the wheel end torque enters negative torque from positive torque or positive torque from negative torque, and the positive torque and the negative torque are located in a preset zero crossing interval;
if yes, determining that the motor is in a torque zero-crossing working condition.
4. The method of claim 1, wherein determining whether the motor is in a torque zero-crossing condition, and if so, identifying the type of the torque zero-crossing condition comprises:
judging whether the wheel end torque enters negative torque from positive torque or whether the wheel end torque enters positive torque from negative torque; the positive torque and the negative torque are located in a preset zero crossing interval;
If the wheel end torque is determined to enter positive torque from negative torque, determining that the motor is in a Tip in zero crossing working condition;
and if the wheel end torque is determined to enter the negative torque from the positive torque, determining that the motor is in a Tip out zero crossing working condition.
5. The motor torque zero-crossing control method as set forth in any one of claims 1 to 4, wherein determining a target reverse compensation torque based on the type of the torque zero-crossing condition, the VCU requested torque change rate, and the motor rotation speed change rate includes:
Determining the VCU request torque change rate and the target reverse compensation torque corresponding to the motor rotation speed change rate according to the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque, which correspond to the type of the torque zero-crossing working condition and are obtained through calibration in advance;
the corresponding relation among the torque change rate, the motor rotation speed change rate and the reverse compensation torque under various torque zero-crossing working conditions is obtained through pre-calibration.
6. The motor torque zero crossing control method as set forth in claim 5, wherein determining the VCU request torque rate of change and the motor speed rate of change comprises:
Obtaining the variation of VCU request torque in a preset time period and the variation of motor rotation speed in the preset time period;
determining the change rate of the VCU request torque according to the change of the VCU request torque in the preset time period, and determining the change rate of the motor rotation speed according to the change of the motor rotation speed in the preset time period.
7. A motor torque zero-crossing control device, characterized by comprising:
the first determining module is used for judging whether the motor is in a torque zero-crossing working condition, if so, identifying the type of the torque zero-crossing working condition, and determining the VCU request torque change rate and the motor rotation speed change rate;
The second determining module is used for determining a target reverse compensation torque according to the type of the torque zero-crossing working condition, the VCU request torque change rate and the motor rotation speed change rate;
and the first control module is used for applying the target reverse compensation torque to the motor, wherein the target reverse compensation torque is opposite to the fluctuation direction of the motor rotating speed.
8. A controller for a vehicle, which is configured to control a controller, characterized by comprising the following steps:
a memory for storing a computer program;
A processor for implementing the steps of the motor torque zero crossing control method as claimed in any one of claims 1 to 6 when executing said computer program.
9. A vehicle is characterized in that, comprising a controller as claimed in claim 8.
10. A readable storage medium, characterized in that the readable storage medium has stored therein a computer program which, when executed by a processor, implements the steps of the motor torque zero crossing control method as claimed in any one of claims 1 to 6.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410810347.6A CN118636693A (en) | 2024-06-21 | 2024-06-21 | Motor torque zero crossing control method, device, controller, vehicle and medium |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202410810347.6A CN118636693A (en) | 2024-06-21 | 2024-06-21 | Motor torque zero crossing control method, device, controller, vehicle and medium |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN118636693A true CN118636693A (en) | 2024-09-13 |
Family
ID=92662444
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN202410810347.6A Pending CN118636693A (en) | 2024-06-21 | 2024-06-21 | Motor torque zero crossing control method, device, controller, vehicle and medium |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN118636693A (en) |
-
2024
- 2024-06-21 CN CN202410810347.6A patent/CN118636693A/en active Pending
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US20100082189A1 (en) | Apparatus and method for controlling an accelerator for electric vehicles | |
| CN110696833B (en) | Vehicle self-adaptive speed limit control method | |
| CN101786452B (en) | Driving anti-slip control system of shaft-driven electric vehicle and control method thereof | |
| CN108621859A (en) | A kind of drive control method of pure electric automobile | |
| JPH01200031A (en) | Method of obtaining slip critical value for drive slip regulation of automobile | |
| CN113022538B (en) | Motor torque zero-crossing parameter processing method and system and vehicle | |
| BR0006992B1 (en) | PROCESS AND DEVICE FOR DETERMINING A SPEED GREATNESS, WHICH REPRESENTS THE SPEED OF A VEHICLE | |
| JP4074463B2 (en) | Control shaft rotation angle position sensor output reference position learning device in variable valve system of internal combustion engine | |
| CN104912783A (en) | Method for controlling displacement of air condition compressor of automobile | |
| CN107599889A (en) | Reversing control method and device and electric automobile | |
| CN113022319A (en) | Electric vehicle self-adaptive energy recovery control method and electric vehicle | |
| JP3947253B2 (en) | Method and apparatus for mitigating load change reaction in automobile | |
| JP4355085B2 (en) | Method and apparatus for controlling drive unit | |
| CN118636693A (en) | Motor torque zero crossing control method, device, controller, vehicle and medium | |
| JP7140300B2 (en) | In-vehicle actuator control method and in-vehicle actuator control device | |
| JP3442950B2 (en) | Motor control device for electric vehicle | |
| CN117301885A (en) | Control method for torque zero crossing of vehicle and related product | |
| TWI421178B (en) | An intelligent differential control method for in-wheel hub motors and apparatus thereof | |
| CN117207785A (en) | Motor torque zero crossing control method and device, vehicle, electronic equipment and medium | |
| CN114802281B (en) | Method for self-learning zero point of accelerator pedal, electronic equipment and storage medium | |
| CN112937578A (en) | Vehicle, and control method and control device thereof | |
| JPH04187838A (en) | Acceleration slip controller | |
| US20030176956A1 (en) | Control apparatus for vehicle-use electric power generator | |
| CN112706757B (en) | Vehicle stability control method based on wheel radius self-learning | |
| CN113071330A (en) | Motor torque control method, system, vehicle and storage medium |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication |