WO2022206074A1

WO2022206074A1 - Motor torque zero-crossing parameter processing method and system, and vehicle

Info

Publication number: WO2022206074A1
Application number: PCT/CN2021/143047
Authority: WO
Inventors: 张天强; 张强; 韩衍东; 庞尔超; 牟象乾
Original assignee: 中国第一汽车股份有限公司
Priority date: 2021-04-02
Filing date: 2021-12-30
Publication date: 2022-10-06
Also published as: CN113022538B; CN113022538A

Abstract

The present application discloses a motor torque zero-crossing parameter processing method and system, and a vehicle. The motor torque zero-crossing parameter processing method comprises: determining that a torque zero-crossing process needs to be executed; determining preset environmental parameters, and determining fixed parameters and variable parameters of the torque zero-crossing process under the preset environmental parameters; respectively executing the torque zero-crossing process multiple times by using multiple variable parameters in a preset range of the variable parameters, obtaining evaluation parameters of the torque zero-crossing process executed each time, recording an optimal value among all the evaluation parameters, and using the variable parameter corresponding to the optimal value as an optimal parameter among the multiple variable parameters; and returning to execute the determination that a torque zero-crossing process needs to be executed, until the optimal parameter under all the preset environmental parameters is obtained.

Description

Parameter processing method, system and vehicle for motor torque zero-crossing

This application claims the priority of the Chinese Patent Application No. 202110363352.3 filed with the China Patent Office on April 2, 2021, the entire contents of which are incorporated into this application by reference.

technical field

The present application relates to the technical field of electric vehicles, for example, to a parameter processing method, system and vehicle for motor torque zero-crossing.

Background technique

Electric vehicles are driven by a motor and a reducer. Since there is a certain gap between the motor and the gears of the reducer, when the motor torque is switched between positive and negative, that is, when the contact surface of the gear changes, if the motor torque changes too much. If it is too fast, a collision shock will occur, causing the vehicle to shake, and at the same time, it will be accompanied by noise. Most of the related technologies solve the above problems by slowing down the rate of change of the motor torque during the zero-crossing process of the motor torque. The parameters related to adjusting the motor torque are usually fixed parameters and are obtained through real vehicle calibration. However, due to the consistency of mass-produced vehicles, the obtained fixed parameters are usually difficult to apply to all vehicles, and with the long-term wear and tear of the motor and reducer, the gap will gradually become larger, and it is difficult to re-calibrate the parameters.

Therefore, there is an urgent need for a motor torque zero-crossing control method, system and vehicle, which can reduce the damage of the torque zero-crossing process to the vehicle, prolong the service life of the vehicle's motor and reducer and other structures, and have a large scope of application.

SUMMARY OF THE INVENTION

The purpose of this application is to propose a motor torque zero-crossing control method, system and vehicle, which can reduce the zero-crossing impact caused by the torque zero-crossing process, improve the user experience, and prolong the service life of the motor and reducer of the vehicle. Has a larger scope of application.

The technical solution of the present application is as follows.

A parameter processing method for motor torque zero-crossing, comprising: determining that a torque zero-crossing process needs to be performed; determining preset environmental parameters, and determining fixed parameters and variable parameters of the torque zero-crossing process under the preset environmental parameters; Perform multiple torque zero-crossing processes with multiple variable parameters within the preset range of the variable parameters, obtain the evaluation parameters of each torque zero-crossing process, and record the optimal value of all the evaluation parameters. The variable parameter corresponding to the value is used as the optimal parameter among the plurality of variable parameters; returning to perform the determination requires performing a torque zero-crossing process until the optimal parameters under all preset environmental parameters are obtained.

Before determining the preset environmental parameters, the method further includes: judging whether the vehicle assembly has a negative torque capability, and in the case that the vehicle assembly has the negative torque capability, acquiring the preset environment parameters, and In the absence of the negative torque capability of the vehicle assembly, the capability to adjust the regenerative torque request of the electric machine is zero.

The method further includes: recording the execution times of the torque zero-crossing process; taking the variable parameter corresponding to the optimal value as the optimal parameter among the plurality of variable parameters, including: in the execution times In the case of a preset value, the optimal parameter is obtained, and in the case that the execution times is less than the preset value, re-executing the determination requires executing a torque zero-crossing process.

The returning to perform the determination that the torque zero-crossing process needs to be performed includes: re-executing the determination that the optimal parameters under at least one set of preset environmental parameters among all the preset environmental parameters are not recorded Execute the torque zero-crossing process.

The method further includes: in the case of executing the torque zero-crossing process with variable parameters corresponding to the optimal parameters under a set of preset environmental parameters, in the case of judging that the obtained evaluation parameters exceed the qualified range, use the Re-execution of the determination for a set of preset environmental parameters requires the execution of a torque zero-crossing process.

The judging that the obtained evaluation parameters are out of the qualified range includes: performing multiple torque zero-crossing processes with the optimal parameters, and recording the evaluation parameters obtained in each torque zero-crossing process, and recording the out-of-range torque within the preset number of times. The total number of the evaluation parameters in the qualified range is determined, and when the total number is greater than the qualified number, it is determined that the optimal parameter under the set of preset environmental parameters is unqualified.

The recording of the optimal value among all the evaluation parameters includes: when the evaluation parameter of the current torque zero-crossing process is not greater than the evaluation parameter of the previous torque zero-crossing process, recording the evaluation parameter of the current torque zero-crossing process , after the multiple torque zero-crossing process is completed, the variable parameter corresponding to the optimal value among the multiple recorded evaluation parameters is used as the optimal parameter.

The relevant parameters during the execution of the torque zero-crossing process include the torque value at the start of waiting, the waiting time and the torque value at the end of waiting, the variable parameter is one of the relevant parameters, and the fixed parameter is the relevant parameter. The other two parameters in the parameters are the said variable parameters.

A parameter processing system for motor torque switching, comprising: a detection device, set to determine that a torque zero-crossing process needs to be executed; a calling device, set to determine preset environmental parameters, fixed parameters and variable parameters; an execution device, set to When the detection device detects that the torque zero-crossing process needs to be performed, it will perform multiple torque zero-crossing processes according to the fixed parameters and the variable parameters, and record the most important one among the evaluation parameters of the multiple torque zero-crossing processes. figure of merit.

A vehicle comprising: one or more processors; a storage device configured to store one or more programs; when the one or more programs are executed by the one or more processors, the one or more programs When each processor executes the program, the foregoing parameter processing method for motor torque zero-crossing is implemented.

Description of drawings

1 is one of the flowcharts of the parameter processing method for motor torque zero-crossing provided by the specific embodiment of the present application;

FIG. 2 is the second flow chart of the parameter processing method for motor torque zero-crossing provided by the specific embodiment of the present application;

3 is the third flowchart of the parameter processing method for motor torque zero-crossing provided by the specific embodiment of the present application;

FIG. 4 is a schematic diagram of the variation of motor torque in the parameter processing method for motor torque zero-crossing provided by the specific embodiment of the present application.

Detailed ways

The technical solutions of the present application will be described below with reference to the accompanying drawings and through specific embodiments.

In the description of this application, unless otherwise expressly specified and limited, the terms "connected", "connected" and "fixed" should be understood in a broad sense, for example, it may be a fixed connection, a detachable connection, or an integrated ; It can be a mechanical connection or an electrical connection; it can be a direct connection or an indirect connection through an intermediate medium, and it can be the internal connection of two elements or the interaction relationship between the two elements. For those of ordinary skill in the art, the meanings of the above terms in the present application can be understood.

In this application, unless otherwise expressly specified and defined, a first feature "on" or "under" a second feature may include direct contact between the first and second features, or may include the first and second features Not directly but through additional features between them. Also, the first feature being "above", "over" and "above" the second feature includes the first feature being directly above and obliquely above the second feature, or simply means that the first feature is level higher than the second feature. The first feature is "below", "below" and "below" the second feature includes the first feature being directly below and diagonally below the second feature, or simply means that the first feature has a lower level than the second feature.

It is to be understood that the terms "center", "longitudinal", "lateral", "length", "width", "thickness", "top", "bottom", "front", "rear", "left", "Right", "Vertical", "Horizontal", "Top", "Bottom", "Inner", "Outer", "Clockwise", "Counterclockwise", "Axial", "Radial", " The orientation or positional relationship indicated by "circumferential" and the like is based on the orientation or positional relationship shown in the accompanying drawings, which is only for the convenience of describing the present application and simplifying the description, rather than indicating or implying that the indicated device or element has a specific orientation, to The specific orientation configuration and operation are therefore not to be construed as limitations of the present application. In the description of this application, unless stated otherwise, "plurality" means two or more. In addition, the terms "first" and "second" are only used for distinction in description, and have no special meaning.

The following describes the parameter processing method for the zero-crossing of the motor torque according to the embodiment of the present application with reference to FIG. 1 to FIG. 4 .

As shown in Figures 1-4, Figure 1 discloses a parameter processing method for motor torque zero-crossing, which includes step S1, determining that the torque zero-crossing process needs to be performed; step S2, determining preset environment parameters, in the preset environment Determine the fixed parameters and variable parameters of the torque zero-crossing process under the parameters; step S3, respectively execute multiple torque zero-crossing processes with multiple variable parameters within the preset range of the variable parameters, and obtain the evaluation parameters of each torque zero-crossing process, And record the optimal value of all the evaluation parameters, and use the variable parameter corresponding to the optimal value as the optimal parameter in the plurality of variable parameters; step S4, repeating step S1-step S3 until all preset environments are obtained The optimal parameters under the parameters.

It can be understood that the parameter processing method for the motor torque zero-crossing in this embodiment can be performed by itself during the use of the vehicle, that is to say, when the driver is driving normally, when the system determines that the torque zero-crossing process needs to be performed, Steps S2 and S3 can be executed, so as to execute the torque zero-crossing process according to the preset environmental parameters of the driver in the current driving process. In this way, the fixed parameters and variable parameters of the torque zero-crossing process can be determined during the normal use of the vehicle, and multiple torque zero-crossing processes can be performed at the same time, and the corresponding evaluation parameters can be obtained for each variable parameter. By performing a comparative analysis, the optimal values of the variable parameters under the current preset environment parameters and the current fixed parameter environment can be obtained, and then the optimal parameters under the current preset environment parameters can be obtained; enter the same preset environment next time The optimal parameter can be called during the driving process with parameters and fixed parameters, which can significantly reduce the negative effects of shock and noise caused by the vehicle during the torque zero-crossing process. In addition, since the parameter processing method for the zero-crossing of the motor torque in this embodiment can perform parameter optimization processing during the actual operation of the vehicle, compared with the fixed parameters of the mass-produced vehicle in the related art, the vehicle can be run in a long-term operation. The torque zero-crossing process is completed under the optimal parameters, which has a wide range of applications. According to the parameter processing method for motor torque zero-crossing in this embodiment, parameter optimization of relevant parameters of the torque zero-crossing process can be completed during actual driving, and the functions of automatic identification and readjustment of variable parameters can be realized.

In this embodiment, the preset environmental parameters include the torque value of the motor, the speed of the vehicle or the rotational speed of the wheels when it is determined that the torque zero-crossing process needs to be performed. The evaluation parameters include but are not limited to the rotational speed vibration amplitude of the motor, the rotational speed vibration frequency of the motor, the longitudinal acceleration or noise of the vehicle, which can be recorded during the execution of the torque zero-crossing process. Usually, the smaller rotational speed vibration amplitude is the best. , The smaller rotational vibration frequency is better, the smaller the longitudinal acceleration fluctuation is better, and the smaller the noise is better, the evaluation parameters can be limited according to the actual needs, the above evaluation parameters are only for showing the more conventional and easy to obtain The parameters are not limited to the evaluation parameters.

In step S1, if it is determined that the torque zero-crossing process is not to be performed, the motor is controlled to respond to the driver's positive torque demand, and at the same time, the ability to recycle the torque request is controlled to be zero, so as to prevent the torque zero-crossing process before the total required torque of the vehicle is completed. During the process, the external steady-state torque intervenes and superimposes and causes the torque zero-crossing process to change and cause shock problems, so as to ensure the normal execution of the torque zero-crossing process. Since the torque zero-crossing process time is usually short, stopping the response to the recovery torque request will not. Influence on the intervention of external steady-state torque.

In step S1 of this embodiment, at least the following method can be used to judge whether the torque zero-crossing process needs to be performed: obtain the current state of the accelerator pedal and the speed of the vehicle, perform calibration according to the actual pedal opening and vehicle speed, and obtain the demand of the motor Whether the torque needs to be switched between positive and negative relative to the actual torque of the motor, when the motor needs to be switched between positive and negative, it means that the torque zero-crossing process needs to be performed. In some cases, the torque zero-crossing process needs to be performed when the accelerator pedal is released; when the vehicle is in a high speed state, the opening of the accelerator pedal changes from large to small, and when the accelerator pedal is not fully released, the torque required by the motor also increases. will change from positive to negative, thus requiring a torque zero-crossing process. In other embodiments of the present application, whether to perform the torque zero-crossing process can also be determined by other methods to determine whether the torque method needs to be switched, which is unnecessary to describe here.

In some embodiments, as shown in FIG. 1 and FIG. 2 , in step S2, before determining the preset environmental parameters, it is also necessary to judge whether the vehicle assembly has negative torque capability, and when the vehicle assembly has negative torque capability, obtain Preset environmental parameters, when the vehicle assembly does not have negative torque capability, the ability to adjust the regenerative torque request of the electric machine is zero.

It can be understood that the torque zero-crossing process cannot be performed when the vehicle assembly does not have the negative torque capability. For the safe operation of the vehicle, it should be confirmed whether the vehicle can perform the torque zero-crossing process before determining the preset environmental parameters, so as to ensure the safety of the vehicle. Reliable operation. In this embodiment, when the vehicle assembly does not have negative torque capability, the total demand torque of the entire vehicle is controlled to be cleared according to a preset curve. It should be noted that the required torque of the vehicle assembly includes but is not limited to the required torque of the motor. When the entire vehicle has only the motor torque, the required torque of the vehicle assembly is equal to the required torque of the motor.

In some embodiments, as shown in FIG. 1 and FIG. 2 , in step S3, the execution times of the executed torque zero-crossing process are recorded, when the execution times are a preset value, the optimal parameters are obtained, and when the execution times are less than When the preset value is set, step S1 is performed again.

It can be understood that in the actual execution process of the torque zero-crossing process, there is a possibility that the torque zero-crossing process is not executed with some variable parameters. In this embodiment, by confirming the execution times of the torque zero-crossing process, it can be guaranteed. In step S3, the torque zero-crossing process is completed for sufficient variable parameters, thereby ensuring that the torque zero-crossing process can be performed for all variable parameters, so as to ensure the reliability of the finally obtained optimal parameters. When it is detected that the number of executions is less than the preset value, step S1 is re-executed to continue the experiment with respect to the variable parameters under the preset environmental parameters.

In some embodiments, as shown in FIG. 1 and FIG. 2 , when the optimal parameters under at least one set of preset environmental parameters among all the preset environmental parameters are not recorded, step S1 is re-executed.

It can be understood that the vehicle usually has a variety of preset environmental parameters in the actual operation process. In this embodiment, when it is detected that the optimal parameters under a set of preset environmental parameters are not recorded, step S1 is re-executed. It is convenient to ensure that the variable parameters under all preset environmental parameters are recorded with the optimal parameters, thereby improving the applicable scope of the parameter processing method. When all the optimal parameters under the preset environmental parameters are recorded, it can be confirmed that the parameter processing method in this embodiment has been executed.

In some embodiments, as shown in FIG. 3 , under a set of preset environmental parameters, when the torque zero-crossing process is performed with variable parameters corresponding to the optimal parameters, when the obtained evaluation parameters exceed the qualified range, the set of preset environmental parameters is used. Set the environmental parameters to perform steps S1-S3 again.

It can be understood that with the continuous use of the vehicle, there is usually a problem of wear and heat between the motor stator, the reducer and the wheels, and the gap between the motor stator, the reducer and the wheel gradually becomes larger, which is usually manifested in the following conditions. When the optimal parameters of the variable parameters recorded in advance execute the torque zero-crossing process, the obtained evaluation parameters will exceed the qualified range, which means that the current optimal parameters of the variable parameters are no longer the optimal values. In this embodiment, a processing method for re-executing steps S1-S3 is additionally provided, which can realize the automatic identification of the validity of variable parameters, and can re-execute steps S1-S3 to re-adjust the variable parameters that are no longer valid, Therefore, when the gap increases, the impact problem caused by the zero-crossing process of the motor can be reduced to the greatest extent by adjusting the relevant parameters of the zero-crossing process of the motor, thereby improving the user experience. Of course, according to the parameter processing method of this embodiment, when the evaluation parameter still exceeds the qualified range after readjusting the variable parameter, the user can also be reminded to facilitate the user to perform maintenance.

In some embodiments, as shown in FIG. 3 , multiple torque zero-crossing processes are performed with variable parameters corresponding to the optimal parameters, and the evaluation parameters obtained in each torque zero-crossing process are recorded, and the excess torque is recorded within a preset number of times. The total number of evaluation parameters in the qualified range. When the total number is greater than the qualified number, it is judged that the optimal parameters under the set of preset environmental parameters are unqualified.

It can be understood that during the actual operation of the torque zero-crossing process, there is also the possibility that the evaluation parameters due to unexpected circumstances exceed the qualified range. The total number of evaluation parameters in the qualified range can be determined according to the relationship between the total number and the qualified number to determine the qualified degree of the optimal parameters under the set of preset environmental parameters, so as to avoid the phenomenon of invalid re-execution of steps S1 to S3 , to ensure reliable restart of parameter handling methods. In addition, in this embodiment, the qualified range can be obtained from the upper and lower fluctuation ranges of the original evaluation parameters, so as to provide a certain error interval, to prevent the situation that the total number is greater than the qualified number due to sensor deviation and other reasons, and to further ensure that the parameter processing method is restarted reliability.

It should be noted that, since the preset environmental parameters and variable parameters of different vehicles are different, the preset frequency range, qualified range, total quantity, qualified quantity and other related parameters in this embodiment can be accepted according to actual vehicles and actual users. Ability to confirm, no need to limit.

In some embodiments, as shown in FIG. 2 , recording the optimal values of all evaluation parameters in step S3 includes the following steps: when the evaluation parameters of the current torque zero-crossing process are not greater than the evaluation parameters of the previous torque zero-crossing process, recording The evaluation parameters of the current torque zero-crossing process, after the execution of multiple torque zero-crossing processes, take the final recorded evaluation parameter as the optimal value, and take the variable parameter corresponding to the final recorded evaluation parameter as the optimal parameter.

It can be understood that, through the above steps, only the evaluation parameters of the torque zero-crossing process that are better than the last recorded torque can be recorded, so that it is not necessary to record and compare all the evaluation parameters of the torque zero-crossing process, which is conducive to the realization of Fast execution of the program.

In some embodiments, the relevant parameters during the execution of the torque zero-crossing process include the torque value at the start of waiting, the waiting time and the torque value at the end of the waiting, the variable parameter is one of the relevant parameters, and the fixed parameter is the variable divided by the relevant parameters. The other two outside the parameters.

Exemplarily, the fixed parameter means that the parameter value of the fixed parameter is a fixed value, and the variable parameter means that the parameter value of the variable parameter is within a preset range, for example, the preset environmental parameters include the torque value at the start of waiting and the torque at the end of the waiting In the case of value and waiting time, when the fixed parameters determined in step S2 are the torque value at the start of waiting and the torque value at the end of waiting, and the variable parameter is the waiting time, the torque value at the start of waiting is the preset torque value at the start of waiting. Torque value, the torque value at the end of the waiting time is the preset torque value at the end of the waiting time, and the waiting time is within the preset range. In step S3, a plurality of waiting time points are randomly selected within the preset range of the waiting time. For At each waiting time point, a torque zero-crossing process is executed with the preset torque value at the beginning of waiting and the preset torque value at the end of waiting, and at each waiting time point, and the evaluation of each torque zero-crossing process is obtained. parameters, and record the optimal value of all evaluation parameters, and take the waiting time point corresponding to the optimal value as the optimal waiting time point among the multiple waiting time points.

It can be understood that in the actual process of the torque zero-crossing process, after the motor torque crosses from the initial torque to zero, there will be a collision between the motor and the wheel, and then the evaluation parameters in the torque zero-crossing process can be obtained. After the motor torque continues to drop for a period of time after the zero-crossing process, the motor and the wheels will cooperate again, and the evaluation parameters in the torque zero-crossing process will also be unavailable. It is most obvious in the following period of time. According to the above characteristics, the relevant parameters in the torque zero-crossing process can be set as the torque value at the beginning of waiting, the waiting time and the torque value at the end of the waiting, among which the torque value at the beginning of waiting is the same as the initial torque of the motor. One of them is positive torque, the other of the torque value at the beginning of waiting and the initial torque of the motor is negative torque, and the waiting time is the time required for the motor torque to change from the torque value at the beginning of waiting to the torque value at the end of waiting. During this time period, the evaluation parameters in the torque zero-crossing process are relatively obvious, which is conducive to evaluating the pros and cons of different related parameters in the entire torque zero-crossing process. Of course, in other embodiments of the present application, other torque change parameters in the torque zero-crossing process can also be selected, and the parameter types can be determined according to actual requirements, and need not be limited. In addition, during the actual execution of the torque zero-crossing process, the waiting torque value and the waiting time can be obtained through the motor assembly bench. At the same time, since the waiting time will affect the torque response process, the waiting time is in the torque zero-crossing process. It should not be set too long. At the same time, when the motor torque changes from the torque at the beginning to the torque value at the end of the wait, the torque change curve can be set according to the actual demand, either as a curve or as a straight line. When the motor torque transitions to the torque value at the end of the wait , the motor torque responds to the negative torque request of the vehicle assembly with a preset slope.

It should be noted that, since the torque zero-crossing process can be either a zero-crossing process in which the motor torque changes from positive to negative, or a zero-crossing process in which the motor torque changes from negative to positive, the parameter processing method for the zero-crossing of the motor torque in this embodiment is It is applicable to two kinds of torque zero-crossing processes, and the relevant parameters of the two kinds of torque zero-crossing processes can be preset independently, so as to determine the optimal parameters under the two kinds of torque zero-crossing processes. In addition, in this embodiment, two fixed parameters and one variable parameter are set. According to actual needs, multiple sets of different related parameter setting values can also be preset, or two variable parameters and one fixed parameter can be preset. parameters to determine the optimal relevant parameters in the torque zero-crossing process. Presetting multiple variable parameters can ensure that the evaluation parameters corresponding to the obtained optimal parameters are the optimal values under the preset environmental parameters, and a single variable is preset. The parameters can not only ensure the reliability of the optimal parameters, but also reduce the cumbersome degree of related parameter processing.

Example 1

The following describes a parameter processing method for motor torque zero-crossing according to an embodiment of the present application with reference to FIG. 1 to FIG. 4 .

The parameter processing method for motor torque zero-crossing in this embodiment includes the following steps.

Step S1, determining that the accelerator pedal is in a released state;

Step S2, determine that the vehicle assembly has a negative torque capability, determine preset environmental parameters, and determine fixed parameters and variable parameters of the torque zero-crossing process under the preset environmental parameters, where the fixed parameters and variable parameters include the torque value to start waiting, Waiting time and the torque value at the end of the waiting, the waiting time is the time required for the motor torque to change from the torque value at the start of the wait to the torque value at the end of the wait;

Step S3: Perform multiple torque zero-crossing processes with multiple variable parameters within the preset range of the variable parameters. When the evaluation parameter of the current torque zero-crossing process is not greater than the evaluation parameter of the last torque zero-crossing process, record the current torque zero-crossing process. Evaluation parameters of the torque zero-crossing process; record the execution times of the executed torque zero-crossing process. When the execution times are the preset values, the final recorded evaluation parameters are taken as the optimal values, and the final recorded evaluation parameters correspond to The variable parameter of is the optimal parameter, and when the number of executions is less than the preset value, step S1 is re-executed.

Step S4: Repeat steps S1 to S3 until the optimal parameters under all preset environmental parameters are obtained, and step S1 is re-executed when the optimal parameters under at least one group of preset environmental parameters are not recorded.

Step S5: Execute multiple torque zero-crossing processes with variable parameters corresponding to the optimal parameters, and record the evaluation parameters obtained in each torque zero-crossing process, and record the total number of evaluation parameters that exceed the qualified range within the preset number of times, When the total number is greater than the qualified number, it is determined that the optimal parameters under the set of preset environmental parameters are unqualified, and steps S1-S3 are re-executed with the set of preset environmental parameters.

As shown in FIG. 4 , taking the zero-crossing process of the forward torque as an example, the graph of the variation relationship between the motor torque and the time in the zero-crossing process of the torque using the parameter processing method for the zero-crossing of the motor torque of this embodiment is described, T1 and T2 is the total required torque value of the vehicle assembly, the ends of T1 and T1 are when the driver releases the accelerator pedal, T3 is the torque value at the start of waiting corresponding to T1 under the preset environmental parameters, and T4 is under the preset environmental parameters. The torque value corresponding to T2 at the start of waiting, t1 is the waiting time corresponding to T1 under the preset environmental parameters, t2 is the waiting time corresponding to T2 under the preset environmental parameters, and T5 is the T1 under the preset environmental parameters The corresponding torque value at the end of waiting, T6 is one of the torque values at the end of waiting corresponding to T2 under the preset environmental parameters, and T7 is the torque value at the end of waiting corresponding to T2 under the preset environmental parameters. Second, T8 is the third torque value at the end of waiting corresponding to T2 under the preset environmental parameters.

During the zero-crossing process of the negative torque, the variation relationship curve between the motor torque and time can be obtained according to the above description, and it is unnecessary to repeat them here.

Example 2

The present application also discloses a parameter processing system for motor torque switching, including a detection device, a calling device and an execution device. The detection device is arranged to determine that the accelerator pedal is in a released state. The calling device is set to determine preset environmental parameters, fixed parameters and variable parameters. The execution device is configured to perform multiple torque zero-crossing processes according to fixed parameters and variable parameters when the detection device detects that the accelerator pedal is in a released state, and record the optimal value among the evaluation parameters of the multiple torque zero-crossing processes.

The parameter processing system for motor torque switching further includes a controller configured to control the detecting device, the calling device and the executing device.

It can be understood that the technical solutions of the embodiments of the present application can detect the state of the accelerator pedal in real time, and when the accelerator pedal is in the released state, the detection device can transmit a signal to the controller, so that the controller can control the calling device to obtain the preset environmental parameters, Fix relevant parameters such as parameters and variable parameters, and control the execution device to execute the torque zero-crossing process and record the optimal value of the evaluation parameters of the torque zero-crossing process, so as to obtain the optimal parameters of the variable parameters under all preset environmental parameters, Furthermore, the optimal parameters can be called during the next driving process with the same preset environmental parameters and fixed parameters, which can significantly reduce the negative impact caused by the impact, noise, etc. caused by the vehicle during the torque zero-crossing process.

The parameter processing system for motor torque switching provided by the embodiment of the present application can execute the parameter processing method for motor torque switching provided by any embodiment of the present application, and has function modules for executing the corresponding method.

Example 3

The application also discloses a vehicle including one or more processors and storage devices. The storage device is configured to store one or more programs. When one or more programs are executed by one or more processors, so that when one or more processors execute the programs, the above-mentioned parameter processing method for motor torque zero-crossing is implemented, and the parameter processing method for motor torque zero-crossing is not required here. Repeat.

In the description of this specification, a description with reference to the terms "some embodiments", "other embodiments", etc. means that a feature, structure, material or characteristic described in connection with the embodiment or example is included in at least one embodiment of the present application or in the example. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the described features, structures, materials or characteristics may be combined in any suitable manner in any one or more embodiments or examples.

Claims

A parameter processing method for motor torque zero-crossing, comprising:

It is determined that the torque zero-crossing process needs to be performed;

determining preset environmental parameters, and determining fixed parameters and variable parameters of the torque zero-crossing process under the preset environmental parameters;

Perform multiple torque zero-crossing processes with multiple variable parameters within the preset range of the variable parameters, obtain the evaluation parameters of each torque zero-crossing process, and record the optimal value of all the evaluation parameters. The variable parameter corresponding to the figure of merit is used as the optimal parameter in the plurality of variable parameters;

Returning to perform the determination requires performing a torque zero-crossing process until the optimal parameters under all preset environmental parameters are obtained.
The parameter processing method for motor torque zero-crossing according to claim 1, before determining the preset environmental parameters, further comprising: judging whether a vehicle assembly has a negative torque capability, and when the vehicle assembly has the negative torque In the case of the capacity, the preset environmental parameter is obtained; in the case that the vehicle assembly does not have the negative torque capacity, the capacity of adjusting the regenerative torque request of the electric motor is zero.
The parameter processing method for motor torque zero-crossing according to claim 1, further comprising: recording the execution times of the torque zero-crossing process; and using the variable parameter corresponding to the optimal value as the plurality of variable parameters The optimal parameters in , including: when the number of executions is a preset value, obtaining the optimal parameters, and when the number of executions is less than the preset value, re-executing the judgment that needs to be executed Torque zero-crossing process.
The parameter processing method for motor torque zero-crossing according to claim 3, wherein the returning to perform the determination that the torque zero-crossing process needs to be performed comprises: at least one set of preset environmental parameters among all the preset environmental parameters In the case where the optimal parameters under the 2000 are not recorded, re-execution of the determination requires the execution of the torque zero-crossing process.
The parameter processing method for motor torque zero-crossing according to claim 1, further comprising: in the case of executing the torque zero-crossing process with variable parameters corresponding to optimal parameters under a set of preset environmental parameters, judging the In the case that the obtained evaluation parameters are out of the qualified range, re-executing the determination with the set of preset environmental parameters needs to perform a torque zero-crossing process.
The parameter processing method for motor torque zero-crossing according to claim 5, wherein the judging that the obtained evaluation parameters are out of the qualified range comprises: performing multiple torque zero-crossing processes with the optimal parameters, and recording the torque for each time For the evaluation parameters obtained in the zero-crossing process, record the total number of the evaluation parameters that exceed the qualified range within a preset number of times, and determine the set of preset environments when the total number is greater than the qualified number The optimal parameters under parameters are not qualified.
The parameter processing method for motor torque zero-crossing according to claim 1, wherein, the optimal value in the recording of all the evaluation parameters comprises:

In the case that the evaluation parameter of the current torque zero-crossing process is not greater than the evaluation parameter of the previous torque zero-crossing process, record the evaluation parameter of the current torque zero-crossing process, and after the multiple torque zero-crossing processes are executed, Take the final recorded evaluation parameter as the optimal value, and take the variable parameter corresponding to the final recorded evaluation parameter as the optimal parameter.
The parameter processing method for motor torque zero-crossing according to claim 1, wherein the relevant parameters during the execution of the torque zero-crossing process include the torque value at the start of waiting, the waiting time and the torque value at the end of the waiting, the variable The parameter is one of the related parameters, and the fixed parameter is the other two of the related parameters except the variable parameter.
A parameter processing system for motor torque switching, comprising:

A detection device, set to determine that the torque zero-crossing process needs to be performed;

a calling device, configured to determine preset environmental parameters, and determine fixed parameters and variable parameters of the torque zero-crossing process under the preset environmental parameters;

An executing device is configured to, when the detection device detects that the torque zero-crossing process needs to be executed, according to the fixed parameter and the variable parameter within the preset range of the variable parameter, use a plurality of variable parameters to respectively Perform multiple torque zero-crossing processes, and record the optimal value among the evaluation parameters of the multiple torque zero-crossing processes.
A vehicle comprising:

at least one processor;

a storage device configured to store at least one program;

When the at least one program is executed by the at least one processor, when the at least one processor executes the program, the parameter processing method for the zero-crossing of the motor torque according to any one of claims 1-8 is implemented.