WO2024041624A1 - 液压系统故障诊断方法、车辆驱动系统的控制方法及车辆 - Google Patents
液压系统故障诊断方法、车辆驱动系统的控制方法及车辆 Download PDFInfo
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- WO2024041624A1 WO2024041624A1 PCT/CN2023/114836 CN2023114836W WO2024041624A1 WO 2024041624 A1 WO2024041624 A1 WO 2024041624A1 CN 2023114836 W CN2023114836 W CN 2023114836W WO 2024041624 A1 WO2024041624 A1 WO 2024041624A1
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- Prior art keywords
- oil pressure
- hydraulic system
- oil
- pressure threshold
- motor
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- 238000000034 method Methods 0.000 title claims abstract description 66
- 238000003745 diagnosis Methods 0.000 title claims abstract description 38
- 238000004364 calculation method Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 7
- 238000004590 computer program Methods 0.000 description 6
- 230000006870 function Effects 0.000 description 3
- 238000012545 processing Methods 0.000 description 3
- 230000005540 biological transmission Effects 0.000 description 2
- 230000003287 optical effect Effects 0.000 description 2
- 230000002028 premature Effects 0.000 description 2
- 238000006467 substitution reaction Methods 0.000 description 2
- 238000007792 addition Methods 0.000 description 1
- 230000009286 beneficial effect Effects 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000012986 modification Methods 0.000 description 1
- 230000004048 modification Effects 0.000 description 1
- 238000013021 overheating Methods 0.000 description 1
Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W50/00—Details of control systems for road vehicle drive control not related to the control of a particular sub-unit, e.g. process diagnostic or vehicle driver interfaces
- B60W50/02—Ensuring safety in case of control system failures, e.g. by diagnosing, circumventing or fixing failures
- B60W50/0205—Diagnosing or detecting failures; Failure detection models
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
Definitions
- the present invention relates to the field of vehicle control technology, and specifically provides a hydraulic system fault diagnosis method, a vehicle drive system control method and a vehicle.
- vehicle drive systems include hydraulic systems, drive motors, and transmissions.
- the hydraulic system includes oil pump unit, oil filter, oil cooler and hydraulic flow channel.
- the existing oil pump does not have a pressure feedback function and only outputs the target flow rate according to the request.
- the hydraulic system was under open-loop control and could not diagnose leaks or blockages in the hydraulic system, which often caused premature thermal failure of the vehicle drive system.
- the present invention is proposed to provide a solution or at least a partial solution to the above-mentioned technical problems.
- the invention provides a hydraulic system fault diagnosis method, a vehicle drive system control method and a vehicle.
- the present invention provides a hydraulic system fault diagnosis method.
- the hydraulic system includes an oil pump unit.
- the method includes: obtaining the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold output by the oil pump unit; determining the Whether the actual oil pressure is greater than the maximum oil pressure threshold, or whether the actual oil pressure is less than the minimum oil pressure threshold; when the actual oil pressure is greater than the minimum oil pressure If the oil pressure threshold is large, it is determined that the hydraulic system is clogged; or if the actual oil pressure is less than the minimum oil pressure threshold, it is determined that the hydraulic system is leaking.
- the oil pump unit includes an oil pump and a motor; obtaining the actual oil pressure output by the oil pump unit includes: obtaining the current oil temperature of the oil pump and the rotation speed of the motor; based on the current oil temperature and the The rotational speed of the motor determines the output flow of the oil pump; the current of the motor is obtained; the output torque of the motor is determined based on the current of the motor and the current oil temperature; the output flow of the oil pump and the Output torque determines the actual oil pressure.
- determining the actual oil pressure based on the output flow of the oil pump and the output torque of the motor includes: based on a combination of the output flow of the oil pump, the output torque of the motor and the actual oil pressure. The corresponding relationship between them determines the actual oil pressure.
- obtaining the maximum oil pressure threshold and the minimum oil pressure threshold includes: obtaining the maximum oil pressure threshold and the minimum oil pressure threshold based on the current oil temperature and the output flow rate of the oil pump.
- obtaining the maximum oil pressure threshold and the minimum oil pressure threshold includes: calculating oil pressure based on the output flow rate of the oil pump; determining the maximum oil pressure threshold and the minimum oil pressure based on the oil pressure threshold.
- P is the oil pressure
- Q is the output flow rate of the oil pump
- a and B are the oil temperature coefficients.
- the present invention provides a control method for a vehicle drive system, the vehicle drive system includes a hydraulic system and a drive motor, and the method includes:
- an electronic device in a third aspect, includes a processor and a storage device.
- the storage device is adapted to store a plurality of program codes.
- the program codes are adapted to be loaded and run by the processor to execute the foregoing. Any of the hydraulic system fault diagnosis methods or vehicle drive System control methods.
- a computer-readable storage medium stores a plurality of program codes therein, and the program codes are adapted to be loaded and run by a processor to perform any of the foregoing hydraulic pressures.
- a vehicle including the aforementioned electronic device.
- the hydraulic system fault diagnosis method in the present invention first obtains the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold output by the oil pump unit, and determines whether the hydraulic system exists based on the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold. Fault and specific fault type, specifically, when the actual oil pressure is greater than the maximum oil pressure threshold, it is determined that the hydraulic system is blocked, or when the actual oil pressure is less than the minimum oil pressure threshold, it is determined that the hydraulic system is leaking. In this way, accurate fault diagnosis of the hydraulic system is achieved, which provides basic support for subsequent handling of various faults and is conducive to safe driving of the vehicle.
- Figure 1 is a schematic flowchart of the main steps of a hydraulic system fault diagnosis method according to an embodiment of the present invention
- Figure 2 is a schematic diagram of a specific process for obtaining actual oil pressure according to an embodiment of the present invention
- Figure 3 is a schematic diagram of the correspondence between current oil temperature, rotation speed and output flow rate according to an embodiment of the present invention
- Figure 4 is a schematic diagram of the correspondence between phase current, current oil temperature and output torque according to an embodiment of the present invention
- Figure 5 is a schematic diagram of the correspondence between output flow, output torque and actual oil pressure according to an embodiment of the present invention
- Figure 6 is a schematic diagram of the corresponding relationship between output flow and oil pressure at different temperatures according to an embodiment of the present invention
- Figure 7 is a schematic flowchart of the main steps of a control method for a vehicle drive system according to an embodiment of the present invention.
- Figure 8 is a complete flow diagram of a control method of a vehicle drive system according to an embodiment of the present invention.
- Figure 9 is a schematic block diagram of the main structure of an electronic device according to an embodiment of the present invention.
- module and “processor” may include hardware, software, or a combination of both.
- a module can include hardware circuits, various suitable sensors, communication ports, and memory. It can also include software parts, such as program code, or it can be a combination of software and hardware.
- the processor may be a central processing unit, a microprocessor, an image processor, a digital signal processor, or any other suitable processor.
- the processor has data and/or signal processing functions.
- the processor can be implemented in software, hardware, or a combination of both.
- Non-transitory computer-readable storage media include any suitable media that can store program code, such as magnetic disks, hard disks, optical disks, flash memory, read-only memory, random access memory, etc.
- a and/or B means all possible combinations of A and B, such as just A, just B, or A and B.
- the terms "at least one A or B” or “at least one of A and B” have a similar meaning to “A and/or B” and may include just A, just B or A and B.
- the singular forms “a,” “the” and “the” may also include the plural form.
- this application proposes a hydraulic system fault diagnosis method, a vehicle drive system control method and a vehicle.
- the actual oil pressure output by the oil pump unit, the maximum oil pressure threshold and the minimum oil pressure threshold are obtained, and based on the actual oil pressure,
- the maximum oil pressure threshold and the minimum oil pressure threshold determine whether there is a fault in the hydraulic system and the specific fault type. Specifically, when the actual oil pressure is greater than the maximum oil pressure threshold, it is determined that the hydraulic system is blocked, or when the actual oil pressure is less than the minimum oil pressure. threshold pressure In this case, it is determined that there is a leak in the hydraulic system. In this way, fault diagnosis of the hydraulic system is realized, which provides basic support for subsequent handling of various faults and is conducive to safe driving of the vehicle.
- Figure 1 is a schematic flowchart of the main steps of a hydraulic system fault diagnosis method according to an embodiment of the present invention.
- the hydraulic system fault diagnosis method in the embodiment of the present invention mainly includes the following steps S101 to S103, where the hydraulic system includes an oil pump unit.
- Step S101 Obtain the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold output by the oil pump unit.
- the oil pump unit includes an oil pump and a motor.
- the motor can be, for example, a DC motor such as a brushless DC motor, but is not limited thereto.
- obtaining the actual oil pressure output by the oil pump unit is specifically achieved through the following steps:
- the current oil temperature of the oil pump and the rotation speed of the motor can be collected by an oil temperature sensor integrated in the oil pump unit.
- the output flow rate of the oil pump is determined based on the current oil temperature and the rotation speed of the motor.
- the current oil temperature is also the motor temperature of the motor.
- the rotational speed of the motor can be detected, for example, by a motor controller or collected by a rotational speed sensor. After obtaining the current oil temperature and the rotation speed of the motor, the output flow rate of the oil pump can be obtained through the correspondence between the current oil temperature, rotation speed and the output flow rate of the oil pump.
- Figure 3 gives an example of the corresponding relationship between the current oil temperature, the rotation speed of the motor and the output flow rate of the oil pump, but the application is not limited to this.
- the current of the motor is detected by the motor controller, and the current may be, for example, the phase current of the motor.
- the motor's output torque is determined based on the motor's current and current oil temperature. Specifically, the output torque of the motor is obtained through the corresponding relationship between the current of the motor, the current oil temperature and the output torque of the motor.
- Figure 4 gives an example of the correspondence between the phase current of the motor, the current oil temperature and the output torque of the motor, but the application is not limited to this.
- T K(T)*l phase
- T is the output torque
- l phase is the current
- K(T ) is the motor torque constant
- K(T) is related to the motor temperature.
- the actual oil pressure is determined based on the output flow of the oil pump and the output torque of the motor.
- Determining the actual oil pressure includes: determining the actual oil pressure based on the corresponding relationship between the output flow rate of the oil pump, the output torque of the motor and the actual oil pressure.
- Figure 5 gives an example of the correspondence between the output flow rate of the oil pump, the output torque of the motor and the actual oil pressure, but the application is not limited to this.
- the corresponding relationship between the current oil temperature, the rotation speed of the motor and the output flow of the oil pump, the corresponding relationship between the current of the motor, the current oil temperature and the output torque of the motor, the output flow of the oil pump, the output flow of the motor is stored in the database in detail in the form of tables.
- the output flow rate Q (L/min) of the oil pump can be obtained by looking up the table in Figure 3.
- the output torque T (N*m) of the motor can be obtained by looking up the table in Figure 4.
- the actual oil pressure output by the oil pump unit at this time can be obtained by looking up the table in Figure 5.
- obtaining the maximum oil pressure threshold and the minimum oil pressure threshold includes: obtaining the maximum oil pressure threshold and the minimum oil pressure threshold based on the current oil temperature and output flow rate.
- each oil pressure threshold interval includes a maximum oil pressure threshold and a minimum oil pressure threshold.
- the corresponding maximum oil pressure threshold and minimum oil pressure threshold can be obtained from the database based on the current oil temperature and the output flow of the oil pump unit.
- FIG. 6 gives an example where different output flow rates correspond to different actual oil pressures under different oil temperatures, but the application is not limited to this.
- obtaining the maximum oil pressure threshold and the minimum oil pressure threshold includes: calculating the oil pressure based on the output flow rate of the oil pump; determining the maximum oil pressure threshold and the minimum oil pressure threshold based on the oil pressure. .
- the oil pressure threshold and the minimum oil pressure threshold are not obtained based on the current oil temperature and the output flow of the oil pump, it means that the maximum oil pressure threshold and the minimum oil pressure threshold corresponding to the current oil temperature and the output flow of the oil pump do not exist in the database.
- the oil pressure can be calculated based on the output flow of the oil pump, as shown in the following formula (1), and the maximum oil pressure threshold and Minimum oil pressure threshold. For example, the calculated oil pressure is used as both the maximum oil pressure threshold and the minimum oil pressure threshold.
- P is the oil pressure
- Q is the output flow rate of the oil pump
- a and B are the oil temperature coefficients.
- an oil pump, a motor, a motor controller, and an oil temperature sensor are integrated into the oil pump unit, and the actual oil pressure is obtained through a specific calculation process. Compared with directly using a pressure sensor to collect oil pressure, obtaining the actual oil pressure through calculation is more accurate.
- Step S102 Determine whether the actual oil pressure is greater than the maximum oil pressure threshold, or whether the actual oil pressure is less than the minimum oil pressure threshold.
- Step S103 In the case where the actual oil pressure is greater than the maximum oil pressure threshold, determine that the hydraulic system is clogged; or in the case where the actual oil pressure is less than the minimum oil pressure threshold, determine that the hydraulic pressure There is a leak in the system.
- the actual oil pressure is compared with the maximum oil pressure threshold and the minimum oil pressure threshold respectively to determine whether there is a fault in the hydraulic system and the specific fault type. Specifically, when the actual oil pressure is greater than the maximum oil pressure threshold, it means there is a blockage in the hydraulic system; when the actual oil pressure is less than the minimum oil pressure threshold, it means there is a leak in the hydraulic system.
- step S101 to S103 first obtain the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold output by the oil pump unit, and determine whether there is a fault in the hydraulic system based on the actual oil pressure, the maximum oil pressure threshold and the minimum oil pressure threshold;
- the specific fault type is to determine that there is a blockage in the hydraulic system when the actual oil pressure is greater than the maximum oil pressure threshold, or to determine that there is a leak in the hydraulic system when the actual oil pressure is less than the minimum oil pressure threshold. In this way, the fault diagnosis of the hydraulic system is realized, the accuracy of the fault judgment of the hydraulic system is improved, and basic support is provided for subsequent processing of various faults, which is conducive to safe driving of the vehicle.
- the present invention also provides a control method for a vehicle drive system.
- the vehicle drive system includes a hydraulic system, a transmission, an electric drive controller, a drive motor, etc.
- control method of the vehicle drive system can be specifically implemented through the following steps S201 to S202.
- Step S201 Use the aforementioned hydraulic system fault diagnosis method to perform diagnostics on the hydraulic system. Diagnosis of faults including blockages and leaks.
- Step S202 When the hydraulic system is clogged, replace the oil filter of the hydraulic system, specifically replace the filter element of the oil filter.
- the output torque of the drive motor is reduced to protect the vehicle drive system from thermal failure, such as overheating or wear.
- the actual oil pressure output by the oil pump unit can be sent to the electric drive controller, so that the electric drive controller can determine whether there is a fault in the hydraulic system and the specific fault type.
- the actual oil pressure is less than the minimum oil pressure threshold set by the system, it indicates that there is a leak in the hydraulic system, and the output torque of the drive motor is reduced.
- the actual oil pressure is greater than the maximum oil pressure threshold set by the system, it indicates that the hydraulic system is clogged, and the filter element of the oil filter must be replaced.
- the present invention can implement all or part of the process in the method of the above-mentioned embodiment, and can also be completed by instructing relevant hardware through a computer program.
- the computer program can be stored in a computer-readable file. In the storage medium, when the computer program is executed by the processor, the steps of each of the above method embodiments can be implemented.
- the computer program includes computer program code, which may be in the form of source code, object code, executable file or some intermediate form.
- the computer-readable storage medium may include: any entity or device capable of carrying the computer program code, media, USB flash drive, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory, random access memory, electrical carrier wave signals, telecommunications signals, and software distribution media, etc.
- computer-readable storage medium can be processed in accordance with the requirements of legislation and patent practice in the jurisdiction. Appropriate additions or subtractions, for example in some jurisdictions, under legislation and patent practice, computer-readable storage media do not include electrical carrier signals and telecommunications signals.
- the present invention also provides an electronic device.
- the electronic device includes a processor 90 and a storage device 91.
- the storage device may be configured to store a hydraulic system fault diagnosis method or vehicle driving method that performs the above method embodiment.
- the processor may be configured to execute the program in the storage device.
- the program includes but is not limited to the program that executes the hydraulic system fault diagnosis method or the vehicle drive system control method of the above method embodiment. For ease of explanation, only the parts related to the embodiments of the present invention are shown. If specific technical details are not disclosed, please refer to the method part of the embodiments of the present invention.
- the present invention also provides a computer-readable storage medium.
- the computer-readable storage medium may be configured to store a program for executing the hydraulic system fault diagnosis method or the vehicle drive system control method of the above method embodiment, and the program may be configured by The processor is loaded and run to implement the above-mentioned hydraulic system fault diagnosis method or vehicle drive system control method.
- the computer-readable storage medium may be a storage device formed by various electronic devices.
- the computer-readable storage medium is a non-transitory computer-readable storage medium.
- the present invention also provides a vehicle, which includes the aforementioned electronic device.
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Abstract
一种液压系统故障诊断方法、车辆驱动系统的控制方法及车辆，涉及车辆控制技术领域，旨在解决液压系统故障诊断的技术问题。该故障诊断方法包括：获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值；判断实际油压是否大于最大油压阈值，或实际油压是否小于最小油压阈值；在实际油压大于最大油压阈值的情况下，确定液压系统存在堵塞；或在实际油压小于最小油压阈值的情况下，确定液压系统存在泄漏。实现了液压系统的故障诊断，提高了液压系统故障判断的准确性，有利于车辆的安全驾驶。
Description
本申请要求2022年8月25日提交的、发明名称为“液压系统故障诊断方法、车辆驱动系统的控制方法及车辆”的中国专利申请CN202211027723.1的优先权，上述中国专利申请的全部内容通过引用并入本申请中。
本发明涉及车辆控制技术领域，具体提供一种液压系统故障诊断方法、车辆驱动系统的控制方法及车辆。
目前，车辆驱动系统包括液压系统、驱动电机和变速器等。其中液压系统包括油泵单元、油滤器、油冷器及液压流道等。
现有的油泵没有压力反馈功能，只是根据请求输出目标流量，以及以往液压系统是开环控制，无法诊断液压系统的泄漏或堵塞，往往会造成车辆驱动系统的过早热失效的问题。
相应地，本领域需要一种新的液压系统故障诊断方案来解决上述问题。
发明内容
为了克服上述缺陷，提出了本发明，以提供解决或至少部分地解决上述技术问题。本发明提供了一种液压系统故障诊断方法、车辆驱动系统的控制方法及车辆。
在第一方面，本发明提供一种液压系统故障诊断方法，所述液压系统包括油泵单元，所述方法包括：获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值；判断所述实际油压是否大于所述最大油压阈值，或所述实际油压是否小于所述最小油压阈值；在所述实际油压大于所述最
大油压阈值的情况下，确定所述液压系统存在堵塞；或在所述实际油压小于所述最小油压阈值的情况下，确定所述液压系统存在泄漏。
在一个实施方式中，所述油泵单元包括油泵和电机；所述获取油泵单元输出的实际油压，包括：获取所述油泵的当前油温和所述电机的转速；基于所述当前油温和所述电机的转速确定所述油泵的输出流量；获取所述电机的电流；基于所述电机的电流和所述当前油温确定所述电机的输出扭矩；基于所述油泵的输出流量和所述电机的输出扭矩确定所述实际油压。
在一个实施方式中，基于所述油泵的输出流量和所述电机的输出扭矩确定所述实际油压，包括：基于所述油泵的输出流量、所述电机的输出扭矩和所述实际油压之间的对应关系确定所述实际油压。
在一个实施方式中，获取所述最大油压阈值和所述最小油压阈值，包括：基于所述当前油温和所述油泵的输出流量获取所述最大油压阈值和所述最小油压阈值。
在一个实施方式中，获取所述最大油压阈值和所述最小油压阈值，包括：基于所述油泵的输出流量计算机油压力；基于所述机油压力确定最大油压阈值和所述最小油压阈值。
在一个实施方式中，基于所述油泵的输出流量计算所述机油压力的计算公式为：
P＝A*Q2+B*Q
P＝A*Q2+B*Q
其中，P为机油压力，Q为油泵的输出流量，A和B为油温系数。
在第二方面，本发明提供一种车辆驱动系统的控制方法，所述车辆驱动系统包括液压系统和驱动电机，所述方法包括：
利用前述的液压系统故障诊断方法对所述液压系统进行故障诊断，所述故障包括堵塞和泄漏；
在所述液压系统存在堵塞时，更换所述液压系统的油滤器；
在所述液压系统存在泄漏时，降低所述驱动电机的输出扭矩。
在第三方面，提供一种电子设备，该电子设备包括处理器和存储装置，所述存储装置适于存储多条程序代码，所述程序代码适于由所述处理器加载并运行以执行前述任一项所述的液压系统故障诊断方法或车辆驱动
系统的控制方法。
在第四方面，提供一种计算机可读存储介质，该计算机可读存储介质其中存储有多条程序代码，所述程序代码适于由处理器加载并运行以执行前述任一项所述的液压系统故障诊断方法或车辆驱动系统的控制方法。
在第五方面，提供一种车辆，所述车辆包括前述的电子设备。
本发明上述一个或多个技术方案，至少具有如下一种或多种有益效果：
本发明中的液压系统故障诊断方法，首先获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值，并基于实际油压、最大油压阈值和最小油压阈值确定液压系统是否存在故障以及具体的故障类型，具体是在实际油压大于最大油压阈值的情况下，确定液压系统存在堵塞，或在实际油压小于最小油压阈值的情况下，确定液压系统存在泄漏。如此，实现了液压系统的精准故障诊断，为后续针对各类故障的处理提供了基础支撑，有利于车辆的安全驾驶。
参照附图，本发明的公开内容将变得更易理解。本领域技术人员容易理解的是：这些附图仅仅用于说明的目的，而并非意在对本发明的保护范围组成限制。此外，图中类似的数字用以表示类似的部件，其中：
图1是根据本发明的一个实施例的液压系统故障诊断方法的主要步骤流程示意图；
图2是根据本发明的一个实施例的获取实际油压的具体流程示意图；
图3是根据本发明的一个实施例的当前油温、转速和输出流量之间的对应关系示意图；
图4是根据本发明的一个实施例的相电流、当前油温和输出扭矩之间的对应关系示意图；
图5是根据本发明的一个实施例的输出流量、输出扭矩和实际油压之间的对应关系示意图；
图6是根据本发明的一个实施例的不同温度下输出流量与机油压力之间的对应关系示意图；
图7是根据本发明的一个实施例的车辆驱动系统的控制方法的主要步骤流程示意图；
图8是根据本发明的一个实施例的车辆驱动系统的控制方法的完整流程示意图；
图9是根据本发明的一个实施例的电子设备的主要结构框图示意图。
下面参照附图来描述本发明的一些实施方式。本领域技术人员应当理解的是，这些实施方式仅仅用于解释本发明的技术原理，并非旨在限制本发明的保护范围。
在本发明的描述中，“模块”、“处理器”可以包括硬件、软件或者两者的组合。一个模块可以包括硬件电路，各种合适的感应器，通信端口，存储器，也可以包括软件部分，比如程序代码，也可以是软件和硬件的组合。处理器可以是中央处理器、微处理器、图像处理器、数字信号处理器或者其他任何合适的处理器。处理器具有数据和/或信号处理功能。处理器可以以软件方式实现、硬件方式实现或者二者结合方式实现。非暂时性的计算机可读存储介质包括任何合适的可存储程序代码的介质，比如磁碟、硬盘、光碟、闪存、只读存储器、随机存取存储器等等。术语“A和/或B”表示所有可能的A与B的组合，比如只是A、只是B或者A和B。术语“至少一个A或B”或者“A和B中的至少一个”含义与“A和/或B”类似，可以包括只是A、只是B或者A和B。单数形式的术语“一个”、“这个”也可以包含复数形式。
目前，现有的油泵没有压力反馈功能，只是根据请求输出目标流量，以及以往液压系统是开环控制，无法诊断液压系统的泄漏或堵塞，往往会造成车辆驱动系统的过早热失效的问题。
为此，本申请提出了一种液压系统故障诊断方法、车辆驱动系统的控制方法及车辆，首先获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值，并基于实际油压、最大油压阈值和最小油压阈值确定液压系统是否存在故障以及具体的故障类型，具体是在实际油压大于最大油压阈值的情况下，确定液压系统存在堵塞，或在实际油压小于最小油压阈值的
情况下，确定液压系统存在泄漏。如此，实现了液压系统的故障诊断，为后续针对各类故障的处理提供了基础支撑，有利于车辆的安全驾驶。
参阅附图1，图1是根据本发明的一个实施例的液压系统故障诊断方法的主要步骤流程示意图。
如图1所示，本发明实施例中的液压系统故障诊断方法主要包括下列步骤S101-步骤S103，其中液压系统包括油泵单元。
步骤S101：获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值。
在一个具体实施方式中，所述油泵单元包括油泵和电机，电机例如可以为无刷直流电机等直流电机，但不以此为限。如图2所示，所述获取油泵单元输出的实际油压，具体通过下述步骤实现：
首先，获取所述油泵的当前油温和所述电机的转速。在一个具体实施方式中，可以由油泵单元中集成的油温传感器采集得到当前油温。
基于所述当前油温和电机的转速确定所述油泵的输出流量。
由于电机浸在油中，因此，当前油温也是电机的电机温度。电机的转速，例如可以通过电机控制器检测得到或者通过转速传感器采集得到。在得到当前油温和电机的转速后，可以通过当前油温、转速与油泵的输出流量之间的对应关系获取油泵的输出流量。图3给出了一个当前油温、电机的转速与油泵的输出流量之间的对应关系的示例，但本申请不以此为限。
接着获取所述电机的电流。例如，通过电机控制器检测得到电机的电流，电流例如可以是电机的相电流。
基于所述电机的电流和当前油温确定电机的输出扭矩。具体是通过电机的电流、当前油温与电机的输出扭矩之间的对应关系获取电机的输出扭矩。图4给出了电机的相电流、当前油温与电机的输出扭矩之间的对应关系的一个示例，但本申请不以此为限。以电机为直流电机为例，不同油温下的直流电机的输出扭矩与电流之间的关系可以表示为T＝K(T)*lphase，T为输出扭矩，lphase为电流，K(T)为电机扭矩常数，K(T)与电机温度有关。
最后基于所述油泵的输出流量和电机的输出扭矩确定所述实际油压。
在一个具体实施方式中，基于所述油泵的输出流量和电机的输出扭
矩确定所述实际油压，包括：基于所述油泵的输出流量、电机的输出扭矩和实际油压之间的对应关系确定所述实际油压。图5给出了油泵的输出流量、电机的输出扭矩和实际油压之间的对应关系的一个示例，但本申请不以此为限。
在一个具体实施方式中，当前油温、电机的转速与油泵的输出流量之间的对应关系，电机的电流、当前油温与电机的输出扭矩之间的对应关系，油泵的输出流量、电机的输出扭矩和实际油压之间的对应关系，这些对应关系具体以表格的形式详细存储在数据库中。在一个实际应用场景中，在已知当前油温t(℃)和电机的转速(rpm)的情况下，可以通过查表图3获得油泵的输出流量Q(L/min)。在已知电机的电流lphase(A)和当前油温t(℃)的情况下，通过查表图4可以获得电机的输出扭矩T(N*m)。在已知输出流量Q(L/min)和输出扭矩T(N*m)时，通过查表图5可以得到此时油泵单元输出的实际油压。
在一个具体实施方式中，获取所述最大油压阈值和最小油压阈值，包括：基于所述当前油温和输出流量获取所述最大油压阈值和最小油压阈值。
具体来说，本申请中预先将当前油温、输出流量和油压阈值区间之间的对应关系存储在数据库中，其中，每个油压阈值区间包括一个最大油压阈值和一个最小油压阈值。在实际场景的应用下，具体可以根据当前油温和油泵单元的输出流量从数据库获取对应的最大油压阈值和最小油压阈值。
图6给出了不同油温下、不同的输出流量对应不同的实际油压的一个示例，但本申请不以此为限。
在一个具体实施方式中，获取所述最大油压阈值和所述最小油压阈值，包括：基于所述油泵的输出流量计算机油压力；基于所述机油压力确定最大油压阈值和最小油压阈值。
若根据当前油温和油泵的输出流量没有获取到最大油压阈值和最小油压阈值，说明数据库中不存在该当前油温和油泵的输出流量对应的最大油压阈值和最小油压阈值。此时可以通过油泵的输出流量计算机油压力，具体如下述公式(1)所示，并基于该机油压力确定最大油压阈值和
最小油压阈值。例如，将计算得到的机油压力同时作为最大油压阈值和最小油压阈值。
在一个具体实施方式中，基于所述油泵的输出流量计算机油压力的计算公式为：
P＝A*Q2+B*Q (1)
P＝A*Q2+B*Q (1)
其中，P为机油压力，Q为油泵的输出流量，A和B为油温系数。
在一些实施例中，油泵单元中集成了油泵、电机、电机控制器和油温传感器，并通过具体的计算流程来获取实际油压。相对于直接利用压力传感器采集油压来说，通过计算的方式获得实际油压的精度更高。
步骤S102：判断所述实际油压是否大于所述最大油压阈值，或所述实际油压是否小于所述最小油压阈值。
步骤S103：在所述实际油压大于所述最大油压阈值的情况下，确定所述液压系统存在堵塞；或在所述实际油压小于所述最小油压阈值的情况下，确定所述液压系统存在泄漏。
具体将实际油压分别与最大油压阈值和最小油压阈值进行比较，从而确定液压系统是否存在故障以及具体的故障类型。具体是实际油压大于最大油压阈值时，说明液压系统存在堵塞；实际油压小于最小油压阈值时，说明液压系统存在泄漏。
基于上述步骤S101-步骤S103，首先获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值，并基于实际油压、最大油压阈值和最小油压阈值确定液压系统是否存在故障以及具体的故障类型，具体是在实际油压大于最大油压阈值的情况下，确定液压系统存在堵塞，或在实际油压小于最小油压阈值的情况下，确定液压系统存在泄漏。如此，实现了液压系统的故障诊断，提高了液压系统故障判断的准确性，为后续针对各类故障的处理提供了基础支撑，有利于车辆的安全驾驶。
进一步，本发明还提供了一种车辆驱动系统的控制方法。通常来说，所述车辆驱动系统包括液压系统、变速器、电驱控制器和驱动电机等。
如图7所示，所述车辆驱动系统的控制方法具体可以通过下述步骤S201至步骤S202实现。
步骤S201：利用前述的液压系统故障诊断方法对所述液压系统进行
故障诊断，所述故障包括堵塞和泄漏。
对液压系统进行故障诊断的具体实现步骤可以参见前述实施例，此处不赘述。
步骤S202：在所述液压系统存在堵塞时，更换所述液压系统的油滤器，具体是更换油滤器的滤芯。
在所述液压系统存在泄漏时，降低所述驱动电机的输出扭矩，以保护车辆驱动系统防止热失效，例如过热或磨损等。
通过判断液压系统是否存在故障以及具体的故障类型，从而针对各种故障进行不同方式的处理，如此，精准且高效地判断液压系统的故障，同时能够及时处理故障，形成了闭环控制，提高了车辆的安全性能，有利于车辆的安全驾驶。
示例性地，可以将油泵单元输出的实际油压发送至电驱控制器，从而由电驱控制器判断液压系统是否存在故障以及具体的故障类型。如图8所示，在实际油压小于系统设定的最小油压阈值时，说明液压系统存在泄漏，则降低驱动电机的输出转矩。或在实际油压大于系统设定的最大油压阈值时，说明液压系统存在堵塞，则更换油滤器的滤芯。
需要指出的是，尽管上述实施例中将各个步骤按照特定的先后顺序进行了描述，但是本领域技术人员可以理解，为了实现本发明的效果，不同的步骤之间并非必须按照这样的顺序执行，其可以同时(并行)执行或以其他顺序执行，这些变化都在本发明的保护范围之内。
本领域技术人员能够理解的是，本发明实现上述一实施例的方法中的全部或部分流程，也可以通过计算机程序来指令相关的硬件来完成，所述的计算机程序可存储于一计算机可读存储介质中，该计算机程序在被处理器执行时，可实现上述各个方法实施例的步骤。其中，所述计算机程序包括计算机程序代码，所述计算机程序代码可以为源代码形式、对象代码形式、可执行文件或某些中间形式等。所述计算机可读存储介质可以包括：能够携带所述计算机程序代码的任何实体或装置、介质、U盘、移动硬盘、磁碟、光盘、计算机存储器、只读存储器、随机存取存储器、电载波信号、电信信号以及软件分发介质等。需要说明的是，所述计算机可读存储介质包含的内容可以根据司法管辖区内立法和专利实践的要求进行
适当的增减，例如在某些司法管辖区，根据立法和专利实践，计算机可读存储介质不包括电载波信号和电信信号。
进一步，本发明还提供了一种电子设备。在根据本发明的一个电子设备实施例中，如图9所示，电子设备包括处理器90和存储装置91，存储装置可以被配置成存储执行上述方法实施例的液压系统故障诊断方法或车辆驱动系统的控制方法的程序，处理器可以被配置成用于执行存储装置中的程序，该程序包括但不限于执行上述方法实施例的液压系统故障诊断方法或车辆驱动系统的控制方法的程序。为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例方法部分。
进一步，本发明还提供了一种计算机可读存储介质。在根据本发明的一个计算机可读存储介质实施例中，计算机可读存储介质可以被配置成存储执行上述方法实施例的液压系统故障诊断方法或车辆驱动系统的控制方法的程序，该程序可以由处理器加载并运行以实现上述液压系统故障诊断方法或车辆驱动系统的控制方法。为了便于说明，仅示出了与本发明实施例相关的部分，具体技术细节未揭示的，请参照本发明实施例方法部分。该计算机可读存储介质可以是包括各种电子设备形成的存储装置设备，可选的，本发明实施例中计算机可读存储介质是非暂时性的计算机可读存储介质。
进一步，本发明还提供了一种车辆，所述车辆包括前述的电子设备。
至此，已经结合附图所示的优选实施方式描述了本发明的技术方案，但是，本领域技术人员容易理解的是，本发明的保护范围显然不局限于这些具体实施方式。在不偏离本发明的原理的前提下，本领域技术人员可以对相关技术特征作出等同的更改或替换，这些更改或替换之后的技术方案都将落入本发明的保护范围之内。
Claims (10)
- 一种液压系统故障诊断方法，其特征在于，所述液压系统包括油泵单元，所述方法包括：获取油泵单元输出的实际油压、最大油压阈值和最小油压阈值；判断所述实际油压是否大于所述最大油压阈值，或所述实际油压是否小于所述最小油压阈值；在所述实际油压大于所述最大油压阈值的情况下，确定所述液压系统存在堵塞；或在所述实际油压小于所述最小油压阈值的情况下，确定所述液压系统存在泄漏。
- 根据权利要求1所述的液压系统故障诊断方法，其特征在于，所述油泵单元包括油泵和电机；所述获取油泵单元输出的实际油压，包括：获取所述油泵的当前油温和所述电机的转速；基于所述当前油温和所述电机的转速确定所述油泵的输出流量；获取所述电机的电流；基于所述电机的电流和所述当前油温确定所述电机的输出扭矩；基于所述油泵的输出流量和所述电机的输出扭矩确定所述实际油压。
- 根据权利要求2所述的液压系统故障诊断方法，其特征在于，基于所述油泵的输出流量和所述电机的输出扭矩确定所述实际油压，包括：基于所述油泵的输出流量、所述电机的输出扭矩和所述实际油压之间的对应关系确定所述实际油压。
- 根据权利要求2所述的液压系统故障诊断方法，其特征在于，获取所述最大油压阈值和所述最小油压阈值，包括：基于所述当前油温和所述油泵的输出流量获取所述最大油压阈值和所述最小油压阈值。
- 根据权利要求2所述的液压系统故障诊断方法，其特征在于，获 取所述最大油压阈值和所述最小油压阈值，包括：基于所述油泵的输出流量计算机油压力；基于所述机油压力确定最大油压阈值和所述最小油压阈值。
- 根据权利要求5所述的液压系统故障诊断方法，其特征在于，基于所述油泵的输出流量计算所述机油压力的计算公式为：
P＝A*Q2+B*Q其中，P为机油压力，Q为油泵的输出流量，A和B为油温系数。 - 一种车辆驱动系统的控制方法，所述车辆驱动系统包括液压系统和驱动电机，其特征在于，所述方法包括：利用权利要求1至6中任意一项所述的方法对所述液压系统进行故障诊断，所述故障包括堵塞和泄漏；在所述液压系统存在堵塞情况下，更换所述液压系统的油滤器；或在所述液压系统存在泄漏情况下，降低所述驱动电机的输出扭矩。
- 一种电子设备，包括处理器和存储装置，所述存储装置适于存储多条程序代码，其特征在于，所述程序代码适于由所述处理器加载并运行以执行权利要求1至6中任一项所述的液压系统故障诊断方法或权利要求7所述的车辆驱动系统的控制方法。
- 一种计算机可读存储介质，其中存储有多条程序代码，其特征在于，所述程序代码适于由处理器加载并运行以执行权利要求1至6中任一项所述的液压系统故障诊断方法或权利要求7所述的车辆驱动系统的控制方法。
- 一种车辆，其特征在于，所述车辆包括权利要求8所述的电子设备。
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| CN104442800A (zh) * | 2013-09-12 | 2015-03-25 | 上海汽车集团股份有限公司 | 变速箱中的油泵诊断方法以及使用该方法的混合动力汽车 |
| JP2016070488A (ja) * | 2015-06-25 | 2016-05-09 | キャタピラー エス エー アール エル | 油圧回路における制御バルブの故障診断システム |
| CN112433151A (zh) * | 2019-08-26 | 2021-03-02 | 上海汽车集团股份有限公司 | 一种油泵电机故障诊断方法及装置 |
| CN113357032A (zh) * | 2021-06-29 | 2021-09-07 | 东风汽车集团股份有限公司 | 高压油泵故障检测后处理方法及电子设备 |
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| JP2016070488A (ja) * | 2015-06-25 | 2016-05-09 | キャタピラー エス エー アール エル | 油圧回路における制御バルブの故障診断システム |
| CN112433151A (zh) * | 2019-08-26 | 2021-03-02 | 上海汽车集团股份有限公司 | 一种油泵电机故障诊断方法及装置 |
| CN113357032A (zh) * | 2021-06-29 | 2021-09-07 | 东风汽车集团股份有限公司 | 高压油泵故障检测后处理方法及电子设备 |
| CN115303292A (zh) * | 2022-08-25 | 2022-11-08 | 蔚来动力科技(合肥)有限公司 | 液压系统故障诊断方法、车辆驱动系统的控制方法及车辆 |
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