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CN112744084A - Torque control method and device, vehicle, electronic device, and storage medium - Google Patents

Torque control method and device, vehicle, electronic device, and storage medium Download PDF

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Publication number
CN112744084A
CN112744084A CN201911047574.3A CN201911047574A CN112744084A CN 112744084 A CN112744084 A CN 112744084A CN 201911047574 A CN201911047574 A CN 201911047574A CN 112744084 A CN112744084 A CN 112744084A
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Prior art keywords
torque
learning value
battery
over
value
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CN201911047574.3A
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CN112744084B (en
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张艳海
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Beijing CHJ Automobile Technology Co Ltd
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Beijing CHJ Automobile Technology 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
    • B60L2240/54—Drive Train control parameters related to batteries
    • 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 torque control method and a device thereof, a vehicle, an electronic device and a storage medium, wherein the method comprises the following steps: under the condition that a vehicle is in a first operation working condition, acquiring a torque learning value corresponding to the first operation working condition, and acquiring a current required torque value of a motor; determining an output torque value of the motor according to the required torque value and the torque learning value; controlling the output torque of the motor according to the output torque value; the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition. The torque control method can effectively avoid the continuous over-discharge or over-charge of the battery under the current operation working condition, and can also effectively ensure the driving stability of the vehicle under the current operation working condition.

Description

Torque control method and device, vehicle, electronic device, and storage medium
Technical Field
The present invention relates to the field of vehicle control technologies, and in particular, to a torque control method and apparatus, a vehicle, an electronic device, and a storage medium.
Background
Vehicles (such as pure electric vehicles and hybrid vehicles) may have over-discharge or over-charge of a battery during use, and the over-discharge or over-charge of the battery is caused by a large number of reasons, for example, over-discharge or over-charge of the battery may be caused by efficiency inaccuracy in energy transfer between different modules, and for example, over-discharge or over-charge of the battery may be caused by gradual attenuation of battery charging and discharging power as the battery is used for a long time. If the battery is over-discharged or over-charged for a long time, irreversible damage can be caused to the battery, so that the service life of the battery is shortened.
When the battery is over-discharged or over-charged, the battery is generally prevented from being over-discharged or over-charged continuously by rapidly reducing the required torque, however, the driving smoothness of the vehicle is affected by the rapid reduction of the torque.
Disclosure of Invention
The embodiment of the invention provides a torque control method and device, a vehicle, electronic equipment and a storage medium, which can effectively avoid the continuous over-discharge or over-charge of a battery and ensure the driving stability of the vehicle.
In a first aspect, an embodiment of the present invention provides a torque control method, including:
under the condition that a vehicle is in a first operation working condition, acquiring a torque learning value corresponding to the first operation working condition, and acquiring a current required torque value of a motor;
determining an output torque value of the motor according to the required torque value and the torque learning value;
controlling the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
In a second aspect, an embodiment of the present invention provides a torque control apparatus, the apparatus including:
the acquisition module is used for acquiring a torque learning value corresponding to a first operation working condition and acquiring a current required torque value of a motor under the condition that a vehicle is in the first operation working condition;
the determining module is used for determining an output torque value of the motor according to the required torque value and the torque learning value;
the control module is used for controlling the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
In a third aspect, an embodiment of the invention provides a vehicle that includes the torque control apparatus in the second aspect.
In a fourth aspect, an embodiment of the present invention provides an electronic device, including: a memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps in the torque control method of the first aspect.
In a fifth aspect, an embodiment of the present invention provides a computer-readable storage medium, on which a computer program is stored, where: the computer program, when executed by a processor, implements the torque control method of the first aspect.
In the embodiment of the invention, the torque learning value corresponding to the vehicle running condition is preset or predetermined, and when the vehicle is in a certain running condition, the required torque value of the motor can be corrected according to the torque learning value corresponding to the running condition, so that the control of the output torque of the motor is realized. The torque learning value corresponds to the operation working condition, so that the torque learning value can not only consider the condition that the battery is over-discharged or over-charged under the operation working condition, but also consider the driving stability of the vehicle under the operation working condition, therefore, the torque control method provided by the embodiment of the invention can effectively avoid the continuous over-discharge or over-charge of the battery under the current operation working condition, and can also effectively ensure the driving stability of the vehicle under the current operation working condition.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required 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 to obtain other drawings based on these drawings without inventive exercise.
FIG. 1 is a schematic flow chart of a torque control method provided by an embodiment of the present invention;
FIG. 2 is a schematic diagram of operation condition unit partitioning provided by an embodiment of the present invention;
FIG. 3 is a schematic illustration of a torque learning value versus battery parameter mapping provided by an embodiment of the present invention;
FIG. 4 illustrates a torque control method under a battery over-discharge scenario according to an embodiment of the present invention;
FIG. 5 illustrates a torque control method under a battery overcharge scenario, according to an embodiment of the present invention;
FIG. 6 is a schematic structural diagram of a torque control device provided in an embodiment of the present invention;
FIG. 7 is a second schematic structural diagram of a torque control device according to an embodiment of the present invention;
fig. 8 is a schematic structural diagram of an electronic device according to an embodiment of the present invention.
Detailed Description
The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Vehicles (such as electric vehicles and hybrid vehicles) may have over-discharge or over-charge of batteries during use, and the over-discharge or over-charge of the batteries may cause irreversible damage to the batteries if the batteries are over-discharged or over-charged for a long time, thereby reducing the service life of the batteries.
Here, the meanings of the relevant battery overdischarge and overcharge are explained first as follows: when the product of the battery current and the battery voltage is larger than the discharge power of the battery under the current temperature and the State of Charge (SOC), the over-discharge of the battery is indicated. And the difference of the product of the battery current and the battery voltage minus the current temperature of the battery and the discharge power at the SOC is called the battery over-discharge power. When the product of the battery current and the battery voltage is larger than the charging power of the battery at the current temperature and the SOC, the battery is over-charged. And the difference between the product of the battery current and the battery voltage minus the current temperature of the battery and the charging power at SOC is called the battery overcharge power.
Since the battery is supplied as a main energy source of the electric vehicle, the performance of the battery largely determines the performance of the electric vehicle. Therefore, when the over-discharge or the over-charge of the battery occurs, in order to reduce the damage of the battery as much as possible, the over-discharge or the over-charge of the battery is generally avoided by rapidly reducing the required torque of the motor. However, in this torque control method, the vehicle is less stable during driving because the torque of the motor decreases faster. It can be seen that the existing torque control methods focus on considering the performance of the battery, and do not consider the driving smoothness of the vehicle.
In order to solve the above problem, an embodiment of the present invention provides a torque control method that is applicable to a vehicle such as an electric vehicle, a hybrid vehicle, or the like.
As shown in fig. 1, the method comprises the steps of:
step 101: under the condition that the vehicle is in a first operation working condition, a torque learning value corresponding to the first operation working condition is obtained, and a current required torque value of the motor is obtained.
The first operation condition may be a certain operation condition of the vehicle, that is, the first operation condition may be understood as a current operation condition of the vehicle; the first operating condition may also refer to a certain operating condition of the vehicle, for example, if the vehicle is more susceptible to over-discharge or over-charge of the battery under a certain operating condition, the operating condition may be used as the first operating condition, which is not limited in the embodiment of the present invention.
The torque learning value is a value that is set or determined in advance and is used for correcting the required torque value of the motor under the first operation condition. If the vehicle is operated to the first operating condition for the first time, the torque learning value is a preset value, and for example, the torque learning value may be preset according to empirical data or experimental data. If the vehicle is not initially operated to the first operating condition, the torque learning value may be a value determined when the vehicle was operated to the first operating condition for the previous time or the previous times, and in this case, the torque learning value may be different from a preset torque learning value.
Because the torque learning value corresponds to the first operation working condition, when the torque learning value is preset, the condition that the battery is over-discharged or over-charged under the first operation working condition can be considered, and the driving stability of the vehicle under the first operation working condition can be considered, so that the torque control method disclosed by the embodiment of the invention can effectively avoid that the battery is over-discharged or over-charged continuously under the first operation working condition, and can also effectively ensure the driving stability of the vehicle under the current operation working condition.
In the step, when the vehicle is in a first operation working condition, a torque learning value corresponding to the first operation working condition is obtained, and a current required torque value of the motor is obtained.
Wherein, the required torque value of the motor is as follows: the driver needs the target torque output by the motor according to the specific vehicle running condition so as to achieve the required vehicle speed and the acceleration of the driver, and the target torque value is the required torque value. The required torque value of the electric machine may be obtained or determined by: and searching a fixed torque value in a control strategy according to the opening degree of an accelerator pedal and the vehicle speed to serve as a required torque value. For example, when the accelerator opening is 30% and the vehicle speed is 80km/h, the corresponding torque value in the lookup control table is 85Nm, and then 85Nm is the required torque under the condition that the accelerator opening is 30% and the vehicle speed is 80 km/h. The required torque values under different conditions are different.
The first operation working condition of the vehicle can be determined by referring to motor parameters such as motor rotating speed and motor torque, and the torque learning value corresponding to the first operation working condition can be determined by referring to battery parameters such as battery temperature and battery SOC.
Optionally, the method further includes:
dividing S operation conditions according to motor parameters, and presetting a torque learning value corresponding to each operation condition, wherein the S operation conditions comprise the first operation condition, and S is an integer greater than 1;
wherein the motor parameter comprises at least one of motor speed and motor torque.
In this embodiment, since S operation condition units (cells) may be divided for the vehicle, that is, S operation conditions are divided, all operation condition units of the vehicle having a torque control demand may be divided, or even all operation condition units of the vehicle may be divided, and a corresponding torque learning value may be preset for each operation condition unit. Thus, the control of the vehicle torque can be comprehensively realized, and the degree of torque control is improved.
Specifically, S operation conditions may be divided according to the motor rotation speed and the motor torque, the division range of the motor rotation speed and the division range of the motor torque may be flexibly selected according to requirements, for example, the range of the motor rotation speed may be 0 to the highest rotation speed, one step may be provided every 1000r/min, the range of the motor torque may be 0 to the highest torque, and one step may be provided every 50 Nm. FIG. 2 illustrates one example of dividing operating conditions according to motor speed and motor torque.
Optionally, the presetting of the torque learning value corresponding to each operating condition includes:
presetting a mapping relation between a torque learning value and a battery parameter under each operation condition;
wherein the battery parameter comprises at least one of a battery temperature and a battery state of charge, SOC.
In the embodiment, the battery parameters are different, each operation condition can correspond to a plurality of different torque learning values, and the torque learning value corresponding to each operation condition is set according to the battery parameters, so that the torque learning value is set more accurately. Fig. 3 shows an example in which torque learning values corresponding to respective operating conditions are set according to the battery SOC.
The following relationship exists between the battery over-discharge or over-charge and the battery temperature or the battery SOC: the temperature of the battery corresponding to the over-discharge of the battery is mainly concentrated at 20-50 ℃, and when the temperature of the battery is lower than 20 ℃ or higher than 50 ℃, the VCU can carry out torque limiting control, and the over-discharge generally can not occur. The higher the SOC of the battery is, the lower the charging power is, so the SOC of the battery corresponding to the overcharge of the battery is mainly concentrated above 80%, and the charging power is very high when the SOC of the battery is lower than 80%, and the overcharge generally cannot occur; because the lower the battery temperature, the lower the charging power, therefore, the battery temperature corresponding to the battery overcharge is mainly concentrated below 20 ℃, and the charging power is very large when the battery is higher than 20 ℃, and the overcharge generally does not occur.
Through the above operation conditions which are different according to the motor parameter division, and the mapping relation between the torque learning value and the battery parameter under each operation condition is set according to the battery parameter, the vehicle can determine the appropriate output torque according to various battery parameters under various operation conditions, thereby avoiding the over-discharge or over-charge of the battery to the maximum extent and ensuring the driving stability to the maximum extent.
Step 102: and determining the output torque value of the motor according to the required torque value and the torque learning value.
Wherein, the output torque value of the motor is: the actual torque value output by the motor.
The output torque of the motor is divided into positive torque and negative torque, and when the output torque is positive torque, the battery is in a discharge state, and when the output torque is negative torque, the battery is in a charge state. When the over-discharge of the battery occurs, the output torque is indicated to be too large, so that the required torque is reduced and corrected on the basis of the required torque, and the output torque value is smaller than the required torque value. When the battery is overcharged, it indicates that the output torque is too small (i.e., the absolute value of the output torque is too large), and therefore, the required torque should be corrected in an amplified manner on the basis of the required torque so that the output torque value is larger than the required torque value, i.e., the absolute value of the output torque is smaller than the absolute value of the required torque.
In this step, the required torque value may be corrected using the torque learning value to obtain an output torque value of the motor.
Because the torque learning value considers the condition that the battery is over-discharged or over-charged under the first operation working condition and also considers the driving stability of the vehicle under the first operation working condition, the output torque value determined by correcting the required torque value by using the torque learning value can be better suitable for the first operation working condition, the battery can be effectively prevented from being over-discharged or over-charged continuously under the first operation working condition, and the driving stability of the vehicle under the current operation working condition can be effectively ensured.
Here, the specific value of the torque learning value may take various forms, and the required torque value may be corrected using the torque learning value in various ways, for example, the torque learning value may be set to a factor less than 1, and the required torque value may be multiplied using the torque learning value; the torque learning value can be set as a constant, and the required torque value can be added or subtracted by using the torque learning value or a multiple of the torque learning value; and so on.
Optionally, the torque learning value is a value greater than or equal to 0;
determining an output torque value of the motor based on the required torque value and the torque learning value, including:
when the battery is in a discharging state, the output torque value of the motor is the required torque value minus the torque learning value; or,
the output torque value of the motor is the required torque value plus the torque learning value when the battery is in a charged state.
For example, assuming that the vehicle speed is 50km/h, the required torque is 500Nm, the battery is in a discharge state, and the torque learning value is 50, the output torque of the motor is (500-50) Nm-450 Nm. Further, assuming that the vehicle speed is 100km/h, the required torque is-70 Nm, the battery is in a charged state, and the torque learning value is 10, the output torque of the motor is (-70+10) Nm-60 Nm.
Step 103: and controlling the output torque of the motor according to the output torque value.
In this step, the determined output torque value may be used as the output torque of the motor, and thus, the control of the output torque of the motor is realized.
It should be noted that all steps in the torque Control method in the embodiment of the present invention may be implemented by a Vehicle Control Unit (VCU), that is, in the embodiment of the present invention, the torque Control method may be implemented by the Vehicle Control Unit.
As the battery is used for a long time, the charging and discharging power of the battery is gradually reduced, and the probability of over-discharging or over-charging of the battery is increased along with the time under the same operation condition. That is, under the same first operating condition, the previously used torque learning value may no longer be applicable to the current operating state of the vehicle as the time axis progresses, and thus the output torque of the motor determined based on the torque learning value may cause the occurrence of the battery over-discharge or the over-charge under the current operating state. In addition, there may be a possibility that the preset or predetermined torque learning value may exist an adjustable interval in which the used torque learning value does not cause the vehicle to have the battery over-discharge or the over-charge, and the driving stability of the vehicle may be further improved.
In view of the above two aspects, the torque learning value can be further adjusted according to the control result of the torque learning value on the output torque of the motor, so as to further obtain a torque learning value with better performance, thereby further improving the torque control effect, and alternative embodiments are provided below.
Optionally, after controlling the output torque of the motor according to the output torque value, the method further includes:
judging whether the vehicle has over-discharge or over-charge of a battery under the first operation working condition;
if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; or,
and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
For example, assuming that the first operating condition is a vehicle speed of 50km/h, a required torque of 500Nm, a battery is in a discharge state, and a torque learning value currently corresponding to the first operating condition is 50, an output torque of the vehicle currently at the first operating condition is (500-50) Nm-450 Nm. If the vehicle is currently in the first operation condition and the battery is over-discharged, the torque learning value corresponding to the first operation condition can be increased to 55, and when the vehicle is operated in the first operation condition again next time, the output torque of the motor is (500-55) Nm (445 Nm). In contrast, if the vehicle is not presently under the first operating condition and the battery is not over-discharged, the torque learning value corresponding to the first operating condition may be reduced to 45, and when the vehicle is next operated under the first operating condition again, the output torque of the motor is (500-45) Nm 455 Nm.
And assuming that the first operation condition is the vehicle speed of 100km/h, the required torque is-70 Nm, the battery is in a charging state, and the current corresponding torque learning value of the first operation condition is 10, the current output torque of the vehicle in the first operation condition is-70 +10 Nm to-60 Nm. If the vehicle is currently in the first operation condition and the battery is overcharged, the torque learning value corresponding to the first operation condition can be increased to 12, and when the vehicle is operated in the first operation condition again next time, the output torque of the motor is (-70+12) Nm-58 Nm. In contrast, if the vehicle is not currently overcharged under the first operating condition, the torque learning value corresponding to the first operating condition may be reduced to 8, and the output torque of the motor is (-70+8) Nm-62 Nm when the vehicle is next operated under the first operating condition.
In the embodiment, after the output torque of the motor is controlled according to the torque learning value, the adjustment strategy of the torque learning value is determined by taking whether the over-discharge or the over-charge of the battery occurs as a reference.
Easily understood, if the vehicle has over-discharge or over-charge of the battery under the first operation condition, which indicates that the torque learning value is insufficient for correcting the required torque of the motor, the degree of correcting the required torque of the motor by the torque learning value needs to be increased, so as to avoid over-discharge or over-charge of the battery when the vehicle subsequently operates to the first operation condition again; if the vehicle does not have the over-discharge or over-charge of the battery under the first operation working condition, the over-discharge or over-charge of the battery indicates that the torque learning value is enough to correct the required torque of the motor, and the torque learning value possibly has a descending space for the correction degree of the required torque of the motor, so that the correction degree of the torque learning value to the required torque of the motor can be reduced in an attempt to improve the driving stability of the vehicle. When the vehicle is again operated to the first operating condition, the adjustment strategy described above may be continued again until a suitable torque learn value is obtained.
Specifically, the torque learning value is a constant greater than 0, and the output torque value of the motor is obtained by subtracting the torque learning value from the required torque value when the battery is in a discharge state; in the case where the output torque value of the motor is the sum of the required torque value and the torque learning value while the battery is in a charged state, the torque learning value may be adjusted by the following adjustment strategy: if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
In the embodiment of the present invention, the adjustment range of the torque learning value may be uniformly set to a constant, and the torque learning value is adjusted by the constant regardless of the vehicle speed. The magnitude of the adjustment of the torque learning value may also be related to the vehicle speed, and may be different when the vehicle is operating at different vehicle speeds.
The occurrence of the over-discharge or the over-charge of the battery of the vehicle may be related to other accidental or sudden factors besides the torque of the motor, so that in order to eliminate the occurrence of the over-discharge or the over-charge of the battery of the vehicle caused by other factors and further cause the improper adjustment of the torque learning value, the following filtering conditions may be set in the embodiment of the invention.
Optionally, if the vehicle is in the first operating condition and the battery is over-discharged or over-charged, the torque learning value corresponding to the first operating condition is increased and adjusted, including:
and if the accumulated times of over-discharge or over-charge of the battery of the vehicle under the first operation working condition is more than or equal to N, increasing and adjusting the torque learning value corresponding to the first operation working condition, wherein N is an integer more than 1.
For example, N is 2, the vehicle corrects the torque required by the motor by using the torque learning value under the first operation condition, and if the battery over-discharge or the over-charge continuously occurs twice, it indicates that the torque learning value cannot meet the torque control requirement of the first operation condition, and it can be considered that the torque learning value needs to be adjusted. In this case, the torque learning value may be increased and adjusted to avoid the occurrence of battery over-discharge or over-charge when the vehicle is operated to the first operating condition next time. If the vehicle is only subjected to the primary battery over-discharge or over-charge, the secondary battery over-discharge or over-charge is not caused by unreasonable torque learning value, but probably caused by other sudden faults of the vehicle, and the torque learning value does not need to be adjusted.
In the embodiment, the torque learning value is more reasonably adjusted by setting the filtering condition of the accumulated times of the over-discharge or over-charge of the battery of the vehicle under the first operation working condition.
Accordingly, whether the vehicle is in a relatively stable state or not needs to be considered when the vehicle is not in the first operating condition, and therefore, in order to ensure that the vehicle is in a relatively stable state when the vehicle is not in the battery over-discharge or over-charge state, and further ensure that the adjustment of the torque learning value is more reasonable, the following filtering conditions can be set in the embodiment of the invention.
Optionally, if the vehicle does not have a battery over-discharge or over-charge under the first operating condition, performing reduction adjustment on the torque learning value corresponding to the first operating condition, including:
and if the accumulated times that the over-discharge or over-charge of the battery of the vehicle does not occur under the first operation working condition is greater than or equal to M, reducing and adjusting the torque learning value corresponding to the first operation working condition, wherein M is an integer greater than 1.
For example, M is 2, the vehicle corrects the torque required by the motor by using the torque learning value under the first operating condition, and if the battery over-discharge or over-charge does not occur twice in succession, it indicates that the torque learning value can more stably meet the torque control requirement under the first operating condition, or there may be an adjustable space for the torque learning value. Therefore, in this case, an attempt may be made to make a reduction adjustment to the torque learning value to further improve the driving smoothness of the vehicle.
In the embodiment, the torque learning value is more reasonably adjusted by setting the filtering condition of the accumulated times that the battery is not over-discharged or over-charged under the first operation working condition of the vehicle.
For better understanding of the above embodiments, the whole control process is illustrated below in two scenarios, battery overdischarge and battery overcharge, respectively.
First, battery overdischarge scene
As shown in FIG. 4, when the current operation condition cellnWhen the over-discharge of the battery occurs, the cellnFirst counter count ofiAnd adding 1.
When the cellnFirst counter count ofi>C1, adjust the cellnTorque learning value of, cellnTorque learning value TcellnPlus C2. Here, C1 may be a constant, C2 may be a constant, for example, 5Nm, or may be determined from the vehicle speed value, and the initial value of the torque learning value may be 0 or greater than 0.
Next time the cell is runnIn time, the adjusted cell is subtracted from the required torque value of the motornAs an output torque value of the motor.
When the cellnWhen the over-discharge of the battery does not occur, the cellnSecond counter countdeciAnd adding 1.
When the cellnSecond counter countdeci>C3, adjust the cellnTorque learning value of, cellnC4 is subtracted from the learned torque value of (C). Wherein C3 may be constant, C4 may be constant, such as 5Nm, or may be based on vehicle speed valueIt is determined that C4 may or may not equal C2, C2.
The next cellnWhen the over-discharge of the battery occurs, the above cycle is continued.
Second, battery overcharge scenario
As shown in FIG. 5, when the current operation condition cellmWhen the battery is overcharged, the cellmFirst counter count ofjAnd adding 1.
When the cellmFirst counter count ofj>C5, adjust the cellmTorque learning value of, cellmPlus C6. Wherein, C5 may be a constant, and C6 may be a constant, for example, 3Nm, or may be determined according to the vehicle speed value.
Next time the cell is runmAdding the adjusted cell to the required torque value of the motormAs an output torque value of the motor.
When the cellmWhen the battery is not overcharged, the cellmSecond counter countdecjAnd adding 1.
When the cellmCounter countdec of (1)j>C7, adjust the cellmTorque learning value of, cellmC8 is subtracted from the learned torque value of (C). Wherein, C7 may be a constant, C8 may be a constant, for example, 5Nm, or determined according to the vehicle speed value, and C8 may be equal to C6 or not equal to C6.
The next cellmWhen the battery is overcharged, the above cycle is continued.
In adjusting the torque learning value, a limit value may be set, that is, the torque learning value cannot exceed the limit value, and the torque learning value is adjusted up to the limit value. When the battery is not over-discharged or over-charged, the torque learning value approaches 0.
By integrating the above embodiments, the torque control method of the embodiment of the invention can effectively avoid the continuous over-discharge or over-charge of the battery under the current operation condition, improve the performance of the battery, effectively prolong the service life of the battery, effectively ensure the driving stability of the vehicle under the current operation condition, and ensure the good driving feeling of the whole vehicle. The torque control method of the embodiment of the invention is suitable for pure electric vehicles, hybrid vehicles (including extended range electric vehicles), fuel cell vehicles and the like.
As shown in fig. 6, an embodiment of the present invention provides a torque control apparatus 400, including:
the obtaining module 401 is configured to obtain a torque learning value corresponding to a first operation condition and obtain a current required torque value of a motor when a vehicle is in the first operation condition;
a determining module 402, configured to determine an output torque value of the motor according to the required torque value and the torque learning value;
a control module 403, configured to control the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
Alternatively, as shown in fig. 7, the torque control device 400 further includes:
a determining module 404, configured to determine whether the vehicle has a battery over-discharge or an over-charge under the first operating condition;
an adjustment module 405 configured to:
if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; or,
and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
Optionally, the adjusting module 405 is specifically configured to:
and if the accumulated times of over-discharge or over-charge of the battery of the vehicle under the first operation working condition is more than or equal to N, increasing and adjusting the torque learning value corresponding to the first operation working condition, wherein N is an integer more than 1.
Optionally, the adjusting module 405 is specifically configured to:
and if the accumulated times that the over-discharge or over-charge of the battery of the vehicle does not occur under the first operation working condition is greater than or equal to M, reducing and adjusting the torque learning value corresponding to the first operation working condition, wherein M is an integer greater than 1.
Optionally, the torque control device 400 further comprises:
the setting module is used for dividing S operation working conditions according to motor parameters and presetting a torque learning value corresponding to each operation working condition, wherein the S operation working conditions comprise the first operation working condition, and S is an integer larger than 1;
wherein the motor parameter comprises at least one of motor speed and motor torque.
Optionally, the setting module is specifically configured to:
presetting a mapping relation between a torque learning value and a battery parameter under each operation condition;
wherein the battery parameter comprises at least one of a battery temperature and a battery state of charge, SOC.
Optionally, the torque learning value is a value greater than or equal to 0;
the determining module 402 is specifically configured to:
when the battery is in a discharging state, the output torque value of the motor is the required torque value minus the torque learning value; or,
the output torque value of the motor is the required torque value plus the torque learning value when the battery is in a charged state.
It should be noted that any implementation manner in the torque control method embodiment can be implemented by the torque control apparatus 400 in the embodiment of the present invention, and the same beneficial effects are achieved, and in order to avoid repetition, details are not described here again.
Embodiments of the present invention also provide a vehicle that may include any of the torque control devices shown in fig. 6-7.
Fig. 8 is a block diagram of an electronic device according to an embodiment of the present invention. As shown in fig. 8, the electronic device 600 includes a memory 601, a processor 602, and a computer program stored on the memory 601 and executable on the processor 602; when the processor 602 executes the computer program, the following steps are implemented:
under the condition that a vehicle is in a first operation working condition, acquiring a torque learning value corresponding to the first operation working condition, and acquiring a current required torque value of a motor;
determining an output torque value of the motor according to the required torque value and the torque learning value;
controlling the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
In fig. 8, the bus architecture may include any number of interconnected buses and bridges, with one or more processors represented by processor 602 and various circuits of memory represented by memory 601 being linked together. The bus architecture may also link together various other circuits such as peripherals, voltage regulators, power management circuits, and the like, which are well known in the art, and therefore, will not be described any further herein. The bus interface provides an interface. The processor 602 is responsible for managing the bus architecture and general processing, and the memory 601 may store data used by the processor 602 in executing instructions. In the embodiment of the present invention, the electronic device includes, but is not limited to, a mobile phone, a tablet computer, a notebook computer, a palm computer, a vehicle-mounted mobile terminal, a wearable device, and the like.
Optionally, when the processor 602 executes the computer program, the following steps are further implemented:
judging whether the vehicle has over-discharge or over-charge of a battery under the first operation working condition;
if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; or,
and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
Optionally, when executing the step of increasing and adjusting the torque learning value corresponding to the first operating condition if the vehicle has a battery over-discharge or an over-charge under the first operating condition, the processor 602 implements the following steps:
and if the accumulated times of over-discharge or over-charge of the battery of the vehicle under the first operation working condition is more than or equal to N, increasing and adjusting the torque learning value corresponding to the first operation working condition, wherein N is an integer more than 1.
Optionally, when executing the step of performing reduction adjustment on the torque learning value corresponding to the first operating condition if the vehicle does not generate over-discharge or over-charge of the battery under the first operating condition, the processor 602 implements the following steps:
and if the accumulated times that the over-discharge or over-charge of the battery of the vehicle does not occur under the first operation working condition is greater than or equal to M, reducing and adjusting the torque learning value corresponding to the first operation working condition, wherein M is an integer greater than 1.
Optionally, when the processor 602 executes the computer program, the following steps are further implemented:
dividing S operation conditions according to motor parameters, and presetting a torque learning value corresponding to each operation condition, wherein the S operation conditions comprise the first operation condition, and S is an integer greater than 1;
wherein the motor parameter comprises at least one of motor speed and motor torque.
Optionally, when the processor 602 executes the step of presetting the torque learning value corresponding to each operating condition, the following steps are implemented:
presetting a mapping relation between a torque learning value and a battery parameter under each operation condition;
wherein the battery parameter comprises at least one of a battery temperature and a battery state of charge, SOC.
Optionally, the torque learning value is a value greater than or equal to 0;
the processor 602, when executing the step of determining the output torque value of the motor from the required torque value and the torque learning value, implements the steps of:
when the battery is in a discharging state, the output torque value of the motor is the required torque value minus the torque learning value; or,
the output torque value of the motor is the required torque value plus the torque learning value when the battery is in a charged state.
It should be noted that any implementation manner in the torque control method embodiment may be implemented by the electronic device 600 in the embodiment of the present invention, and the same beneficial effects are achieved, and for avoiding repetition, details are not described here.
The embodiment of the invention also provides a computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, and when being executed by a processor, the computer program realizes each process of the network testing method embodiment of the whole vehicle rack, can achieve the same technical effect, and is not repeated here to avoid repetition. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
In the several embodiments provided in the present application, it should be understood that the disclosed method and apparatus may be implemented in other ways. For example, the above-described device embodiments are merely illustrative, and for example, the division of the units is only one type of logical function division, and other division manners may be available in actual implementation, for example, a plurality of units or components may be combined or integrated into another device, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.
In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may be physically included alone, or two or more units may be integrated into one unit. The integrated unit can be realized in a form of hardware, or in a form of hardware plus a software functional unit.
The integrated unit implemented in the form of a software functional unit may be stored in a computer readable storage medium. The software functional unit is stored in a storage medium and includes several instructions to enable a computer device (which may be a personal computer, a server, or a network device) to execute some steps of the transceiving method according to various embodiments of the present invention. And the aforementioned storage medium includes: various media capable of storing program codes, such as a usb disk, a removable hard disk, a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk, or an optical disk.
The above description is only for the specific embodiments of the present invention, but the scope of the present invention is not limited thereto, and any person skilled in the art can easily conceive of the changes or substitutions within the technical scope of the present invention, and all the changes or substitutions should be covered within the scope of the present invention. Therefore, the protection scope of the present invention shall be subject to the protection scope of the claims.

Claims (15)

1. A method of torque control, the method comprising:
under the condition that a vehicle is in a first operation working condition, acquiring a torque learning value corresponding to the first operation working condition, and acquiring a current required torque value of a motor;
determining an output torque value of the motor according to the required torque value and the torque learning value;
controlling the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
2. The method of claim 1, wherein after controlling the output torque of the electric machine based on the output torque value, the method further comprises:
judging whether the vehicle has over-discharge or over-charge of a battery under the first operation working condition;
if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; or,
and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
3. The method of claim 2, wherein if the vehicle has an over-discharge or an over-charge of a battery under the first operating condition, performing an increase adjustment on the torque learning value corresponding to the first operating condition comprises:
and if the accumulated times of over-discharge or over-charge of the battery of the vehicle under the first operation working condition is more than or equal to N, increasing and adjusting the torque learning value corresponding to the first operation working condition, wherein N is an integer more than 1.
4. The method of claim 2, wherein if the vehicle does not have a battery over-discharge or over-charge under the first operating condition, performing a reduction adjustment on the torque learning value corresponding to the first operating condition comprises:
and if the accumulated times that the over-discharge or over-charge of the battery of the vehicle does not occur under the first operation working condition is greater than or equal to M, reducing and adjusting the torque learning value corresponding to the first operation working condition, wherein M is an integer greater than 1.
5. The method according to any one of claims 1 to 4, further comprising:
dividing S operation conditions according to motor parameters, and presetting a torque learning value corresponding to each operation condition, wherein the S operation conditions comprise the first operation condition, and S is an integer greater than 1;
wherein the motor parameter comprises at least one of motor speed and motor torque.
6. The method of claim 5, wherein presetting a torque learning value for each operating condition comprises:
presetting a mapping relation between a torque learning value and a battery parameter under each operation condition;
wherein the battery parameter comprises at least one of a battery temperature and a battery state of charge, SOC.
7. The method according to any one of claims 1 to 4, characterized in that the torque learning value is a numerical value greater than or equal to 0;
determining an output torque value of the motor based on the required torque value and the torque learning value, including:
when the battery is in a discharging state, the output torque value of the motor is the required torque value minus the torque learning value; or,
the output torque value of the motor is the required torque value plus the torque learning value when the battery is in a charged state.
8. A torque control device, characterized in that the device comprises:
the acquisition module is used for acquiring a torque learning value corresponding to a first operation working condition and acquiring a current required torque value of a motor under the condition that a vehicle is in the first operation working condition;
the determining module is used for determining an output torque value of the motor according to the required torque value and the torque learning value;
the control module is used for controlling the output torque of the motor according to the output torque value;
the torque learning value is a preset or predetermined value used for correcting the required torque value of the motor under the first operation working condition.
9. The apparatus of claim 8, further comprising:
the judging module is used for judging whether the vehicle has over-discharge or over-charge of a battery under the first operation working condition;
an adjustment module to:
if the vehicle has over-discharge or over-charge of the battery under the first operation working condition, increasing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition; or,
and if the vehicle does not generate over-discharge or over-charge of the battery under the first operation working condition, reducing and adjusting the torque learning value corresponding to the first operation working condition, and taking the adjusted torque learning value as the torque learning value corresponding to the first operation working condition.
10. The apparatus of claim 8 or 9, further comprising:
the setting module is used for dividing S operation working conditions according to motor parameters and presetting a torque learning value corresponding to each operation working condition, wherein the S operation working conditions comprise the first operation working condition, and S is an integer larger than 1;
wherein the motor parameter comprises at least one of motor speed and motor torque.
11. The apparatus of claim 10, wherein the setup module is specifically configured to:
presetting a mapping relation between a torque learning value and a battery parameter under each operation condition;
wherein the battery parameter comprises at least one of a battery temperature and a battery state of charge, SOC.
12. The apparatus according to claim 8 or 9, characterized in that the torque learning value is a numerical value greater than or equal to 0;
the determining module is specifically configured to:
when the battery is in a discharging state, the output torque value of the motor is the required torque value minus the torque learning value; or,
the output torque value of the motor is the required torque value plus the torque learning value when the battery is in a charged state.
13. A vehicle characterized by comprising the torque control apparatus of any one of claims 8 to 12.
14. An electronic device, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the computer program, when executed by the processor, implementing the steps in the torque control method according to any one of claims 1 to 7.
15. A computer-readable storage medium having stored thereon a computer program, characterized in that: the computer program, when executed by a processor, implements a torque control method as claimed in any one of claims 1 to 7.
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