CN115805819B - Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill - Google Patents
Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill Download PDFInfo
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- CN115805819B CN115805819B CN202211527139.2A CN202211527139A CN115805819B CN 115805819 B CN115805819 B CN 115805819B CN 202211527139 A CN202211527139 A CN 202211527139A CN 115805819 B CN115805819 B CN 115805819B
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Abstract
本申请公开了一种车辆防溜坡时防止电机堵转的方法、装置、设备及介质，通过在驱动电机进入堵转状态后，根据所述驱动电机的内部温度调整所述驱动电机的扭矩，使得所述驱动电机停止堵转；在所述驱动电机停止堵转后，根据车辆的溜坡距离和所述驱动电机的温度，再次调整所述驱动电机的扭矩，使得所述驱动电机再次进入所述堵转状态。实现了在车辆防溜坡时对驱动电机的堵转相位进行调整，避免了驱动电机长时间堵转造成的驱动电机过热和损坏，同时又对车辆溜坡时后退的距离进行控制，大大提升车辆的驾驶安全和用户的驾驶体验。
The present application discloses a method, device, equipment and medium for preventing a motor from stalling when a vehicle is preventing a vehicle from rolling down a slope. After the drive motor enters a stalled state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor, so that the drive motor stops stalling; after the drive motor stops stalling, the torque of the drive motor is adjusted again according to the rolling distance of the vehicle and the temperature of the drive motor, so that the drive motor enters the stalled state again. The stall phase of the drive motor is adjusted when the vehicle is preventing a vehicle from rolling down a slope, avoiding overheating and damage to the drive motor caused by a long-term stall of the drive motor, and at the same time controlling the distance the vehicle retreats when rolling down a slope, greatly improving the driving safety of the vehicle and the driving experience of the user.
Description
Technical Field
The application relates to the technical field of vehicle power system control, in particular to a method, a device, equipment and a medium for preventing a motor from stalling when a vehicle is prevented from sliding down a slope.
Background
As shown in fig. 1, when the vehicle starts on a hill, in the case of heavy load or a large angle of the hill, the vehicle may slip, thereby affecting the driving safety of the vehicle to some extent.
In the related art, the rotation speed of the driving motor is generally controlled to be about 0 through a preset algorithm, that is, the driving motor is controlled to be in a locked state. However, when the driving motor is in a locked state, the rotor position of the driving motor is random, the current of the three-phase stator winding in the driving motor is direct current with unequal amplitude, but is asymmetric sine alternating current, and at the moment, the temperature of the three-phase stator winding can be rapidly increased, so that the temperature of the driving motor is increased, the driving motor is overheated due to long-time locked rotation, and the burning loss is easily caused by the overheating of the electric elements of the driving motor and a controller thereof.
Therefore, how to prevent the overheat of the drive motor when the vehicle enters the anti-slip state is a technical problem to be solved.
Disclosure of Invention
The application mainly aims to provide a method, a device, equipment and a medium for preventing motor from stalling when a vehicle is in a landslide prevention state, and aims to solve the technical problem that the temperature of a driving motor is too high due to stalling of the driving motor when the vehicle is in the landslide prevention state.
In a first aspect, the present application provides a method for preventing motor stall when a vehicle is moving downhill, the method comprising the steps of:
after the driving motor enters a locked-rotor state, adjusting the torque of the driving motor according to the internal temperature of the driving motor so that the driving motor stops locked-rotor;
after the driving motor stops blocking, the torque of the driving motor is adjusted again according to the sliding distance of the vehicle and the temperature of the driving motor, so that the driving motor enters the blocking state again.
In some embodiments, after the driving motor enters the locked-rotor state, adjusting the torque of the driving motor according to the internal temperature of the driving motor, so that the driving motor stops locked-rotor, including:
Determining whether the internal temperature of the driving motor is greater than or equal to a preset first temperature threshold;
when the internal temperature of the driving motor is greater than or equal to the first temperature threshold value, adjusting the torque of the driving motor so that the driving motor stops blocking;
When the internal temperature of the driving motor is smaller than the first temperature threshold value, after each interval is preset, the torque of the driving motor is adjusted, so that the driving motor stops blocking.
In some embodiments, when the internal temperature of the driving motor is less than the first temperature threshold, adjusting the torque of the driving motor after each interval for a preset time, so that the driving motor stops stalling, including:
determining whether a vehicle operation control signal is received when an internal temperature of the driving motor is less than the first temperature threshold;
if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal;
if the vehicle running control signal is not received, adjusting the torque of the driving motor after preset time at each interval so that the driving motor stops blocking;
The vehicle running signals comprise an accelerator signal, a brake signal and a hand brake signal.
In some embodiments, after the driving motor stops stalling, according to the sliding distance of the vehicle and the temperature of the driving motor, the torque of the driving motor is adjusted again, so that the driving motor enters the stalling state again, including:
when the sliding distance of the vehicle is greater than or equal to a preset sliding distance threshold value, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again;
when the landslide distance of the vehicle is smaller than the landslide distance threshold value, determining whether the temperature of the driving motor is smaller than a second temperature threshold value;
If yes, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted;
Wherein the second temperature threshold is lower than the first temperature threshold.
In some embodiments, the method further comprises:
And determining the temperature of the driving motor according to the state of the insulated gate bipolar transistor IGBT in the driving motor.
In some embodiments, adjusting the torque of the drive motor such that the drive motor enters a locked-rotor state includes:
setting a given rotating speed of the driving motor to 0;
And performing integral proportion PI control according to the given rotating speed of the driving motor and the current rotating speed of the driving motor so as to control the torque of the driving motor, so that the driving motor enters a locked-rotor state.
In some embodiments, after the driving motor enters the locked-rotor state, adjusting the torque of the driving motor according to the internal temperature of the driving motor, so that before the driving motor stops locked-rotor, the method further comprises:
determining whether the vehicle slides on a slope according to the gear of the vehicle and the rotating speed direction of the driving motor;
and when the vehicle slides on a slope, adjusting the torque of the driving motor so that the driving motor enters a locked-rotor state.
In a second aspect, the present application also provides a device for preventing motor stall when a vehicle is running off a slope, the device comprising:
the first adjusting module is used for adjusting the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a locked-rotor state, so that the driving motor stops locked-rotor;
And the second adjusting module is used for adjusting the torque of the driving motor again according to the sliding distance of the vehicle and the temperature of the driving motor after the driving motor stops blocking, so that the driving motor enters the blocking state again.
In some embodiments, the first adjustment module is further configured to:
Determining whether the internal temperature of the driving motor is greater than or equal to a preset first temperature threshold;
when the internal temperature of the driving motor is greater than or equal to the first temperature threshold value, adjusting the torque of the driving motor so that the driving motor stops blocking;
When the internal temperature of the driving motor is smaller than the first temperature threshold value, after each interval is preset, the torque of the driving motor is adjusted, so that the driving motor stops blocking.
In some embodiments, the first adjustment module is further configured to:
determining whether a vehicle operation control signal is received when an internal temperature of the driving motor is less than the first temperature threshold;
if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal;
if the vehicle running control signal is not received, adjusting the torque of the driving motor after preset time at each interval so that the driving motor stops blocking;
The vehicle running signals comprise an accelerator signal, a brake signal and a hand brake signal.
In some embodiments, the second adjustment module is further configured to:
when the sliding distance of the vehicle is greater than or equal to a preset sliding distance threshold value, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again;
when the landslide distance of the vehicle is smaller than the landslide distance threshold value, determining whether the temperature of the driving motor is smaller than a second temperature threshold value;
If yes, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted;
Wherein the second temperature threshold is lower than the first temperature threshold.
In some embodiments, the apparatus is further configured to determine a temperature of the drive motor based on a state of an Insulated Gate Bipolar Transistor (IGBT) in the drive motor.
In some embodiments, the apparatus is further configured to:
setting a given rotating speed of the driving motor to 0;
And performing integral proportion PI control according to the given rotating speed of the driving motor and the current rotating speed of the driving motor so as to control the torque of the driving motor, so that the driving motor enters a locked-rotor state.
In some embodiments, the apparatus further comprises a third adjustment module for:
determining whether the vehicle slides on a slope according to the gear of the vehicle and the rotating speed direction of the driving motor;
and when the vehicle slides on a slope, adjusting the torque of the driving motor so that the driving motor enters a locked-rotor state.
In a third aspect, the present application also provides a computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program when executed by the processor implements the steps of a method for preventing motor stall when a vehicle is moving uphill as described above.
In a fourth aspect, the present application also provides a computer readable storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the steps of a method for preventing stalling of a motor when a vehicle is moving uphill as described above.
The application provides a method, a device, equipment and a medium for preventing a motor from blocking when a vehicle slides, which are characterized in that after the driving motor enters a blocking state, the torque of the driving motor is adjusted according to the internal temperature of the driving motor to stop blocking the rotation of the driving motor, and after the driving motor stops blocking the rotation, the torque of the driving motor is adjusted again according to the sliding distance of the vehicle and the temperature of the driving motor to ensure that the driving motor enters the blocking state again. The motor control device has the advantages that the locked rotor phase of the driving motor is adjusted when the vehicle is prevented from sliding on a slope, overheat and damage of the driving motor caused by long-time locked rotor of the driving motor are avoided, the retreating distance of the vehicle is controlled when the vehicle slides on the slope, and driving safety of the vehicle and driving experience of users are greatly improved.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present application, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
FIG. 1 is a schematic illustration of a vehicle hill run;
fig. 2 is a schematic flow chart of a method for preventing a motor from stalling when a vehicle is prevented from sliding on a slope according to an embodiment of the present application;
FIG. 3 is a schematic flow chart of PI control;
FIG. 4 is a schematic diagram of a method of controlling a drive motor;
FIG. 5 is a schematic block diagram of an apparatus for preventing motor stall when a vehicle is moving downhill;
Fig. 6 is a schematic block diagram of a computer device according to an embodiment of the present application.
The achievement of the objects, functional features and advantages of the present application will be further described with reference to the accompanying drawings, in conjunction with the embodiments.
Detailed Description
The following description of the embodiments of the present application will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the application. All other embodiments, which can be made by those skilled in the art based on the embodiments of the application without making any inventive effort, are intended to be within the scope of the application.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may be further divided, combined, or partially combined, so that the order of actual execution may be changed according to actual situations.
The embodiment of the application provides a method, a device, equipment and a medium for preventing a motor from being locked when a vehicle is prevented from sliding down a slope. The method for preventing the motor from stalling during the vehicle anti-slip slope can be applied to computer equipment, and the computer equipment can be a whole vehicle controller or a vehicle-mounted computer and other equipment.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 2, fig. 2 is a flow chart of a method for preventing a motor from stalling when a vehicle is running down a slope according to an embodiment of the application.
As shown in fig. 2, the method includes steps S1 to S2.
And S1, after the driving motor enters a locked-rotor state, adjusting the torque of the driving motor according to the internal temperature of the driving motor, so that the driving motor stops locked-rotor.
It is worth to say that after the driving motor enters a locked-rotor state, the torque of the driving motor is adjusted according to the internal temperature of the driving motor, so that before the driving motor stops locked-rotor, whether the vehicle slides on a slope or not is determined according to the gear of the vehicle and the rotating speed direction of the driving motor, and when the vehicle slides on the slope is determined, the torque of the driving motor is adjusted, so that the driving motor enters the locked-rotor state.
Taking a pure electric direct-drive vehicle as an example, the gear of the vehicle corresponds to the running direction of the driving motor, when the gear of the vehicle is a forward gear under the condition of normal running temperature of the vehicle, the rotating speed direction of the driving motor of the vehicle is a positive rotating speed, and when the gear of the vehicle is a reverse gear, the rotating speed direction of the driving motor of the vehicle is a negative rotating speed. Therefore, when the vehicle gear is a forward gear and the motor has a negative rotating speed, the backward slip of the vehicle is determined, and when the vehicle gear is a reverse gear and the motor has a positive rotating speed, the forward slip of the vehicle is determined.
Also, it should be understood that the torque of the driving motor is a variable for adjusting the rotational speed of the driving motor. In the embodiment, after the vehicle slides on a slope, the torque of the driving motor is adjusted through the driving motor controller, so that the rotation speed of the driving motor is adjusted, the speed of the driving motor is adjusted to 0, and the driving motor is controlled to enter a locked-rotor state. And after the driving motor enters a locked state, the vehicle can be controlled to stop sliding.
As a preferable implementation mode, adjusting the torque of the driving motor to enable the driving motor to enter a locked-rotor state comprises setting a given rotating speed of the driving motor to be 0, and performing integral proportion PI control according to the given rotating speed of the driving motor and the current rotating speed of the driving motor to control the torque of the driving motor so as to enable the driving motor to enter the locked-rotor state.
For example, as shown in fig. 3, a given rotation speed r (t) of the driving motor is set to 0, and a deviation is formed according to the given rotation speed r (t) of the driving motor and a current rotation speed y (t) of the driving motor, wherein e (t) is a rotation speed deviation. The controlled object is controlled by linearly combining the ratio (P), integral (I) and derivative (D) of the deviation to form a control amount. The control rule is as follows:
Where Kp is a proportionality coefficient, ti is an integral time constant, td is a differential time constant, ki=kp/Ti is an integral coefficient, kd=kp×td is a differential coefficient.
The control adopts PI control, namely Kd=0, the adjustment Kp and Ki, kp proportionally respond to a rotating speed deviation signal e (t) of the control system, and once deviation occurs, the driving motor controller immediately generates a control action to control the torque of the driving motor so as to control the rotating speed of the driving motor, thereby reducing errors. When the deviation e=0, the control action is also 0.Ki can memorize errors, is mainly used for eliminating static differences and improving the no-difference degree of a system, and the intensity of the integral action depends on the integral time constant Ti, and the larger the integral time constant Ti is, the weaker the integral action is, and the stronger the opposite is.
Specifically, after the driving motor enters a locked-rotor state, adjusting torque of the driving motor according to internal temperature of the driving motor, so that the driving motor stops locked-rotor, the method comprises the following steps:
And when the internal temperature of the driving motor is greater than or equal to the first temperature threshold, adjusting the torque of the driving motor to stop the locked rotor. In this embodiment, the driving motor controller limits the power to the driving motor, so as to achieve the effect of reducing the torque of the driving motor. After the torque is reduced, the driving motor cannot keep the locked state, and slowly rotates, the phase of the driving motor is changed, meanwhile, the current of the driving motor is changed from the direct current in the locked state to the sinusoidal alternating current, and the temperature of the driving motor slowly drops. Therefore, the first temperature threshold is set, when the temperature of the driving motor is higher than or equal to the first temperature threshold in the locked-rotor state, the temperature is higher, the torque of the driving motor is reduced, the locked-rotor is stopped, the temperature of the driving motor can be reduced, and therefore the driving motor is prevented from being damaged due to the fact that the temperature of the whole motor system is too high.
When the internal temperature of the driving motor is smaller than the first temperature threshold value, after each interval is preset, the torque of the driving motor is adjusted, so that the driving motor stops blocking. The preset time interval in this embodiment is 5 seconds. In this embodiment, after the engine enters the locked-rotor state, the temperature does not exceed the preset threshold value, and the driving motor is controlled to stop locked-rotor once after locked-rotor for 5 seconds, so that the temperature of the driving motor can be adjusted after locked-rotor for 5 seconds, and the overheat state of the driving motor is better avoided.
As a preferable embodiment, as shown in FIG. 4, when the internal temperature of the driving motor is smaller than the first temperature threshold, determining whether a vehicle running control signal is received, if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal, and if the vehicle running control signal is not received, adjusting the torque of the driving motor after every preset time interval so that the driving motor stops blocking, wherein the vehicle running signal comprises an accelerator signal, a brake signal and a hand brake signal. When the accelerator signal is received to indicate that the vehicle is to accelerate, the signal of the brake signal and the signal of the handle brake indicate that the driver controls the vehicle to stop, and the vehicle cannot continue to slide on the slope at the moment, so that after the three signals are received, the driving motor is not required to be controlled to adopt the anti-slide control, and the driving motor is directly controlled to run according to the state corresponding to the received signals.
And S2, after the driving motor stops blocking, the torque of the driving motor is adjusted again according to the sliding distance of the vehicle and the temperature of the driving motor, so that the driving motor enters the blocking state again.
Specifically, after the driving motor stops stalling, according to the sliding distance of the vehicle and the temperature of the driving motor, the torque of the driving motor is adjusted again, so that the driving motor enters the stalling state again, and the method comprises the following steps:
When the sliding distance of the vehicle is larger than or equal to a preset sliding distance threshold, the torque of the driving motor is adjusted again so that the driving motor enters the locked-rotor state again, when the sliding distance of the vehicle is smaller than the sliding distance threshold, whether the temperature of the driving motor is smaller than a second temperature threshold is determined, if yes, the torque of the driving motor is adjusted again so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted, and the second temperature threshold is lower than the first temperature threshold.
It should be noted that, after the driving motor stops blocking, the vehicle may continue to slide at a slow speed, and the distance of the vehicle sliding on the slope may be obtained by detecting the rotation speed of the driving motor and the backward sliding time (the time when the driving motor stops blocking) when the vehicle slides on the slope, and the threshold value of the sliding distance in this embodiment is 50mm. According to the embodiment, the purpose of reducing the temperature of the driving motor is achieved by controlling the retreating distance of the vehicle when the vehicle slides on a slope, and the safety of the vehicle is ensured by controlling the retreating distance of the vehicle when the vehicle slides on the slope. Through the control of the secondary slope sliding prevention strategy, the temperature inside the motor is quickly increased due to the rapid accumulation of heat when the vehicle starts on a slope, but the motor torque is slowly reduced, the vehicle is allowed to retract by about 50mm, so that the controller phase is switched, the phenomenon that the motor is not burnt when locked is avoided, and the IGBT is effectively protected.
As a preferred embodiment, the present embodiment determines the temperature of the drive motor according to the state of the insulated gate bipolar transistor IGBT in the drive motor.
The negative temperature coefficient thermistor NTC inside the IGBT in the driving motor is connected in series in a voltage dividing loop of the driving motor through an external pin, and as the NTC is reduced along with the temperature rise, the voltage dividing value or the voltage dividing value on the series resistor is changed along with the temperature change, and a voltage signal corresponding to the NTC temperature can be obtained after the voltage dividing value is modulated. The voltage signal is sent to a voltage comparator to be compared with a voltage value corresponding to a set protection temperature, the comparison value is used for controlling an input signal for cutting off the IGBT, and module temperature information is obtained, because larger load current can cause higher heat loss in the IGBT, and smaller load current can cause lower heat loss in the IGBT. The temperature of the drive motor can be determined from determining the state of the IBGT. Specifically, when the temperature of the driving motor is judged to be lower (lower than a second temperature threshold value), the torque of the driving motor can be immediately recovered to enable the driving motor to enter a locked-rotor state again, so that the vehicle is prevented from sliding down, the distance of the whole vehicle sliding back is effectively controlled when the whole vehicle starts on a hill, the impact sense in the sliding-down preventing process is reduced for two times, the risk of damaging a motor system is avoided, and the vehicle is controlled to be minimum in the backward direction. The driving safety and the driving experience of the user are greatly improved.
The embodiment of the application provides a method, a device, equipment and a medium for preventing a motor from blocking when a vehicle slides, wherein after the driving motor enters a blocking state, the torque of the driving motor is adjusted according to the internal temperature of the driving motor so as to stop blocking the driving motor, and after the driving motor stops blocking, the torque of the driving motor is adjusted again according to the sliding distance of the vehicle and the temperature of the driving motor so as to enable the driving motor to enter the blocking state again. The motor control device has the advantages that the locked rotor phase of the driving motor is adjusted when the vehicle is prevented from sliding on a slope, overheat and damage of the driving motor caused by long-time locked rotor of the driving motor are avoided, the retreating distance of the vehicle is controlled when the vehicle slides on the slope, and driving safety of the vehicle and driving experience of users are greatly improved.
Referring to fig. 5, fig. 5 is a schematic block diagram of a device for preventing a motor from stalling when a vehicle is running down a slope according to an embodiment of the present application.
As shown in fig. 5, the apparatus includes:
the first adjusting module is used for adjusting the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a locked-rotor state, so that the driving motor stops locked-rotor;
And the second adjusting module is used for adjusting the torque of the driving motor again according to the sliding distance of the vehicle and the temperature of the driving motor after the driving motor stops blocking, so that the driving motor enters the blocking state again.
Wherein the first adjustment module is further configured to:
Determining whether the internal temperature of the driving motor is greater than or equal to a preset first temperature threshold;
when the internal temperature of the driving motor is greater than or equal to the first temperature threshold value, adjusting the torque of the driving motor so that the driving motor stops blocking;
When the internal temperature of the driving motor is smaller than the first temperature threshold value, after each interval is preset, the torque of the driving motor is adjusted, so that the driving motor stops blocking.
Wherein the first adjustment module is further configured to:
determining whether a vehicle operation control signal is received when an internal temperature of the driving motor is less than the first temperature threshold;
if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal;
if the vehicle running control signal is not received, adjusting the torque of the driving motor after preset time at each interval so that the driving motor stops blocking;
The vehicle running signals comprise an accelerator signal, a brake signal and a hand brake signal.
Wherein the second adjustment module is further configured to:
when the sliding distance of the vehicle is greater than or equal to a preset sliding distance threshold value, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again;
when the landslide distance of the vehicle is smaller than the landslide distance threshold value, determining whether the temperature of the driving motor is smaller than a second temperature threshold value;
If yes, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted;
Wherein the second temperature threshold is lower than the first temperature threshold.
The device is also used for determining the temperature of the driving motor according to the state of the insulated gate bipolar transistor IGBT in the driving motor.
Wherein the device is also used for:
setting a given rotating speed of the driving motor to 0;
And performing integral proportion PI control according to the given rotating speed of the driving motor and the current rotating speed of the driving motor so as to control the torque of the driving motor, so that the driving motor enters a locked-rotor state.
Wherein the apparatus further comprises a third adjustment module for:
determining whether the vehicle slides on a slope according to the gear of the vehicle and the rotating speed direction of the driving motor;
and when the vehicle slides on a slope, adjusting the torque of the driving motor so that the driving motor enters a locked-rotor state.
It should be noted that, for convenience and brevity of description, specific working procedures of the above-described apparatus and each module and unit may refer to corresponding procedures in the foregoing embodiments, and are not repeated herein.
The apparatus provided by the above embodiments may be implemented in the form of a computer program which may be run on a computer device as shown in fig. 6.
Referring to fig. 6, fig. 6 is a schematic block diagram of a computer device according to an embodiment of the present application. The computer device may be a terminal.
As shown in fig. 6, the computer device includes a processor, a memory, and a network interface connected by a system bus, wherein the memory may include a non-volatile storage medium and an internal memory.
The non-volatile storage medium may store an operating system and a computer program. The computer program comprises program instructions which, when executed, cause the processor to perform any method for preventing motor stalling when the vehicle is moving off a hill.
The processor is used to provide computing and control capabilities to support the operation of the entire computer device.
The internal memory provides an environment for the execution of a computer program in the non-volatile storage medium that, when executed by the processor, causes the processor to perform any method for preventing motor stalling when the vehicle is moving downhill.
The network interface is used for network communication such as transmitting assigned tasks and the like. It will be appreciated by those skilled in the art that the structure shown in FIG. 6 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
It should be appreciated that the Processor may be a central processing unit (Central Processing Unit, CPU), it may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL Processor, DSP), application SPECIFIC INTEGRATED Circuit (ASIC), field-Programmable gate array (Field-Programmable GATE ARRAY, FPGA) or other Programmable logic device, discrete gate or transistor logic device, discrete hardware components, or the like. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
Embodiments of the present application also provide a computer readable storage medium having a computer program stored thereon, the computer program including program instructions that, when executed, implement methods that can be referred to in various embodiments of the present application.
The computer readable storage medium may be an internal storage unit of the computer device according to the foregoing embodiment, for example, a hard disk or a memory of the computer device. The computer readable storage medium may also be an external storage device of the computer device, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which are provided on the computer device.
It should be noted that, in this document, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or system that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or system. Without further limitation, an element defined by the phrase "comprising one does not exclude the presence of other like elements in a process, method, article, or system that comprises the element.
The foregoing embodiment numbers of the present application are merely for the purpose of description, and do not represent the advantages or disadvantages of the embodiments. While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (7)
1. A method for preventing motor stalling when a vehicle is moving downhill, comprising:
after the driving motor enters a locked-rotor state, adjusting the torque of the driving motor according to the internal temperature of the driving motor so that the driving motor stops locked-rotor;
after the driving motor stops blocking, the torque of the driving motor is adjusted again according to the sliding distance of the vehicle and the temperature of the driving motor, so that the driving motor enters the blocking state again;
After the driving motor enters a locked-rotor state, the torque of the driving motor is adjusted according to the internal temperature of the driving motor, so that the driving motor stops locked-rotor, and the method comprises the following steps:
Determining whether the internal temperature of the driving motor is greater than or equal to a preset first temperature threshold;
when the internal temperature of the driving motor is greater than or equal to the first temperature threshold value, adjusting the torque of the driving motor so that the driving motor stops blocking;
When the internal temperature of the driving motor is smaller than the first temperature threshold value, adjusting the torque of the driving motor after each preset time interval so that the driving motor stops blocking;
when the internal temperature of the driving motor is smaller than the first temperature threshold, adjusting the torque of the driving motor after preset time at each interval, so that the driving motor stops blocking, and the method comprises the following steps:
determining whether a vehicle operation control signal is received when an internal temperature of the driving motor is less than the first temperature threshold;
if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal;
if the vehicle running control signal is not received, adjusting the torque of the driving motor after preset time at each interval so that the driving motor stops blocking;
the vehicle operation control signals comprise an accelerator signal, a brake signal and a hand brake signal;
after the driving motor stops locked-rotor, according to the sliding distance of the vehicle and the temperature of the driving motor, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, and the method comprises the following steps:
when the sliding distance of the vehicle is greater than or equal to a preset sliding distance threshold value, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again;
when the landslide distance of the vehicle is smaller than the landslide distance threshold value, determining whether the temperature of the driving motor is smaller than a second temperature threshold value;
If yes, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted;
Wherein the second temperature threshold is lower than the first temperature threshold.
2. The method for preventing motor stall when the vehicle is not moving downhill as defined in claim 1, further comprising:
And determining the temperature of the driving motor according to the state of the insulated gate bipolar transistor IGBT in the driving motor.
3. A method of preventing motor stall in a vehicle anti-roll-off as defined in claim 1, wherein adjusting the torque of said drive motor to bring said drive motor into a stall condition comprises:
setting a given rotating speed of the driving motor to 0;
And performing integral proportion PI control according to the given rotating speed of the driving motor and the current rotating speed of the driving motor so as to control the torque of the driving motor, so that the driving motor enters a locked-rotor state.
4. The method for preventing motor stall at the time of vehicle slip prevention according to claim 1, wherein after the drive motor enters a stall state, the torque of the drive motor is adjusted according to the internal temperature of the drive motor so that the drive motor stops stalling, further comprising:
determining whether the vehicle slides on a slope according to the gear of the vehicle and the rotating speed direction of the driving motor;
and when the vehicle slides on a slope, adjusting the torque of the driving motor so that the driving motor enters a locked-rotor state.
5. A device for preventing motor stall when a vehicle is moving downhill, comprising:
the first adjusting module is used for adjusting the torque of the driving motor according to the internal temperature of the driving motor after the driving motor enters a locked-rotor state, so that the driving motor stops locked-rotor;
The second adjusting module is used for adjusting the torque of the driving motor again according to the sliding distance of the vehicle and the temperature of the driving motor after the driving motor stops blocking, so that the driving motor enters the blocking state again;
wherein the first adjustment module is further configured to:
Determining whether the internal temperature of the driving motor is greater than or equal to a preset first temperature threshold;
when the internal temperature of the driving motor is greater than or equal to the first temperature threshold value, adjusting the torque of the driving motor so that the driving motor stops blocking;
When the internal temperature of the driving motor is smaller than the first temperature threshold value, adjusting the torque of the driving motor after each preset time interval so that the driving motor stops blocking;
wherein the first adjustment module is further configured to:
determining whether a vehicle operation control signal is received when an internal temperature of the driving motor is less than the first temperature threshold;
if the vehicle running control signal is received, adjusting the torque of the driving motor according to the vehicle running control signal so that the driving motor runs in a state corresponding to the vehicle running control signal;
if the vehicle running control signal is not received, adjusting the torque of the driving motor after preset time at each interval so that the driving motor stops blocking;
the vehicle operation control signals comprise an accelerator signal, a brake signal and a hand brake signal;
wherein the second adjustment module is further configured to:
when the sliding distance of the vehicle is greater than or equal to a preset sliding distance threshold value, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again;
when the landslide distance of the vehicle is smaller than the landslide distance threshold value, determining whether the temperature of the driving motor is smaller than a second temperature threshold value;
If yes, the torque of the driving motor is adjusted again, so that the driving motor enters the locked-rotor state again, otherwise, the torque of the driving motor is not adjusted;
Wherein the second temperature threshold is lower than the first temperature threshold.
6. A computer device comprising a processor, a memory, and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, performs the steps of the method of preventing motor stall when the vehicle is anti-roll as claimed in any one of claims 1 to 4.
7. A computer readable storage medium, characterized in that the computer readable storage medium has stored thereon a computer program, wherein the computer program, when executed by a processor, implements the steps of the method for preventing motor stall when a vehicle is anti-slip according to any one of claims 1 to 4.
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| CN202211527139.2A CN115805819B (en) | 2022-11-30 | 2022-11-30 | Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill |
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| CN202211527139.2A CN115805819B (en) | 2022-11-30 | 2022-11-30 | Method, device, equipment and medium for preventing motor from stalling when preventing vehicle from sliding downhill |
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| CN114148181B (en) * | 2021-11-26 | 2024-02-02 | 天津英捷利汽车技术有限责任公司 | Pure electric vehicle anti-slip method and system based on rotating speed ring and position ring |
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|---|---|---|---|---|
| CN111169441A (en) * | 2020-01-09 | 2020-05-19 | 宁波吉利汽车研究开发有限公司 | Automatic parking control method, system and terminal |
| CN115071446A (en) * | 2022-08-04 | 2022-09-20 | 金琥新能源汽车(成都)有限公司 | Electric automobile slope-sliding prevention control method and device, electric automobile and storage medium |
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| CN108275153B (en) * | 2016-12-30 | 2020-05-15 | 南通杰夫电气有限公司 | Method and system for controlling electric automobile to slide down slope |
| CN111186310B (en) * | 2020-01-16 | 2022-05-03 | 宁波吉利汽车研究开发有限公司 | A kind of control method, device and equipment for preventing vehicle from sliding |
| CN111231696B (en) * | 2020-01-19 | 2022-03-25 | 深圳拓邦股份有限公司 | Method and device for preventing electric vehicle from sliding down slope, electric vehicle and computer readable storage medium |
| CN111823879B (en) * | 2020-06-28 | 2023-03-10 | 深圳市法拉第电驱动有限公司 | New energy automobile slope slipping prevention method and system |
| CN114633633A (en) * | 2021-12-28 | 2022-06-17 | 珠海格力电器股份有限公司 | Slope-stopping control method and device for electric vehicle, storage medium and motor controller |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN111169441A (en) * | 2020-01-09 | 2020-05-19 | 宁波吉利汽车研究开发有限公司 | Automatic parking control method, system and terminal |
| CN115071446A (en) * | 2022-08-04 | 2022-09-20 | 金琥新能源汽车(成都)有限公司 | Electric automobile slope-sliding prevention control method and device, electric automobile and storage medium |
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