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CN108944576B - Motor control method and device and automobile - Google Patents

Motor control method and device and automobile Download PDF

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Publication number
CN108944576B
CN108944576B CN201810847317.7A CN201810847317A CN108944576B CN 108944576 B CN108944576 B CN 108944576B CN 201810847317 A CN201810847317 A CN 201810847317A CN 108944576 B CN108944576 B CN 108944576B
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China
Prior art keywords
value
rotating speed
motor
torque value
maximum
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CN201810847317.7A
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CN108944576A (en
Inventor
曹永霞
刘立志
蒋荣勋
苏伟
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Beijing Electric Vehicle Co Ltd
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Beijing Electric Vehicle Co Ltd
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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
    • 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
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The invention provides a motor control method, a motor control device and an automobile, wherein the motor control method comprises the following steps: acquiring a maximum rotating speed limit value of a motor, a current rotating speed value of the motor and a first torque value required by a driver; obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value; determining a second torque value based on the first torque value and the output torque value; and controlling the motor to operate according to the second torque value. The invention can realize the closed-loop limitation of the motor rotating speed, and ensure that the motor torque does not generate sudden change when the motor rotating speed is limited, thereby ensuring that the automobile speed does not exceed the limit value and improving the driving safety of the automobile.

Description

Motor control method and device and automobile
Technical Field
The invention relates to the technical field of automobiles, in particular to a motor control method and device and an automobile.
Background
The driving motor in the pure electric vehicle is used as a unique power source to drive the whole vehicle to run, and the rotating speed (vehicle speed) of the motor needs to be limited under various conditions due to consideration of different factors, such as:
(1) the design of the motor body is considered, the rotating speed of the motor cannot be higher than the designed highest rotating speed, and the mechanical damage to a rotor, a bearing and the like of the motor caused by the overhigh rotating speed of the motor is avoided; (2) for safety reasons, in order to ensure the driving safety of drivers, especially drivers with insufficient driving experience; (3) when the vehicle has some trouble, it is necessary to limit the maximum vehicle speed of the wheels, and the like.
At present, the limitation on the rotating speed (vehicle speed) of the motor is mainly an open-loop limitation, namely, the limitation is mainly realized by directly limiting the torque of the motor, but the following problems exist in the mode: (1) the accurate speed limit cannot be realized; (2) the motor torque is easy to have sudden change.
Disclosure of Invention
The invention aims to solve the technical problems that in the prior art, a motor control method, a motor control device and an automobile are provided, so that the problems that accurate speed limiting cannot be realized in a motor rotating speed limiting mode and motor torque is easy to change suddenly are solved.
In a first aspect, an embodiment of the present invention provides a motor control method, including:
acquiring a maximum rotating speed limit value of a motor, a current rotating speed value of the motor and a first torque value required by a driver;
obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value;
determining a second torque value based on the first torque value and the output torque value;
and controlling the motor to operate according to the second torque value.
Wherein, obtain the maximum rotational speed limiting value of motor, include:
acquiring a target maximum speed limit value of the automobile;
and converting the target maximum vehicle speed limit value into a maximum rotating speed limit value of the motor.
The method for acquiring the target maximum speed limit value of the automobile comprises the following steps:
acquiring a preset first maximum vehicle speed limit value;
determining a second highest speed limit value according to the current state information of the automobile;
and determining a target maximum speed limit value of the automobile according to the first maximum speed limit value and the second maximum speed limit value.
Wherein obtaining a first torque value of a driver demand comprises:
acquiring the opening degree of an accelerator pedal of an automobile;
and obtaining the first torque value according to the opening degree of the accelerator pedal.
Obtaining an output torque value of a rotating speed ring PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value, wherein the method comprises the following steps:
and taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as an input value of the rotating speed ring PI regulator to obtain an output torque value of the rotating speed ring PI regulator.
Wherein determining a second torque value based on the first torque value and the output torque value comprises:
determining a minimum of the first torque value and the output torque value as the second torque value.
In a second aspect, an embodiment of the present invention provides a motor control device, including:
the first acquisition module is used for acquiring a maximum rotating speed limit value of the motor, a current rotating speed value of the motor and a first torque value required by a driver;
the obtaining module is used for obtaining an output torque value of the rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value;
the determining module is used for determining a second torque value according to the first torque value and the output torque value;
and the control module is used for controlling the motor to operate according to the second torque value.
Wherein, first acquisition module includes:
the first acquisition unit is used for acquiring a target maximum speed limit value of the automobile;
and the conversion unit is used for converting the target maximum vehicle speed limit value into the maximum rotating speed limit value of the motor.
Wherein, the first acquisition unit includes:
the acquisition subunit is used for acquiring a preset first highest vehicle speed limit value;
the first determining subunit is used for determining a second highest speed limit value according to the current state information of the automobile;
and the second determining subunit is used for determining a target maximum speed limit value of the automobile according to the first maximum speed limit value and the second maximum speed limit value.
Wherein, first acquisition module includes:
a second acquisition unit for acquiring an accelerator pedal opening degree of the automobile;
a first obtaining unit configured to obtain the first torque value according to the accelerator pedal opening degree.
Wherein the obtaining module comprises:
and the second obtaining unit is used for taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as the input value of the rotating speed ring PI regulator and obtaining the output torque value of the rotating speed ring PI regulator.
Wherein the determining module comprises:
a determination unit for determining a minimum value of the first torque value and the output torque value as the second torque value.
In a third aspect, an embodiment of the present invention provides an automobile, including the above motor control device.
In the embodiment of the invention, the maximum rotating speed limit value of the motor, the current rotating speed value of the motor and the first torque value required by a driver are obtained; obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value; determining a second torque value based on the first torque value and the output torque value; and controlling the motor to operate according to the second torque value, so that the closed-loop limitation of the rotating speed of the motor can be realized, and the torque of the motor cannot be suddenly changed when the rotating speed of the motor is limited, thereby ensuring that the speed of the automobile does not exceed a limit value and improving the driving safety of the automobile.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings needed to be used in the description of the embodiments of the present invention will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present invention, and it is obvious for those skilled in the art that other drawings can be obtained according to these drawings without inventive exercise.
Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present invention;
FIG. 2 is a schematic view of an exemplary vehicle according to the present invention;
FIG. 3 is a schematic diagram of an implementation of a motor control method according to an example of the present invention;
fig. 4 is a schematic structural diagram of a motor control device according to an embodiment of the present invention.
Detailed Description
In order to make the technical problems, technical solutions and advantages of the present invention more apparent, the following detailed description is given with reference to the accompanying drawings and specific embodiments.
Referring to fig. 1, a schematic flow chart of a motor control method according to an embodiment of the present invention is shown. The embodiment of the invention provides a motor control method which can be applied to automobiles, in particular to electric automobiles; the motor control method may include the steps of:
step 101, obtaining a maximum rotating speed limit value of a motor, a current rotating speed value of the motor and a first torque value required by a driver.
In the embodiment of the invention, the maximum rotating speed limit value of the motor is obtained so as to accurately limit the rotating speed of the motor based on the maximum rotating speed limit value in the following process, wherein the maximum rotating speed limit value is not higher than the maximum rotating speed value of the motor, and the maximum rotating speed limit value is expressed by nMax *Represents; closed-loop limitation of the motor rotating speed is realized by acquiring the current motor rotating speed so as to realize negative feedback based on the current motor rotating speed in the following process, wherein the current motor rotating speed is represented by n; the first torque value required by the driver is acquired so as to better control the motor torque value in the following process, and the vehicle speed is ensured not to exceed the limit value, wherein the first torque value is TVCU *And (4) showing.
In the embodiment of the present invention, the maximum rotation speed limit value of the motor and the first torque value required by the driver may be obtained through a Vehicle Control Unit (VCU) of the Vehicle, and the current rotation speed value of the motor may be obtained through a Motor Controller Unit (MCU).
And 102, acquiring an output torque value of a rotating speed loop PI (proportional integral) regulator according to the maximum rotating speed limit value and the current motor rotating speed value.
In the embodiment of the invention, a rotating speed ring PI regulator is preset and is used for regulating the rotating speed according to the maximum rotating speed limit value and the current motorThe rotating speed value controls the output torque value, thereby realizing the closed-loop limitation of the rotating speed of the motor and ensuring that the motor torque can not be suddenly changed when the rotating speed of the motor is limited. Here, the output torque value of the speed loop PI regulator is TPI *And (4) showing.
Preferably, the rotating speed loop PI regulator may be disposed inside the motor controller, and specifically, the rotating speed loop PI regulator is disposed between the vehicle controller and a current distribution module of the motor controller.
In the embodiment of the present invention, the output of the rotating speed loop PI regulator is limited in advance, that is, the integral output and the PI output of the rotating speed loop PI regulator are both limited to [0, T [ ]max]Wherein T ismaxThe maximum output torque value corresponding to the current motor rotating speed value of the motor.
Step 103, determining a second torque value according to the first torque value and the output torque value.
In the embodiment of the present invention, the motor torque value satisfying the motor speed limit requirement, i.e. the second torque value, is obtained based on the first torque value obtained in step 101 and the torque output value obtained in step 103, where the second torque value is represented by T*And (4) showing.
And 104, controlling the motor to operate according to the second torque value.
In the embodiment of the invention, direct current of the high-voltage battery is converted into three-phase alternating current to be supplied to the motor by controlling an Insulated Gate Bipolar Transistor (IGBT) of the motor controller, and the motor is controlled to operate at a second torque value, so that the motor converts electric energy into mechanical energy and transmits the mechanical energy to wheels through a transmission system to drive the whole vehicle to run.
In a preferred embodiment of the present invention, in step 101, acquiring a maximum rotation speed limit value of the motor may include the following steps: acquiring a target maximum speed limit value of the automobile; and converting the target maximum vehicle speed limit value into a maximum rotating speed limit value of the motor. In the embodiment of the invention, the target maximum speed limit value of the automobile can be obtained through the whole automobile controller, and the maximum speed limit value of the corresponding motor is calculated and converted based on the target maximum speed limit value, so that the rotating speed of the motor can be accurately limited, and the automobile speed can be ensured not to exceed the limit value.
Preferably, in the embodiment of the present invention, obtaining the target maximum speed limit value of the automobile may include: acquiring a preset first maximum vehicle speed limit value; determining a second highest speed limit value according to the current state information of the automobile; and determining a target maximum speed limit value of the automobile according to the first maximum speed limit value and the second maximum speed limit value. In the embodiment of the invention, the first maximum vehicle speed limit value may be a maximum vehicle speed value allowed by a vehicle preset by a vehicle controller, or may be a maximum vehicle speed value allowed by a user according to a requirement of the user, specifically, the first maximum vehicle speed limit value may be set by the user through a central control instrument panel of the vehicle, and then the first maximum vehicle speed limit value is obtained through communication reception of the vehicle controller and the central control instrument panel; the second highest vehicle speed limit value may be calculated and determined by the vehicle controller according to current state information of the vehicle, where the current state information of the vehicle may include vehicle operating state information and vehicle fault information of the vehicle. In a preferred embodiment of the present invention, to ensure driving safety of the vehicle, determining the target maximum vehicle speed limit value of the vehicle according to the first maximum vehicle speed limit value and the second maximum vehicle speed limit value may include: and determining the minimum value of the first maximum vehicle speed limiting value and the second maximum vehicle speed limiting value as the target maximum vehicle speed limiting value of the automobile.
In a preferred embodiment of the present invention, in step 101, obtaining the first torque value required by the driver may include the following steps: acquiring the opening degree of an accelerator pedal of an automobile; and obtaining the first torque value according to the opening degree of the accelerator pedal. In the embodiment of the invention, the opening degree of an accelerator pedal of the automobile can be acquired through the vehicle control unit, and then the opening degree of the accelerator pedal is analyzed, filtered and subjected to amplitude limiting, so that a corresponding first torque value is acquired.
In a preferred embodiment of the present invention, step 102 is performed according to the maximumObtaining the output torque value of the rotating speed loop PI regulator by the high rotating speed limit value and the current motor rotating speed value, wherein the method comprises the following steps: and taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as an input value of the rotating speed ring PI regulator to obtain an output torque value of the rotating speed ring PI regulator. When the difference value between the maximum rotating speed limit value and the current motor rotating speed value is a positive value, the output torque value of the rotating speed loop PI regulator is the maximum output torque value T corresponding to the current motor rotating speed value of the motormax。
In the embodiment of the invention, the difference value between the maximum rotating speed limit value and the current motor rotating speed value is used as the input value of the rotating speed loop PI regulator, wherein when the current motor rotating speed value is higher than the maximum rotating speed limit value, the difference value (n) between the maximum rotating speed limit value and the current motor rotating speed value is used as the input value of the rotating speed loop PI regulatorMax *-n) is negative, the output torque value of the speed loop PI regulator will decrease until the current motor speed value is less than the maximum speed limit value or the output torque value TPI *Is 0, at this time TPI *Less than TVCU *Here, the motor rotation speed may be well limited around the maximum rotation speed limit value; when the current motor rotating speed value is lower than or equal to the highest rotating speed limit value, the difference value (n) of the current motor rotating speed value and the highest rotating speed limit valueMax *N) is positive, the output torque value T of the speed loop PI regulatorPI *Is TmaxAt this time TVCU *Is constantly less than or equal to TPI *。
In addition, in a preferred embodiment of the present invention, in order to better ensure that the motor torque does not suddenly change when the speed of the motor is limited, step 103, determining the second torque value according to the first torque value and the output torque value, may include the following steps: determining a minimum of the first torque value and the output torque value as the second torque value.
In the embodiment of the present invention, when the difference between the maximum rotation speed limit value and the current motor rotation speed value is used as the input value of the rotation speed loop PI regulator, if the current motor rotation speed value is higher than the maximum rotation speed limit value, the difference (n) between the maximum rotation speed limit value and the current motor rotation speed value is obtainedMax *-n) is negative, when the output torque value T of the speed loop PI regulator isPI *Less than the first torque value TVCU *Then the second torque value T*Output torque value T of PI regulator for rotating speed loopPI *Therefore, the speed limit of the motor rotating speed can be realized when the current motor rotating speed value is higher than the maximum rotating speed limiting value, the second torque value is the output torque value of the rotating speed loop PI regulator, the motor rotating speed is well limited to be close to the maximum rotating speed limiting value, the motor can be decelerated to be close to the maximum rotating speed limiting value, and the output torque value T of the rotating speed loop PI regulatorPI *Jump is not caused, and the motor torque does not change suddenly when the speed is limited; if the current motor rotation speed value is lower than or equal to the maximum rotation speed limit value, the difference value (n) between the current motor rotation speed value and the maximum rotation speed limit valueMax *N) is positive, in which case the first torque value TVCU *The output torque value T of the rotating speed ring PI regulator is constantly less than or equal toPI *Then the second torque value T*Is a first torque value TVCU *In this way, when the current motor rotation speed value is lower than or equal to the maximum rotation speed limit value, the second torque value is made the first torque value so that the motor operates according to the first torque value required by the driver. In the embodiment of the invention, the output torque value T of the rotating speed loop PI regulator is only when the rotating speed of the motor exceeds the maximum rotating speed limit valuePI *Less than the first torque value TVCU *The speed loop PI regulator is active and the first torque value T is set when the motor speed is lower than or equal to the maximum speed limitVCU *The output torque value T of the rotating speed ring PI regulator is constantly less than or equal toPI *The speed loop PI regulator is inactive.
In one example of the present invention, as shown in fig. 2, an automobile includes a central control instrument panel, a VCU, an MCU, a battery management system, a high voltage battery, a motor, a transmission system, and wheels. The VCU is respectively connected with the central control instrument panel, the battery management system and the MCU at low voltage, the high-voltage battery is connected with the battery management system at low voltage and connected with the MCU at high voltage, the MCU is connected with the motor at high voltage, and the motor is also connected with the MCU at low voltage to realize the motor operationFeeding back the rotating speed value of the front motor; the transmission system is mechanically connected with the motor and the wheels respectively. In the example, a first maximum vehicle speed limit value is obtained through communication between a VCU and a central control instrument panel, the VCU calculates and determines a second maximum vehicle speed limit value according to current state information of the automobile, the minimum value of the first maximum vehicle speed limit value and the second maximum vehicle speed limit value is determined as a target maximum vehicle speed limit value of the automobile, and then the target maximum vehicle speed limit value is converted into a maximum rotating speed limit value n of a motorMax *In addition, the VCU obtains a first torque value T required by the driver according to the opening degree of an accelerator pedal of the automobileVCU *(ii) a Referring to fig. 3 in combination, the MCU is connected to the low voltage of the motor, and then sequentially performs position decoding and rotation speed calculation to obtain the current motor rotation speed n of the motor, and the MCU receives the maximum rotation speed limit n sent by the VCUMax *And a first torque value TVCU *And limiting the maximum rotation speed by a value nMax *Difference value (n) with current motor speed value nMax *-n) obtaining an output torque value T of the speed loop PI regulator as an input value of the speed loop PI regulatorPI *Here, the speed loop PI regulator is arranged before the current distribution module, and then the MCU will apply the first torque value TVCU *And the output torque value TPI *Is determined as the second torque value T*For the first torque value TVCU *And the output torque value TPI *Obtaining a second torque value T by taking small value*Then the second torque value is sent to the current distribution module and correspondingly processed by the motor control module, so that the IGBT in the MCU is controlled to convert the direct current of the high-voltage battery into three-phase alternating current to be supplied to the motor, and the motor is controlled to operate at the second torque value; the motor converts the electric energy into mechanical energy and transmits the mechanical energy to the wheels through the transmission system so as to drive the whole vehicle to run.
According to the motor control method provided by the embodiment of the invention, the highest rotating speed limit value of the motor, the current rotating speed value of the motor and the first torque value required by a driver are obtained; obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value; determining a second torque value based on the first torque value and the output torque value; and controlling the motor to operate according to the second torque value, so that the closed-loop limitation of the rotating speed of the motor can be realized, and the torque of the motor cannot be suddenly changed when the rotating speed of the motor is limited, thereby ensuring that the speed of the automobile does not exceed a limit value and improving the driving safety of the automobile.
Based on the method, the embodiment of the invention also provides a device for realizing the method.
Referring to fig. 4, which is a schematic structural diagram of a motor control apparatus according to an embodiment of the present invention, the motor control apparatus 400 according to an embodiment of the present invention includes: a first acquisition module 410, an acquisition module 420, a determination module 430, and a control module 440.
A first obtaining module 410, configured to obtain a maximum rotation speed limit value of the motor, a current rotation speed value of the motor, and a first torque value required by a driver;
an obtaining module 420, configured to obtain an output torque value of the rotating speed loop PI regulator according to the maximum rotating speed limit value and the current motor rotating speed value;
a determining module 430 for determining a second torque value based on the first torque value and the output torque value;
and a control module 440 configured to control the operation of the motor according to the second torque value.
In a preferred embodiment of the present invention, the first obtaining module 410 may include: the device comprises a first acquisition unit and a conversion unit.
The first acquisition unit is used for acquiring a target maximum speed limit value of the automobile;
and the conversion unit is used for converting the target maximum vehicle speed limit value into the maximum rotating speed limit value of the motor.
Preferably, in this embodiment of the present invention, the first obtaining unit may include: the device comprises an acquisition subunit, a first determination subunit and a second determination subunit.
The acquisition subunit is used for acquiring a preset first highest vehicle speed limit value;
the first determining subunit is used for determining a second highest speed limit value according to the current state information of the automobile;
and the second determining subunit is used for determining a target maximum speed limit value of the automobile according to the first maximum speed limit value and the second maximum speed limit value.
In a preferred embodiment of the present invention, the first obtaining module 410 may include: a second obtaining unit and a first obtaining unit.
A second acquisition unit for acquiring an accelerator pedal opening degree of the automobile;
a first obtaining unit configured to obtain the first torque value according to the accelerator pedal opening degree.
In a preferred embodiment of the present invention, the obtaining module 420 may include: a second obtaining unit.
And the second obtaining unit is used for taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as the input value of the rotating speed ring PI regulator and obtaining the output torque value of the rotating speed ring PI regulator.
In addition, in a preferred embodiment of the present invention, the determining module 430 may include: a determination unit.
A determination unit for determining a minimum value of the first torque value and the output torque value as the second torque value.
In addition, the embodiment of the invention also provides an automobile which can comprise the motor control device.
The motor control device provided by the device embodiment and the motor control method provided by the method embodiment belong to the same concept, the specific implementation process is described in the method embodiment, the device has the technical effect which can be achieved by the method, and the repeated description is omitted for avoiding the repetition. In addition, the automobile with the motor control device can also have corresponding technical effects, and the specific implementation process is similar to that in the embodiment, which is not described herein again.
According to the motor control device and the automobile provided by the embodiment of the invention, the maximum rotating speed limit value of the motor, the current rotating speed value of the motor and the first torque value required by a driver are obtained; obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value; determining a second torque value based on the first torque value and the output torque value; and controlling the motor to operate according to the second torque value, so that the closed-loop limitation of the rotating speed of the motor can be realized, and the torque of the motor cannot be suddenly changed when the rotating speed of the motor is limited, thereby ensuring that the speed of the automobile does not exceed a limit value and improving the driving safety of the automobile.
For simplicity of explanation, the foregoing method embodiments are described as a series of acts or combinations, but it should be understood by those skilled in the art that the present invention is not limited by the order of acts or acts described, as some steps may occur in other orders or concurrently with other steps in accordance with the invention. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
It is noted that, in the embodiments of the present invention, relational terms such as first and second, and the like are used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions.
The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit.
The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer readable storage medium. Based on such understanding, the technical solution of the present invention may be embodied in the form of a software product, which is stored in a storage medium and includes instructions for causing a computer device (which may be a personal computer, a server, or a network device) to execute all or part of the steps of the method according to the embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a U disk, a removable hard disk, a ROM, a RAM, a magnetic disk, or an optical disk.
While the foregoing is directed to the preferred embodiment of the present invention, it will be understood by those skilled in the art that various changes and modifications may be made without departing from the spirit and scope of the invention as defined in the appended claims.

Claims (7)

1. A motor control method, comprising:
acquiring a maximum rotating speed limit value of a motor, a current rotating speed value of the motor and a first torque value required by a driver;
obtaining an output torque value of a rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value;
determining a second torque value based on the first torque value and the output torque value;
controlling the motor to operate according to the second torque value;
wherein, obtain the maximum rotational speed limiting value of motor, include:
acquiring a target maximum speed limit value of the automobile;
converting the target maximum vehicle speed limit value into a maximum rotating speed limit value of the motor;
the method for acquiring the target maximum speed limit value of the automobile comprises the following steps:
acquiring a preset first maximum vehicle speed limit value;
determining a second highest speed limit value according to the current state information of the automobile;
determining a target maximum vehicle speed limit value of the vehicle according to the first maximum vehicle speed limit value and the second maximum vehicle speed limit value;
wherein determining a second torque value based on the first torque value and the output torque value comprises: determining a minimum of the first torque value and the output torque value as the second torque value.
2. The method of claim 1, wherein obtaining a first torque value of driver demand comprises:
acquiring the opening degree of an accelerator pedal of an automobile;
and obtaining the first torque value according to the opening degree of the accelerator pedal.
3. The method of claim 1, wherein deriving a speed loop PI regulator output torque value based on the maximum speed limit value and the current motor speed value comprises:
and taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as an input value of the rotating speed ring PI regulator to obtain an output torque value of the rotating speed ring PI regulator.
4. A motor control apparatus, comprising:
the first acquisition module is used for acquiring a maximum rotating speed limit value of the motor, a current rotating speed value of the motor and a first torque value required by a driver;
the obtaining module is used for obtaining an output torque value of the rotating speed loop PI regulator according to the maximum rotating speed limiting value and the current motor rotating speed value;
the determining module is used for determining a second torque value according to the first torque value and the output torque value;
the control module is used for controlling the motor to operate according to the second torque value;
wherein, first acquisition module includes:
the first acquisition unit is used for acquiring a target maximum speed limit value of the automobile;
the conversion unit is used for converting the target maximum vehicle speed limit value into a maximum rotating speed limit value of the motor;
the first acquisition unit includes:
the acquisition subunit is used for acquiring a preset first highest vehicle speed limit value;
the first determining subunit is used for determining a second highest speed limit value according to the current state information of the automobile;
the second determining subunit is used for determining a target maximum speed limit value of the automobile according to the first maximum speed limit value and the second maximum speed limit value;
the determining module comprises: a determination unit for determining a minimum value of the first torque value and the output torque value as the second torque value.
5. The apparatus of claim 4, wherein the first obtaining module comprises:
a second acquisition unit for acquiring an accelerator pedal opening degree of the automobile;
a first obtaining unit configured to obtain the first torque value according to the accelerator pedal opening degree.
6. The apparatus of claim 4, wherein the means for obtaining comprises:
and the second obtaining unit is used for taking the difference value between the maximum rotating speed limit value and the current motor rotating speed value as the input value of the rotating speed ring PI regulator and obtaining the output torque value of the rotating speed ring PI regulator.
7. An automobile characterized by comprising the motor control device according to any one of claims 4 to 6.
CN201810847317.7A 2018-07-27 2018-07-27 Motor control method and device and automobile Active CN108944576B (en)

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CN110126807B (en) * 2019-03-19 2021-09-14 北京车和家信息技术有限公司 Vehicle speed control method, vehicle speed control system and vehicle
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CN110682799A (en) * 2019-10-30 2020-01-14 江西江铃集团新能源汽车有限公司 Electric automobile speed limiting method and system
CN114103947B (en) * 2020-08-27 2023-10-17 比亚迪股份有限公司 Vehicle torque control method, device and computer readable storage medium
CN112172541B (en) * 2020-09-28 2022-08-05 武汉格罗夫氢能汽车有限公司 Control method for fuel cell hydrogen energy automobile speed limit
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