WO2024259599A1 - Procédé et appareil de commande de moteur pour véhicule électrique, et support de stockage - Google Patents

Procédé et appareil de commande de moteur pour véhicule électrique, et support de stockage Download PDF

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Publication number
WO2024259599A1
WO2024259599A1 PCT/CN2023/101480 CN2023101480W WO2024259599A1 WO 2024259599 A1 WO2024259599 A1 WO 2024259599A1 CN 2023101480 W CN2023101480 W CN 2023101480W WO 2024259599 A1 WO2024259599 A1 WO 2024259599A1
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WIPO (PCT)
Prior art keywords
motor
torque
zero
crossing
basic
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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.)
Ceased
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PCT/CN2023/101480
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English (en)
Chinese (zh)
Inventor
沈克清
董乔
马迎国
陈启苗
李常珞
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Zhejiang Geely Holding Group Co Ltd
Zhejiang Zeekr Intelligent Technology Co Ltd
Viridi eMobility Technology Ningbo Co Ltd
Original Assignee
Zhejiang Geely Holding Group Co Ltd
Zhejiang Zeekr Intelligent Technology Co Ltd
Viridi eMobility Technology Ningbo Co Ltd
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Application filed by Zhejiang Geely Holding Group Co Ltd, Zhejiang Zeekr Intelligent Technology Co Ltd, Viridi eMobility Technology Ningbo Co Ltd filed Critical Zhejiang Geely Holding Group Co Ltd
Priority to PCT/CN2023/101480 priority Critical patent/WO2024259599A1/fr
Publication of WO2024259599A1 publication Critical patent/WO2024259599A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Definitions

  • the present application relates to the field of power drive control, and in particular to a motor control method, device and storage medium for an electric vehicle.
  • the motor and the wheel are connected through a gear (or spline) mechanism to form a drive system to transmit power.
  • Motor drive and motor braking are achieved by controlling the output torque of the motor.
  • the meshing direction of the meshing gear (or spline) of the drive system changes, and the force direction of the gear (or spline) connected to the wheel changes, which will cause tooth hitting and damage to the transmission mechanism such as gears or splines.
  • it will also produce shocks and noises that users can clearly perceive, affecting driving comfort.
  • the tooth gap impact (or zero crossing impact) caused by the positive and negative torque switching of the motor will be more obviously perceived by the user.
  • a fixed torque or a slower torque change rate is usually used for zero-crossing control to reduce the zero-crossing impact, which is generally called zero-crossing platform torque control.
  • this method still has the problem of increasing zero-crossing impact when the braking force, ramp, vehicle resistance or road resistance changes.
  • the embodiments of the present application provide a motor control method, device and storage medium for an electric vehicle, which are used to solve the zero-crossing impact problem of the electric vehicle.
  • an embodiment of the present application provides a motor control method for an electric vehicle, comprising: obtaining vehicle operation information of the electric vehicle; determining a basic motor torque of a motor of the electric vehicle based on the vehicle operation information; determining a zero-crossing compensation torque of the motor based on the basic motor torque; determining a corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque; and controlling the output torque of the motor to perform zero crossing based on the corrected motor torque.
  • the vehicle operation information includes at least one of the following: vehicle speed, vehicle acceleration, motor speed, wheel speed, accelerator pedal position, brake pedal position, brake master cylinder pressure, braking force, braking torque, slope, creep setting status, energy recovery setting status, single-pedal driving mode setting status, and driving mode setting status.
  • the basic motor torque of the electric vehicle's motor is determined based on vehicle operation information, including: determining the basic motor torque according to an accelerator pedal position, a brake pedal position, a creep setting state, an energy recovery setting state, a single-pedal driving mode setting state and a driving mode setting state, as well as a vehicle speed and/or a motor speed and/or a wheel speed.
  • the zero-crossing compensation torque of the motor is determined based on the basic motor torque, including: determining the zero-crossing compensation torque based on braking force, slope, vehicle speed, motor speed and basic motor torque; or determining the zero-crossing compensation torque based on vehicle speed, vehicle acceleration, motor speed and basic motor torque.
  • the zero-crossing compensation torque is determined based on the braking force, slope, vehicle speed, motor speed and basic motor torque, including: determining the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque based on the braking force, slope, vehicle speed, motor speed and basic motor torque; determining the zero-crossing compensation torque based on the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque.
  • it also includes: determining the start time of the zero crossing compensation torque, the end time of the zero crossing compensation torque, and the end time of the zero crossing under the corrected motor torque control based on the zero crossing start time, the zero crossing end time, the basic motor torque at the zero crossing start time, the zero crossing platform torque, and the duration of the zero crossing platform torque.
  • the zero-crossing compensation torque is determined based on the braking force, slope, vehicle speed, motor speed and basic motor torque, including: determining a first product of the braking force and a braking force conversion coefficient, wherein the braking force conversion coefficient has a mapping relationship with the slope, vehicle speed, motor speed and basic motor torque; determining a second product of the slope and the slope conversion coefficient, wherein the slope conversion coefficient has a mapping relationship with the braking force, vehicle speed, motor speed and basic motor torque; and determining the zero-crossing compensation torque based on a first sum of the first product and the second product.
  • the zero-crossing compensation torque is determined based on the vehicle speed, the vehicle acceleration, the motor speed, and the basic motor torque, including: determining the vehicle acceleration and the vehicle acceleration conversion The third product of the coefficient, the vehicle acceleration conversion coefficient has a mapping relationship with the vehicle acceleration, vehicle speed, motor speed and basic motor torque; based on the third product, the zero-crossing compensation torque is determined.
  • determining a corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque includes: determining the corrected motor torque according to a second sum of the basic motor torque and the zero-crossing compensation torque.
  • the output torque of the motor is controlled to pass through zero, including: controlling the motor to output according to the corrected motor torque to pass through zero.
  • an embodiment of the present application provides a motor control device for an electric vehicle, comprising: an acquisition module for acquiring vehicle operation information of the electric vehicle; a first determination module for determining the basic motor torque of the motor of the electric vehicle based on the vehicle operation information; a second determination module for determining the zero-crossing compensation torque of the motor based on the basic motor torque; a third determination module for determining the corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque; and a control module for controlling the output torque of the motor to perform zero crossing based on the corrected motor torque.
  • an embodiment of the present application provides an electric vehicle, comprising: a processor, and a memory connected to the processor; the memory stores computer execution instructions; the processor executes the computer execution instructions stored in the memory to implement the motor control method of the electric vehicle as in the first aspect.
  • an embodiment of the present application provides a computer-readable storage medium, in which computer execution instructions are stored. When the computer execution instructions are executed, they are used to implement the motor control method of the electric vehicle of the first aspect.
  • an embodiment of the present application provides a computer program product, including a computer program, which, when executed, implements the motor control method of an electric vehicle as in the first aspect.
  • the motor control method, device and storage medium of the electric vehicle determine the basic motor torque through vehicle operation information, determine the zero-crossing compensation torque of the motor through the basic motor torque, and determine the corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque, so as to correct the motor torque of the electric vehicle according to the corrected motor torque.
  • the corrected motor torque can be used to make the motor cross zero, so as to reduce or even eliminate the tooth gap impact caused by the switching of the positive and negative torques of the motor, that is, reduce or even eliminate the zero-crossing impact.
  • FIG1 is a schematic diagram of an application scenario of a motor control method for an electric vehicle provided in an embodiment of the present application
  • FIG2 is a flow chart of a motor control method for an electric vehicle provided in an embodiment of the present application.
  • FIG3 is a schematic diagram of the zero-crossing performance of a motor under basic motor torque control provided by the related art
  • FIG. 4 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by an embodiment of the present application transitions from positive torque to negative torque and the vehicle speed or wheel speed decreases;
  • 5 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by an embodiment of the present application transitions from positive torque to negative torque and the vehicle speed or wheel speed increases;
  • FIG. 6 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by an embodiment of the present application transitions from negative torque to positive torque and the vehicle speed or wheel speed decreases;
  • FIG. 7 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by an embodiment of the present application transitions from negative torque to positive torque and the vehicle speed or wheel speed increases;
  • FIG8 is a schematic diagram showing a comparison between the zero-crossing performance of a motor under the modified motor torque control and the zero-crossing performance of a motor under the basic motor torque control provided by an embodiment of the present application;
  • FIG9 is a schematic structural diagram of a motor control device for an electric vehicle provided in an embodiment of the present application.
  • Fig. 10 is a block diagram of an electric vehicle according to an exemplary embodiment.
  • Zero crossing The conversion process between positive torque and negative torque of the motor.
  • zero-crossing platform torque control Using a fixed torque or a slower torque change rate to perform zero-crossing control to reduce the zero-crossing impact is generally called zero-crossing platform torque control.
  • this method does not take into account the changes in the vehicle's motion state caused by braking force, ramps, vehicle resistance (such as changes in vehicle resistance caused by temperature changes) or road resistance changes, causing the motor to cross zero outside the control range of the zero-crossing platform torque, resulting in a problem of increased zero-crossing impact of the motor when the braking force, ramps, vehicle resistance or road resistance changes.
  • the present application proposes a motor control method for an electric vehicle, which determines the basic motor torque through vehicle operation information, and determines the zero-crossing compensation torque of the motor through the basic motor torque, and determines the corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque, so as to correct the motor torque of the electric vehicle according to the corrected motor torque.
  • the corrected motor torque can be used to make the motor cross zero, so as to reduce or even eliminate the tooth gap impact caused by the switching of the positive and negative torques of the motor, that is, reduce or even eliminate the zero-crossing impact.
  • the motor control method of the electric vehicle can be applied in an application scenario.
  • FIG1 is a schematic diagram of an application scenario of the motor control method of the electric vehicle provided in an embodiment of the present application.
  • the controller can receive vehicle operation information, and determine the basic motor torque and the zero-crossing compensation torque according to the vehicle operation information, and determine the corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque, and then output the corrected motor torque to the motor. After receiving the corrected motor torque, the motor outputs the corrected motor torque, thereby achieving zero crossing of the motor.
  • the zero-crossing compensation torque it is necessary to determine the zero-crossing compensation torque to correct the basic motor torque, so that under the corrected motor torque control, the maximum speed difference of the motor speed will be smaller than the maximum speed difference of the motor speed under the basic motor torque control, so that relative to the basic motor torque, under the corrected motor torque control, the maximum speed difference of the motor speed is reduced, and therefore, the zero-crossing impact of the motor will be reduced or even eliminated.
  • FIG2 is a flow chart of the motor control method for an electric vehicle provided in an embodiment of the present application. As shown in FIG2 , the method includes the following steps:
  • S201 Acquire vehicle operation information of the electric vehicle.
  • the vehicle operation information of the electric vehicle can be used to determine various torques, such as basic motor torque, zero-crossing compensation torque, corrected motor torque, etc.
  • S202 Determine a basic motor torque of a motor of the electric vehicle based on vehicle operation information.
  • the basic motor torque can be a control torque that does not consider the braking force and slope, or the influence of the vehicle deceleration on zero crossing, or a control torque under level road and no braking conditions.
  • the user's required torque can be determined through vehicle operation information, and the required torque is the basic motor torque.
  • S203 Determine the zero-crossing compensation torque of the motor based on the basic motor torque.
  • S204 Determine a corrected motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque.
  • the zero-crossing compensation torque can be used to compensate for the zero-crossing of the motor. Therefore, after determining the basic motor torque and the zero-crossing compensation torque, the basic motor torque can be corrected based on the zero-crossing compensation torque to obtain the corrected motor torque.
  • the basic motor torque is corrected by the zero-crossing compensation torque to obtain the corrected motor torque.
  • the maximum speed difference of the motor speed will be smaller than the maximum speed difference of the motor speed under the control of the basic motor torque.
  • the maximum speed difference of the motor speed is reduced. Therefore, the zero-crossing impact of the motor will be reduced or even eliminated.
  • the motor control method of the electric vehicle determines the basic motor
  • the motor torque is determined by the basic motor torque
  • the zero-crossing compensation torque of the motor is determined by the basic motor torque
  • the corrected motor torque of the motor is determined based on the basic motor torque and the zero-crossing compensation torque, so that the motor torque of the electric vehicle is corrected according to the corrected motor torque.
  • the corrected motor torque can be used to make the motor cross zero, so as to reduce or even eliminate the tooth gap impact caused by the positive and negative torque switching of the motor, that is, to reduce or even eliminate the zero-crossing impact.
  • the vehicle operation information includes at least one of the following: vehicle speed, vehicle acceleration, motor speed, wheel speed, accelerator pedal position, brake pedal position, brake master cylinder pressure, braking force, braking torque, slope, creep setting status, energy recovery setting status, single-pedal driving mode setting status, and driving mode setting status.
  • braking force refers to the vehicle braking force provided by the mechanical brake device through friction; vehicle operation information such as vehicle speed, vehicle acceleration, motor speed, wheel speed, slope, etc. can be obtained by measuring the vehicle's own sensors or by measuring equipment outside the vehicle, and vehicle acceleration can also be obtained by calculating the vehicle speed.
  • vehicle operation information such as vehicle speed, vehicle acceleration, motor speed, wheel speed, slope, etc. can be obtained by measuring the vehicle's own sensors or by measuring equipment outside the vehicle, and vehicle acceleration can also be obtained by calculating the vehicle speed.
  • the accelerator pedal position and the brake pedal position can also be measured by sensors or calculated based on the pedal pressure.
  • the brake master cylinder pressure and the brake torque can also be calculated or measured.
  • the creep setting state can refer to whether the vehicle is set to the creep state. If the vehicle is set to the creep state, the vehicle will eventually move at the creep speed after releasing the brake pedal and the accelerator pedal.
  • the energy recovery setting state can refer to whether the vehicle is set to the energy recovery state and the set energy recovery level.
  • all or part of the above vehicle operation information can be used to participate in the calculation of each torque.
  • the motor speed can be used as the speed input, and the vehicle speed or wheel speed can be used as the speed input; that is, the braking force can be used as the braking signal input, and the braking torque or the brake master cylinder pressure or the brake pedal position can be used as the braking signal input; or the vehicle acceleration can be used to replace the braking signal and the slope signal.
  • the basic motor torque can be corrected by vehicle operation information to obtain a corrected motor torque, so that the corrected motor torque can be used to perform zero crossing of the motor to reduce or even eliminate the tooth gap impact caused by the switching of the positive and negative torque of the motor, that is, reduce or even eliminate the zero crossing impact.
  • determining the basic motor torque of the electric vehicle motor includes: determining the basic motor torque of the electric vehicle motor based on the accelerator pedal position, the brake pedal position, the creep setting state, the energy recovery setting state, the state, the one-pedal driving mode setting state and the driving mode setting state, as well as the vehicle speed and/or the motor speed and/or the wheel speed, determine the basic motor torque.
  • the basic motor torque can be determined based on the corresponding relationship.
  • Figure 3 is a schematic diagram of the zero-crossing performance of the motor under the basic motor torque control provided by the relevant technology.
  • ⁇ V can be expressed as the maximum speed difference of the motor speed, and the magnitude of the zero-crossing impact is positively correlated with the magnitude of ⁇ V.
  • t 0 can be expressed as the start time of zero-crossing.
  • t 1 can be expressed as the end time of zero-crossing.
  • T bas can be expressed as the basic motor torque.
  • T bas0 can be expressed as the basic motor torque at the start time of zero-crossing.
  • T bas1 can be expressed as the zero-crossing platform torque under the basic motor torque control.
  • ⁇ t bas1 can be expressed as the duration of the zero-crossing platform torque under the basic motor torque control.
  • the maximum speed difference of the motor speed is large, that is, the change of the motor speed is large, which will cause a large zero-crossing impact of the motor, affecting the driving comfort of the user. Therefore, after determining the basic motor torque, the basic motor torque can be corrected to reduce or even eliminate the zero-crossing impact of the motor, thereby improving the driving comfort of the user.
  • the zero-crossing compensation torque of the motor is determined based on the basic motor torque, including: determining the zero-crossing compensation torque based on braking force, slope, vehicle speed, motor speed and basic motor torque; or determining the zero-crossing compensation torque based on vehicle speed, vehicle acceleration, motor speed and basic motor torque.
  • the motor since the motor has a large zero-crossing impact under the basic motor torque control, it is necessary to determine the motor's zero-crossing compensation torque to correct the basic motor torque, so that the maximum speed difference of the motor can be reduced, thereby reducing or even eliminating the motor's zero-crossing impact.
  • the braking force, slope, vehicle speed, motor speed, and basic motor torque can be used to determine the zero-crossing compensation torque.
  • the zero-crossing compensation torque may be calculated based on information such as vehicle speed, vehicle acceleration, basic motor torque, and motor speed.
  • the zero-crossing compensation torque is determined based on the braking force, slope, vehicle speed, motor speed and basic motor torque, including: determining the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque based on the braking force, slope, vehicle speed, motor speed and basic motor torque; determining the zero-crossing compensation torque based on the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque.
  • the zero-crossing start time t 0 , the zero-crossing end time t 1 , the basic motor torque T bas0 at the zero-crossing start time, the zero-crossing platform torque T bas1 , and the duration ⁇ t bas1 of the zero-crossing platform torque can be calculated according to vehicle operation information such as braking force and slope ( or vehicle acceleration), basic motor torque, vehicle speed (or wheel speed), and motor speed .
  • the corresponding relationship between the braking force and the slope (or vehicle acceleration), the basic motor torque, the vehicle speed (or the wheel speed), the motor speed and other vehicle operation information and the zero-crossing start time t 0 , the zero-crossing end time t 1 , the basic motor torque T bas0 at the zero-crossing start time, the zero-crossing platform torque T bas1 , and the duration ⁇ t bas1 of the zero-crossing platform torque can be obtained through calculation.
  • the zero-crossing start time t 0 the zero-crossing end time t 1
  • the basic motor torque T bas0 at the zero-crossing start time the zero-crossing platform torque T bas1
  • the duration ⁇ t bas1 of the zero-crossing platform torque can be determined according to the corresponding relationship.
  • the test may also be performed in an actual test environment to obtain the corresponding relationship between the braking force and slope (or vehicle acceleration), basic motor torque, vehicle speed (or wheel speed) and other vehicle operation information and the zero-crossing start time t 0 , the zero-crossing end time t 1 , the basic motor torque T bas0 at the zero-crossing start time, the zero-crossing platform torque T bas1 , and the duration ⁇ t bas1 of the zero-crossing platform torque.
  • the zero-crossing compensation torque T corr can be obtained after determining the zero-crossing start time t 0 , the zero-crossing end time t 1 , the basic motor torque T bas0 at the zero-crossing start time, the zero-crossing platform torque T bas1 , and the duration ⁇ t bas1 of the zero-crossing platform torque .
  • the motor since the zero-crossing impact of the motor is positively correlated with the maximum speed difference of the motor speed, the greater the maximum speed difference of the motor speed, the greater the zero-crossing impact, and under the basic motor torque control, the motor The maximum speed difference of the motor speed is large, which will cause a large zero-crossing impact of the motor and affect the user's driving comfort. Therefore, it is necessary to determine the zero-crossing compensation torque of the motor to correct the basic motor torque, so that the maximum speed difference of the motor can be reduced, thereby reducing or even eliminating the zero-crossing impact of the motor.
  • it also includes: determining the start time of the zero crossing compensation torque, the end time of the zero crossing compensation torque, and the end time of the zero crossing under the corrected motor torque control based on the zero crossing start time, the zero crossing end time, the basic motor torque at the zero crossing start time, the zero crossing platform torque, and the duration of the zero crossing platform torque.
  • FIG4 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by the embodiment of the present application transitions from positive torque to negative torque and the vehicle speed or wheel speed decreases.
  • T bas transitions from positive torque to negative torque and the vehicle speed (or wheel speed) decreases
  • T corr , t 0' , t 1' , t 2 can be determined by the following method:
  • t 0′ t 0 ⁇ t bas1 ; optionally, t 0 ⁇ t bas1 ⁇ t 0′ ⁇ t 0 .
  • T corr T bas0 -T bas1 ; optionally, T bas0 -
  • the zero-crossing end time t 1' under the correction motor torque control can be determined by calculation according to the corresponding relationship or by actual testing.
  • t 2 t 1' ; optionally, t 0' ⁇ t 2 ⁇ t 1' ; optionally, t 1' ⁇ t 2 .
  • T corr , t 0′ , and t 2 may be calibrated and adjusted according to actual vehicle zero-crossing performance.
  • FIG5 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by the embodiment of the present application transitions from positive torque to negative torque and the vehicle speed or wheel speed increases.
  • T bas transitions from positive torque to negative torque and the vehicle speed (or wheel speed) increases
  • T corr , t 0' , t 1' , t 2 can be determined by the following method:
  • t 0 ⁇ t 0′ ⁇ t 1 .
  • T corr T bas0 -T bas1 ; optionally, 0 ⁇ T corr ⁇ T bas0 +
  • the zero-crossing end time t 1' under the correction motor torque control can be determined by calculation according to the corresponding relationship or by actual testing.
  • t 2 t 1' ; optionally, t 0' ⁇ t 2 ⁇ t 1 ; optionally, t 1 ⁇ t 2 ⁇ t 1' ; optionally, t 1' ⁇ t 2 .
  • T corr , t 0′ , and t 2 may be calibrated and adjusted according to actual vehicle zero-crossing performance.
  • FIG6 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by the embodiment of the present application transitions from negative torque to positive torque and the vehicle speed or wheel speed decreases.
  • T bas transitions from negative torque to positive torque and the vehicle speed (or wheel speed) decreases
  • T corr , t 0' , t 1' , t 2 can be determined by the following method:
  • t 0 ⁇ t 0′ ⁇ t 1 .
  • T corr T bas0 -T bas1 ; optionally, T bas0 -
  • the zero-crossing end time t 1' under the correction motor torque control can be determined by calculation according to the corresponding relationship or by actual testing.
  • t 2 t 1' ; optionally, t 0' ⁇ t 2 ⁇ t 1 ; optionally, t 1 ⁇ t 2 ⁇ t 1' ; optionally, t 1' ⁇ t 2 .
  • T corr , t 0′ , and t 2 may be calibrated and adjusted according to actual vehicle zero-crossing performance.
  • FIG7 is a schematic diagram of the start time of the zero-crossing compensation torque when the basic motor torque provided by the embodiment of the present application transitions from negative torque to positive torque and the vehicle speed or wheel speed increases.
  • T bas transitions from negative torque to positive torque and the vehicle speed (or wheel speed) increases
  • T corr , t 0' , t 1' , t 2 can be determined by the following method:
  • t 0′ t 0 ⁇ t bas1 ; optionally, t 0 ⁇ t bas1 ⁇ t 0′ ⁇ t 0 .
  • T corr T bas0 -T bas1 ; optionally, 0 ⁇ T corr ⁇ T bas0 +
  • the zero-crossing end time t 1' under the correction motor torque control can be determined by calculation according to the corresponding relationship or by actual testing.
  • t 2 t 1' ; optionally, t 0' ⁇ t 2 ⁇ t 1' ; optionally, t 1' ⁇ t 2 ;.
  • T corr , t 0′ , and t 2 may be calibrated and adjusted according to actual vehicle zero-crossing performance.
  • the zero-crossing compensation torque is determined based on the braking force, slope, vehicle speed, motor speed and basic motor torque, including: determining a first product of the braking force and a braking force conversion coefficient, wherein the braking force conversion coefficient has a mapping relationship with the slope, vehicle speed, motor speed and basic motor torque; determining a second product of the slope and the slope conversion coefficient, wherein the slope conversion coefficient has a mapping relationship with the braking force, vehicle speed, motor speed and basic motor torque; and determining the zero-crossing compensation torque according to a first sum of the first product and the second product.
  • the zero-crossing compensation torque T corr may be a calculated value, and T corr may be obtained by real-time calculation based on the braking force, slope, vehicle speed (or wheel speed), motor speed, and basic motor torque.
  • F brak may represent the braking force
  • ⁇ may represent the slope
  • A may represent the braking force conversion coefficient
  • B may represent the slope conversion coefficient.
  • A may be a fixed coefficient or a coefficient having a mapping relationship with F brak , vehicle speed, motor speed, and basic motor torque
  • B may be a fixed coefficient or a coefficient having a mapping relationship with ⁇ , vehicle speed, motor speed, and basic motor torque.
  • the motor since the motor has a large zero-crossing impact under basic motor torque control, it is necessary to determine the motor's zero-crossing compensation torque to correct the basic motor torque, thereby reducing the motor's maximum speed difference and thus reducing or even eliminating the motor's zero-crossing impact.
  • T corr may also be a preset value, which represents a mapping relationship between T corr and braking force and slope (or vehicle acceleration), vehicle speed (or wheel speed), motor speed and basic motor torque, and may be obtained by looking up one or more mapping tables stored in the storage unit.
  • the zero-crossing compensation torque is determined based on the vehicle speed, vehicle acceleration, motor speed and basic motor torque, including: determining the third product of the vehicle acceleration and the vehicle acceleration conversion coefficient, the vehicle acceleration conversion coefficient and the vehicle acceleration, vehicle speed, motor speed and basic motor torque are mapped to each other; and determining the zero-crossing compensation torque based on the third product.
  • the zero-crossing compensation torque T corr can be a calculated value, which can be obtained by the vehicle speed, vehicle The vehicle acceleration, motor speed and basic motor torque are used to perform real-time calculation to obtain T corr .
  • a can represent the vehicle acceleration
  • K can represent the vehicle acceleration conversion coefficient
  • K can be a fixed coefficient or a coefficient that has a mapping relationship with a, vehicle speed, motor speed, and basic motor torque.
  • the motor since the motor has a large zero-crossing impact under basic motor torque control, it is necessary to determine the motor's zero-crossing compensation torque to correct the basic motor torque, thereby reducing the motor's maximum speed difference and thus reducing or even eliminating the motor's zero-crossing impact.
  • determining a modified motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque includes: determining the modified motor torque according to a second sum of the basic motor torque and the zero-crossing compensation torque.
  • T conf may represent the corrected motor torque.
  • the maximum speed difference of the motor speed will be less than the maximum speed difference of the motor speed under the control of the basic motor torque, so that relative to the basic motor torque, under the control of the corrected motor torque, the maximum speed difference of the motor speed is reduced, and therefore, the zero-crossing impact of the motor will be reduced or even eliminated.
  • FIG8 is a schematic diagram for comparing the zero-crossing performance of the motor under the control of the corrected motor torque and the zero-crossing performance of the motor under the control of the basic motor torque, provided in an embodiment of the present application.
  • T corr may represent the zero-crossing compensation torque.
  • ⁇ V' may represent the maximum speed difference of the motor speed under the modified motor torque control.
  • T conf may represent the modified motor torque.
  • t 0' may represent the start time of the zero-crossing compensation torque.
  • t 1' may represent the end time of the zero-crossing compensation torque under the modified motor torque control.
  • t 2 may represent the end time of the zero-crossing compensation torque.
  • the output torque of the motor is controlled to perform Zero, including: controlling the motor to output according to the corrected motor torque to pass zero.
  • the motor after obtaining the corrected motor torque, in order to reduce or even eliminate the zero-crossing impact of the motor, the motor can be controlled to output torque according to the corrected motor torque, so that when the motor crosses zero, the impact can be significantly reduced or even eliminated.
  • the motor control method of the electric vehicle provided in the present application calculates the basic motor torque and the zero-crossing compensation torque by acquiring the vehicle operation information, and then calculates the corrected motor torque by the basic motor torque and the zero-crossing compensation torque. In this way, the output torque of the motor can be controlled to pass through zero by the corrected motor torque, thereby reducing or eliminating the zero-crossing impact of the motor.
  • user information including but not limited to user device information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • user information including but not limited to user device information, user personal information, etc.
  • data including but not limited to data used for analysis, stored data, displayed data, etc.
  • FIG9 is a schematic diagram of the structure of the motor control device for an electric vehicle provided in an embodiment of the present application.
  • the motor control device 900 for an electric vehicle includes:
  • the acquisition module 901 is used to obtain the vehicle operation information of the electric vehicle
  • a first determination module 902 is used to determine a basic motor torque of a motor of the electric vehicle based on vehicle operation information
  • a second determination module 903 is used to determine the zero-crossing compensation torque of the motor based on the basic motor torque
  • a third determination module 904 is used to determine a modified motor torque of the motor based on the basic motor torque and the zero-crossing compensation torque;
  • the control module 905 is used to control the output torque of the motor to perform zero crossing based on the corrected motor torque.
  • the vehicle operation information includes at least one of the following: vehicle speed, vehicle acceleration, motor speed, wheel speed, accelerator pedal position, brake pedal position, brake master cylinder pressure, braking force, braking torque, slope, creep setting status, energy recovery setting status, single-pedal driving mode setting status, and driving mode setting status.
  • the first determination module 902 is specifically used to: The basic motor torque is determined based on the state, energy recovery setting state, single-pedal driving mode setting state and driving mode setting state, as well as the vehicle speed and/or the motor speed and/or the wheel speed.
  • the second determination module 903 is specifically used to: determine the zero-crossing compensation torque based on braking force, slope, vehicle speed, motor speed and basic motor torque; or determine the zero-crossing compensation torque based on vehicle speed, vehicle acceleration, motor speed and basic motor torque.
  • the second determination module 903 is specifically used to: determine the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque based on the braking force, slope, vehicle speed, motor speed and basic motor torque; determine the zero-crossing compensation torque based on the zero-crossing start time, the zero-crossing end time, the basic motor torque at the zero-crossing start time, the zero-crossing platform torque and the duration of the zero-crossing platform torque.
  • a fourth determination module which is used to determine the start time of the zero crossing compensation torque, the end time of the zero crossing compensation torque, and the end time of the zero crossing under the corrected motor torque control based on the zero crossing start time, the zero crossing end time, the basic motor torque at the zero crossing start time, the zero crossing platform torque, and the duration of the zero crossing platform torque.
  • the second determination module 903 is specifically used to: determine the first product of the braking force and the braking force conversion coefficient, and there is a mapping relationship between the braking force conversion coefficient and the slope, vehicle speed, motor speed and basic motor torque; determine the second product of the slope and the slope conversion coefficient, and there is a mapping relationship between the slope conversion coefficient and the braking force, vehicle speed, motor speed and basic motor torque; determine the zero-crossing compensation torque based on the first sum of the first product and the second product.
  • the second determination module 903 is specifically used to: determine the third product of the vehicle acceleration and the vehicle acceleration conversion coefficient, the vehicle acceleration conversion coefficient having a mapping relationship with the vehicle acceleration, vehicle speed, motor speed and basic motor torque; and determine the zero-crossing compensation torque based on the third product.
  • the third determination module 904 is specifically used to: determine the corrected motor torque according to a second sum of the basic motor torque and the zero-crossing compensation torque.
  • control module 905 controls the output torque of the motor based on the corrected motor torque.
  • zero crossing it is specifically used to: control the motor to output according to the corrected motor torque to perform zero crossing.
  • the motor control device of the electric vehicle provided in this embodiment is used to execute the technical solution of the motor control method of the electric vehicle in the aforementioned method embodiment. Its implementation principle and technical effect are similar and will not be repeated here.
  • FIG10 is a block diagram of an electric vehicle according to an exemplary embodiment. As shown in FIG10 , the electric vehicle 1000 includes:
  • Processor 1011 memory 1012, and interactive interface 1013;
  • the processor 1011 is connected to the memory 1012 and the interactive interface 1013; the memory 1012 is used to store computer-executable instructions executable by the processor 1011; the processor 1011 is configured to execute the technical solution in the motor control method of the aforementioned electric vehicle by executing computer-executable instructions; the interactive interface 1013 provides an interface between the processor 1011 and the peripheral interface module.
  • the memory 1012 may be independent or integrated with the processor 1011 .
  • the electric vehicle 1000 may further include: a bus for connecting the above devices.
  • the memory may be, but is not limited to, a random access memory (RAM), a read-only memory (ROM), a programmable read-only memory (PROM), an erasable programmable read-only memory (EPROM), an electrically erasable read-only memory (EEPROM), etc.
  • RAM random access memory
  • ROM read-only memory
  • PROM programmable read-only memory
  • EPROM erasable programmable read-only memory
  • EEPROM electrically erasable read-only memory
  • the memory is used to store programs, and the processor executes the programs after receiving the execution instruction.
  • the software programs and modules in the above-mentioned memory may also include an operating system, which may include various software components and/or drivers for managing system tasks (such as memory management, storage device control, power management, etc.), and may communicate with various hardware or software components to provide an operating environment for other software components.
  • the processor may be an integrated circuit chip having signal processing capability.
  • the above-mentioned processor may be a general-purpose processor, including a central processing unit (CPU), a network processor (NP), etc.
  • CPU central processing unit
  • NP network processor
  • the disclosed methods, steps, and logic block diagrams in the embodiments of the present application may be implemented or executed.
  • the general-purpose processor may be a microprocessor or the processor may be any conventional processor, etc.
  • An embodiment of the present application also provides a computer-readable storage medium, in which computer-executable instructions are stored. When the computer-executable instructions are executed, they are used to implement the technical solution of the motor control method of the electric vehicle provided in the aforementioned method embodiment.
  • An embodiment of the present application also provides a computer program product, including a computer program, which, when executed, implements the technical solution of the motor control method of an electric vehicle provided in the method embodiment.
  • the aforementioned program can be stored in a computer-readable storage medium.
  • the steps of the above-mentioned method embodiments are executed; and the aforementioned storage medium includes: ROM, RAM, disk or optical disk and other media that can store program codes.

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  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

L'invention concerne un procédé de commande de moteur pour un véhicule électrique, comprenant les étapes consistant à : acquérir des informations de fonctionnement de véhicule d'un véhicule électrique ; déterminer un couple moteur de base d'un moteur du véhicule électrique sur la base des informations de fonctionnement de véhicule ; déterminer un couple de compensation de passage par zéro du moteur sur la base du couple moteur de base ; déterminer un couple moteur corrigé du moteur sur la base du couple moteur de base et du couple de compensation de passage par zéro ; et, sur la base du couple moteur corrigé, commander un couple de sortie du moteur de façon à effectuer un passage par zéro. Ainsi, le couple moteur corrigé est utilisé pour mettre en œuvre un passage par zéro du moteur, de telle sorte que l'impact de jeu provoqué par la commutation de couples positifs et négatifs du moteur est réduit, voire éliminé, c'est-à-dire qu'un impact de passage par zéro est réduit, voire éliminé. La présente demande concerne un appareil de commande de moteur pour un véhicule électrique, ainsi qu'un véhicule électrique.
PCT/CN2023/101480 2023-06-20 2023-06-20 Procédé et appareil de commande de moteur pour véhicule électrique, et support de stockage Ceased WO2024259599A1 (fr)

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