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CN112829605B - Vehicle torque control method and device and computer readable storage medium - Google Patents

Vehicle torque control method and device and computer readable storage medium Download PDF

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Publication number
CN112829605B
CN112829605B CN202110189621.9A CN202110189621A CN112829605B CN 112829605 B CN112829605 B CN 112829605B CN 202110189621 A CN202110189621 A CN 202110189621A CN 112829605 B CN112829605 B CN 112829605B
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current
motor
battery
vehicle
current maximum
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CN112829605A (en
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吴康
张凯
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Evergrande New Energy Automobile Investment Holding Group Co Ltd
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Evergrande New Energy Automobile Investment Holding Group 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/13—Maintaining the SoC within a determined range
    • 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
    • B60L58/00—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles
    • B60L58/10—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries
    • B60L58/12—Methods or circuit arrangements for monitoring or controlling batteries or fuel cells, specially adapted for electric vehicles for monitoring or controlling batteries responding to state of charge [SoC]
    • B60L58/14—Preventing excessive discharging
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • 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
    • B60L2240/549—Current
    • 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
    • Y02T10/70—Energy storage systems for electromobility, e.g. 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)
  • Life Sciences & Earth Sciences (AREA)
  • Sustainable Development (AREA)
  • Sustainable Energy (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

The application discloses a vehicle torque control method, a vehicle torque control device and a computer readable storage medium, wherein the method comprises the following steps: determining the current maximum available power and the current maximum available current of a motor of the vehicle according to the current maximum discharge capacity of a battery when the vehicle runs; determining the current maximum torque of the motor according to the current maximum available power of the motor and the vehicle speed of the vehicle; determining the current compensation torque of the motor according to the current maximum available current of the motor and the actual current of the motor; and determining the current maximum torque which can be provided by the motor according to the current maximum torque and the current compensation torque of the motor. The scheme of the embodiment of the application can output the energy of the battery to the maximum extent and can not cause the overdischarge of the battery due to the driving of the motor.

Description

Vehicle torque control method and device and computer readable storage medium
Technical Field
The present application relates to the field of vehicle safety technologies, and in particular, to a vehicle torque control method and apparatus, and a computer-readable storage medium.
Background
The electric vehicle is environmentally friendly and pollution-free, and has strong acceleration performance and driving NVH (Noise, vibration, harshness, noise, vibration, and Harshness) performance, which benefits from the driving of the vehicle by the electric motor using the electric energy of the power battery. The motor can consume the battery electric energy when driving the vehicle, the battery outputs high voltage and large current to meet the requirement of a driver on the powerful power of the vehicle, the larger the output current is, the larger the torque provided by the motor is, but the large current output has influence on the cycle service life of the battery. The cycle life of the battery is closely related to the current of the battery during operation, and the life and performance of the battery are greatly influenced by over-current driving or over-current charging of the battery. Therefore, the motor is reasonably controlled to be driven by using the battery capacity, and the method has great significance for the electric automobile.
In order to meet the acceleration requirements of a driver under different working conditions, the battery energy needs to be output as much as possible, and meanwhile, the situation that the driving current of the motor is not over discharged is ensured, especially under the dynamic driving working condition of repeated acceleration and deceleration.
Therefore, how to avoid the over-discharge of the battery under the condition of outputting the energy of the battery to the maximum extent is an urgent technical problem to be solved at present.
Disclosure of Invention
An object of the embodiments of the present application is to provide a vehicle torque control method and apparatus, and a computer-readable storage medium, for solving the problem of over-discharge of a battery occurring in a case where a battery energy is maximally output.
In order to solve the above technical problem, the present specification is implemented as follows:
in a first aspect, a vehicle torque control method is provided, comprising: determining the current maximum available power and the current maximum available current of a motor of the vehicle according to the current maximum discharge capacity of a battery when the vehicle runs; determining the current maximum torque of the motor according to the current maximum available power of the motor and the speed of the vehicle; determining the current compensation torque of the motor according to the current maximum available current of the motor and the actual current of the motor; and determining the current maximum torque which can be provided by the motor according to the current maximum torque and the current compensation torque of the motor.
Optionally, determining the current maximum available power of the motor of the vehicle according to the current maximum discharge capacity of the battery when the vehicle is running, includes: acquiring the current maximum discharge power, the current battery voltage and the current maximum discharge current of the battery; calculating the current maximum discharge power of the battery according to the obtained current battery voltage and the current maximum discharge current; and obtaining the current maximum available power of the motor according to the minimum value of the obtained current maximum discharge power of the battery and the calculated current maximum discharge power of the battery.
Optionally, the method further includes: acquiring actual consumed current of high-voltage accessories of the vehicle; determining the actual consumed power of the high-voltage accessory according to the actual consumed current of the high-voltage accessory and the current battery voltage of the battery; and obtaining the current maximum available power of the motor according to the difference value between the minimum value and the actual consumed power of the high-voltage accessory.
Optionally, determining the maximum available current of the motor of the vehicle according to the current maximum discharge capacity of the battery when the vehicle is running, includes: acquiring the current maximum discharge current of the battery; and obtaining the current maximum available current of the motor according to the current maximum discharge current of the battery.
Optionally, the method further includes: acquiring actual consumed current of high-voltage accessories of the vehicle; and obtaining the current maximum available current of the motor according to the difference value between the current maximum discharge current of the battery and the actual consumed current of the high-voltage accessory.
Optionally, determining the current maximum torque of the electric machine according to the current maximum available power of the electric machine and the vehicle speed of the vehicle includes: obtaining the actual rotating speed of the motor based on the vehicle speed of the vehicle; and determining the current maximum torque of the motor according to the actual rotating speed of the motor and the current maximum available power of the motor.
Optionally, determining the current compensation torque of the motor according to the maximum available current of the motor and the actual current of the motor, includes: acquiring the actual current of the motor, and calculating the current deviation between the current maximum available current and the actual current of the motor; determining a corresponding dynamic adjustment coefficient according to the current electric quantity charge state of the battery and/or the opening degree of an accelerator of the vehicle; and determining the current compensation torque of the motor according to the current deviation and the dynamic adjustment coefficient.
Optionally, before calculating the current deviation between the current maximum available current and the actual current of the motor, the method further includes: determining a safety current value corresponding to the current maximum available current of the motor according to the detection precision of the current generated when the motor executes torque, wherein the safety current value is smaller than the current maximum available current of the motor; wherein calculating a current deviation between a present maximum available current and an actual current of the motor comprises: and obtaining the current deviation according to the difference between the safe current value of the motor and the actual current of the motor.
In a second aspect, there is provided a vehicle torque control device comprising a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to the first aspect.
In a third aspect, a computer-readable storage medium is provided, on which a computer program is stored which, when being executed by a processor, carries out the steps of the method according to the first aspect.
In the embodiment of the application, the current maximum available power and the current maximum available current of the motor of the vehicle are determined according to the current maximum discharge capacity of the battery when the vehicle runs; determining the current maximum torque of the motor according to the current maximum available power of the motor and the speed of the vehicle; determining the current compensation torque of the motor according to the current maximum available current of the motor and the actual current of the motor; determining the current maximum torque which can be provided by the motor according to the current maximum torque and the current compensation torque of the motor, so that the energy of a power battery can be fully utilized, the power of the electric automobile is improved to the maximum extent, and the requirement of a driver on the dynamic property of the automobile is met; the motor can be ensured to execute torque output under different working conditions and different battery states, so that the battery can not be over-discharged, the battery performance is improved, and the battery cycle service life is prolonged. Therefore, the battery energy can be output to the maximum extent, the battery overdischarge caused by the driving of the motor can be avoided, and the method has very important significance for prolonging the cycle life of the battery and improving the dynamic property of the vehicle.
Drawings
The accompanying drawings, which are included to provide a further understanding of the application and are incorporated in and constitute a part of this application, illustrate embodiment(s) of the application and together with the description serve to explain the application and not to limit the application. In the drawings:
fig. 1 is a flowchart illustrating a vehicle torque control method according to an embodiment of the present application.
FIG. 2 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present application.
FIG. 3 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present application.
FIG. 4 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present application.
FIG. 5 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present application.
FIG. 6 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present application.
Fig. 7 is a flowchart illustrating a vehicle torque control method according to an embodiment of the present application.
Fig. 8 is a block diagram showing the structure of a vehicle torque control device according to the vehicle torque control method according to the embodiment of the present application.
Fig. 9 is a block diagram showing the structure of a vehicle torque control device according to the embodiment of the present application.
Detailed Description
The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the drawings in the embodiments of the present application, and it is obvious that the described embodiments are some, but not all, embodiments of the present application. 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 application. The reference numbers in the present application are only used for distinguishing the steps in the scheme and are not used for limiting the execution sequence of the steps, and the specific execution sequence is described in the specification.
In order to solve the problems in the prior art, an embodiment of the present application provides a vehicle torque control method, and please refer to fig. 1 to 7 for specific embodiments.
Fig. 1 is a schematic flow chart of a vehicle torque control method according to an embodiment of the present invention, as shown in fig. 1, the method includes the following steps:
step 102: determining the current maximum available power and the current maximum available current of a motor of the vehicle according to the current maximum discharge capacity of a battery when the vehicle runs;
step 104: determining the current maximum torque of the motor according to the current maximum available power of the motor and the speed of the vehicle;
step 106: determining the current compensation torque of the motor according to the current maximum available current of the motor and the actual current of the motor;
step 108: and determining the current maximum torque which can be provided by the motor according to the current maximum torque of the motor and the current compensation torque.
Based on the solutions provided in the foregoing embodiments, optionally, as shown in fig. 2, in step 102, determining a steady-state maximum available power of a motor of the vehicle according to a current maximum discharge capacity of a battery when the vehicle is running includes:
step 202: acquiring the current maximum discharge power, the current battery voltage and the current maximum discharge current of the battery;
step 204: calculating the current maximum discharge power of the battery according to the obtained current battery voltage and the current maximum discharge current;
step 206: and obtaining the current maximum available power of the motor according to the minimum value of the obtained current maximum discharge power of the battery and the calculated current maximum discharge power of the battery.
The maximum discharge capacity of the battery is a State of the battery during vehicle running, and includes information such as a maximum discharge power of the battery, a maximum discharge current of the battery, a State of Charge (SOC) of the battery, and a voltage of the battery. In the application, all the current states of the battery in the real-time running process of the vehicle are pointed to, for example, the current maximum discharging capacity of the battery is the current actual value of parameters such as the maximum discharging current of the battery, the charge state of charge (SOC) of the battery, the voltage of the battery and the like acquired in the running process of the vehicle.
In consideration of the limitation of the battery power level, the battery power does not change greatly or is relatively stable, and during the driving process of the electric vehicle, under the complex and variable working conditions of vehicle driving, such as the change of the current level caused by the instantaneous frequent acceleration and deceleration operations, the current driven by the motor also changes dramatically, which easily causes the over-discharge of the battery and affects the capability of the battery.
In the above steps 202 to 206, the current maximum available discharge power of the motor is calculated, and the current maximum available discharge power of the battery needs to be considered. And the current maximum available discharge power of the battery considers the current maximum discharge power of the battery which is actually obtained and the current maximum discharge current limit of the battery, and the current maximum power limit of the available battery is calculated according to the current battery voltage and the current maximum discharge current of the battery.
The current maximum discharge power, the current battery voltage, and the current maximum discharge current of the battery are all acquired from a battery management system of the vehicle through the communication line.
The actually obtained current maximum discharge power of the battery is obtained by transmission after calculation according to the collected current battery voltage and the current battery maximum discharge current in the battery management system, and because the data transmission process is interfered, the current maximum discharge power of the battery is obtained by calculation according to the obtained current battery voltage and the current maximum discharge current, and deviation possibly exists between the current maximum discharge power of the battery and the current maximum discharge power of the battery actually obtained from the battery management system. Therefore, in order to avoid the mismatch between the current maximum discharge power of the battery transmitted and fed back by the battery management system and the power calculated by the battery management system, the current maximum available discharge power of the battery is obtained after the current maximum discharge power of the battery and the power calculated by the battery management system are the minimum value, and the current maximum available power of the motor is also obtained.
P batavl ＝min(P batmax ,U bat *I batmax )
Wherein, P batmax Is the current maximum discharge power, U, of the battery bat Is the current voltage of the battery, I batmax Is the current maximum discharge current, P, of the battery batavl Is the current maximum available discharge power of the battery.
High-voltage accessories of a vehicle, such as a high-voltage air conditioner, a high-voltage power supply and the like, can be distributed with battery power for use, and the power consumption of the high-voltage accessories is not only the guarantee that hundreds of low-voltage control units on the vehicle normally work (the high-voltage accessories need to convert high voltage into low voltage to supply power for the work of each low-voltage control unit and low-voltage components), but also the guarantee that the vehicle and a battery pack safely drive (defrosting and demisting are needed during driving, and the battery pack is cooled by the air conditioner and the like).
Thus, to ensure safe operation of the vehicle or system, in one embodiment, determining the steady state maximum available power for the electric machines of the vehicle may also take into account the power used by the high voltage accessories.
As shown in fig. 3, in an embodiment, the determining the steady-state maximum available power of the motor of the vehicle according to the current maximum discharge capacity of the battery when the vehicle is running further includes:
step 302: acquiring actual consumed current of high-voltage accessories of the vehicle;
step 304: determining the actual consumed power of the high-voltage accessory according to the actual consumed current of the high-voltage accessory and the current battery voltage of the battery;
step 306: and obtaining the current maximum available power of the motor according to the difference value between the minimum value and the actual consumed power of the high-voltage accessory.
In step 304, the actual power consumption of the high-voltage accessory is calculated by multiplying the current actual current consumption of the high-voltage accessory by the current battery voltage.
P acs ＝U bat *I acs
Wherein, I acs Is the actual consumption current of the high-voltage accessories, obtained from the accessory management unit of the vehicle through the communication line; p acs Is the actual power consumed by the high voltage accessory.
In step 306, the current maximum available power of the motor is calculated according to the current maximum discharging power minimum value of the battery determined in step 206, that is, the current maximum available discharging power of the battery, and the actual consumed power of the high-voltage accessory, and the current maximum available power P of the motor is obtained by subtracting the current maximum available power of the motor from the current maximum available discharging power of the battery motavl 。
P motavl ＝P batavl -P acs
Wherein, P batavl Is the current maximum available discharge power, P, of the battery acs Is the actual power consumed by the high voltage accessory.
Based on the solutions provided in the foregoing embodiments, optionally, as shown in fig. 4, in step 104, determining the current maximum torque of the electric machine according to the current maximum available power of the electric machine and the vehicle speed of the vehicle, includes:
step 402: obtaining the actual rotating speed of the motor based on the speed of the vehicle;
step 404: and determining the current maximum torque of the motor according to the actual rotating speed of the motor and the current maximum available power of the motor.
The speed at which the vehicle travels is related to the rotational speed of the motor, and therefore the motor execution torque output is monitored and controlled by the motor control unit of the vehicle, so that the rotational speed of the motor at which the motor executes torque can be monitored.
In step S104, the current maximum torque of the motor is calculated according to the current maximum available power of the motor and the current actual rotating speed of the motor, and the power can be converted into torque through the relationship among the torque, the power and the rotating speed, as shown in the following formula:
T st ＝P motavl *9550/n mot
wherein n is mot Is the current actual speed of the motor, and the value 9550 is the correlation coefficient of power to torque, T st Is the current maximum torque of the motor.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 5, in step 102, determining a current maximum available current of a motor of the vehicle according to a current maximum discharge capacity of a battery when the vehicle is running includes:
step 502: acquiring the current maximum discharge current of the battery;
step 504: and obtaining the current maximum available current of the motor according to the current maximum discharge current of the battery.
That is, in this embodiment, the present maximum discharge current of the battery is taken as the present maximum available current of the motor.
As described above, the high-voltage accessories use part of the battery power, and therefore, the high-voltage accessories also consume part of the battery current. In this regard, in one embodiment, determining the maximum available current for the motor may be determined in conjunction with the current draw of the high-voltage accessory.
Specifically, as shown in fig. 6, in one embodiment, the above determining the maximum available current of the motor of the vehicle according to the current maximum discharge capacity of the battery while the vehicle is running further includes:
step 602: acquiring actual consumed current of high-voltage accessories of the vehicle;
step 604: and obtaining the current maximum available current of the motor according to the difference value between the current maximum discharge current of the battery and the actual consumed current of the high-voltage accessory.
In step 604, the present maximum available current I of the motor is calculated motavl The current maximum discharge current of the battery is subtracted from the actual consumption current of the high-voltage accessory, and the current maximum discharge current is obtained according to the following formula:
I motavl ＝I batmax -I acs
wherein, I batmax Is the current maximum discharge current, I, of the battery acs Is the actual current drain of the high voltage accessory.
Based on the solution provided by the foregoing embodiment, optionally, as shown in fig. 7, in step 106, determining a current compensation torque for the motor according to a current maximum available current of the motor and an actual current of the motor, includes:
step 702: acquiring the actual current of the motor, and calculating the current deviation between the current maximum available current and the actual current of the motor;
step 704: determining a corresponding dynamic adjustment coefficient according to the current electric quantity charge state of the battery and/or the opening degree of an accelerator pedal of the vehicle;
step 706: and determining the current compensation torque of the motor according to the current deviation and the dynamic adjustment coefficient.
In step 702, a current deviation between the present maximum available current of the motor and the actual current of the motor is calculated, and the magnitude of the dynamic current deviation represents the magnitude of the risk that the motor executing torque output may cause the battery to be over-discharged. When the current deviation is equal to 0, the motor is driven at the maximum capacity allowed by the power system, which can be called a critical state; when the current deviation is larger than 0, the motor is driven at the maximum capacity which is smaller than the allowable capacity of the power system, which can be called as a safety state; when the current deviation is less than 0, it indicates that the motor is being driven at a capacity greater than the maximum capacity allowed by the powertrain, which may be referred to as a risk condition.
In order to ensure that when the motor needs to output torque with the maximum torque that can be provided when the driver has a strong power demand or the battery capacity is limited due to low battery state of charge (SOC) and low battery temperature, the driving state of the motor is in a safe state or a critical state, and the situation that the driving state of the motor is in a risk state needs to be avoided.
Therefore, in order to ensure that the driving state of the motor is in a safe state or a critical state without a risk state, the actual current of the motor needs to be controlled, and particularly when the motor is driven at the maximum capacity allowed by a power system, the actual current of the motor needs to be lower than or equal to a certain safe current value I safe Without exceeding the current maximum available current of the motor.
In one embodiment, before calculating the current deviation between the current maximum available current and the actual current of the motor in step 702, the method further includes: determining a safety current value corresponding to the current maximum available current of the motor according to the detection precision of the current generated when the motor executes the torque, wherein the safety current value is smaller than the current maximum available current I of the motor motavl 。
Safe current value I safe Current I maximum available current with the motor motavl Is shown by the following formula:
I motavl ＝I safe +i
where i is a safety value, which may be a constant of 0 to 5A, in order to guarantee the current overrun problem due to the current accuracy of the motor execution torque. An appropriate value can be selected according to the accuracy of the current when the motor executes the torque. For example, if the current accuracy of the motor torque implementation is 1A, the safety value i may be set to 3A; if the motor torque is performed with a current accuracy of 3A, the safety value i may be set to a value of 5A high. That is, the setting of the safety value needs to be greater than the current accuracy performed by the motor torque plus a certain value. The current precision when the torque of the motor is executed refers to the deviation between the current value responded by the sensor when the torque of the motor is executed and the real current value, namely the current detection precision corresponding to the sensor. The smaller the deviation, the greater the current accuracy, and the smaller the safety value i; the greater the deviation, the smaller the current accuracy, and the greater the safety value i. Furthermore, the safety value needs to be greater than the current accuracy.
Accordingly, in step 702, a current deviation between the present maximum available current and the actual current of the electric machine is calculated, comprising: and obtaining the current deviation according to the difference between the safe current value of the motor and the actual current of the motor. The corresponding calculation formula is expressed as follows:
ΔI＝I safe -I motact ＝(I motavl -i)-I motact
wherein, I motact Δ I is the current deviation for the actual current of the motor.
In order to adapt to different driving conditions (for example, vehicle emergency acceleration or emergency deceleration) and/or different battery states (for example, different battery electric quantities SOC, etc.), especially to ensure that the transient torque of the motor can be quickly compensated and adjusted in extreme conditions, the embodiment of the present application introduces a dynamic adjustment coefficient.
The dynamic adjustment coefficient can be adjusted according to the opening degree of an accelerator pedal of a driver and/or the SOC of the battery electric quantity, and the dynamic adjustment coefficient is larger when the opening degree of the accelerator pedal is larger or the SOC of the battery electric quantity is lower; conversely, when the accelerator opening degree is small or the battery state of charge SOC is high, the dynamic adjustment coefficient is smaller.
Specifically, the larger the current charge amount SOC of the battery when the vehicle is running indicates that the more the current battery charge amount is, the less likely the current of the battery is to be over-current-overrun. Therefore, a smaller dynamic adjustment coefficient can be set at this time, and transient torque compensation is slowly adjusted, so that the maximum torque which can be provided by the motor is controlled. Conversely, the smaller the current charge SOC of the battery when the vehicle is running, the less the current battery charge, the more likely the current of the battery is to be over-current. Therefore, a large dynamic adjustment coefficient can be set at the moment, transient torque compensation is quickly executed, and large compensation force is executed, so that the maximum torque which can be provided by the motor is controlled, and the overcurrent phenomenon is avoided.
The magnitude of the accelerator pedal opening is related to the demand of the driver, and the larger the accelerator pedal opening is, the larger the torque required by the driver for the drivability is. When the motor executes large torque, large current is needed for supporting, so that the battery is easy to have the risk of overcurrent and overrun. Therefore, a large dynamic adjustment coefficient can be set at the moment, transient torque compensation is performed quickly, and large compensation force is performed, so that the maximum torque which can be provided by the motor is controlled, and the overcurrent phenomenon is avoided.
The corresponding relation between the dynamic adjustment coefficient k and the opening degree of the accelerator pedal and the battery capacity SOC can be represented by a two-dimensional table, an optimal coefficient under each working condition can be determined in the actual development process, and then the corresponding relation between the dynamic adjustment coefficient k and the opening degree of the accelerator pedal and the battery capacity SOC is stored in a memory of a vehicle control unit of a vehicle. And according to the obtained actual opening degree of the accelerator pedal and the battery electric quantity SOC, obtaining a current real-time dynamic adjustment coefficient of the vehicle according to the stored corresponding relation, wherein the coefficient k is more than or equal to 0.
SOC opening degree Is low in In High (a)
Big (a) Big (a) Is larger Is larger
In Is larger than Is lower than Lower is
Small Is larger Is low with Is low with
In step 706, the current compensation torque of the motor is obtained by multiplying the dynamic adjustment coefficient k and the current deviation Δ I, as shown in the following formula:
T tr ＝k*ΔI
based on the solution provided by the foregoing embodiment, optionally, in the foregoing step 104, the current maximum torque that can be provided by the motor is determined according to the current maximum torque of the motor and the current compensation torque, as shown in the following formula:
T mot ＝T st +T tr
wherein, T st Is the current maximum torque, T, of the motor tr For the current compensation torque of the motor, T mot The current maximum torque that the motor can provide.
Thus, after step 108, the torque output of the motor may be controlled in accordance with the current maximum torque that the motor is capable of providing.
In general, during the running process of the vehicle, the motor executes torque output according to different driving power requirements of a driver, when the actual current of the motor reaches or exceeds the safe current I safe When the current deviation delta I is less than 0, the current deviation delta I can be obtained through the action of the dynamic adjustment coefficient kAnd compensating the transient torque of the motor in a negative mode, so that the maximum torque which can be provided by the motor is reduced, the motor performs torque output under the limit of the new maximum torque which can be provided, and the actual current of the motor is reduced to avoid causing over-discharge of the battery.
Next, a vehicle torque control device relating to a vehicle torque control method of the embodiment of the present application will be described with reference to fig. 8.
As shown in fig. 8, the vehicle torque control device includes a vehicle control unit 1200, a battery management system 1400, an accessory management unit 1600, a motor control unit 1800, and an accelerator pedal device 1900.
The vehicle control unit 1200 is connected to the battery management system 1400, the accessory management unit 1600, and the motor control unit 1800 via communication lines, which describe an interactive communication manner, which may be one of Controller Area Network (CAN) communication, variable Data-Rate (CAN) communication, local Interconnect Network (LIN) communication, or ethernet communication, or other communication manners as long as information intercommunication CAN be achieved. The vehicle control unit 1200 is connected to the accelerator pedal device 1900 through a hard wire, and the vehicle control unit 1200 collects an electrical signal of the accelerator pedal device 1900 through a hard wire and converts the electrical signal into an opening signal of the pedal depression by the driver. The entire vehicle control unit 1200 is used for calculating the maximum torque of the motor, the compensation torque of the motor, and the maximum torque that the motor can provide.
The battery management system 1400 monitors the state of the battery including the current maximum discharge capacity of the battery in real time, and transmits the state to the vehicle control unit 1200 through the communication line. The accessory management unit 1600 monitors and collects the states of the high-voltage accessories of the entire vehicle, including but not limited to the actual power consumption, the actual current consumption, and other information of each high-voltage component, and sends the information to the entire vehicle control unit 1200 through a communication line.
The motor control unit 1800 monitors and controls the motor execution torque output, monitors information such as the motor rotation speed and the actual current of the motor when the motor executes the torque, and transmits the information to the entire vehicle control unit 1200 through a communication line. Accelerator pedal device 1900 is a sensor for recognizing whether the driver depresses the accelerator pedal, and uploads the recognized information to vehicle control unit 1200 via hard wire.
The apparatus provided in the embodiment of the present application can correspondingly implement each process implemented in the method embodiments of fig. 1 to fig. 8, and is not described here again to avoid repetition.
According to the vehicle torque control method, the current maximum available power and the current maximum available current of the motor of the vehicle are determined according to the current maximum discharging capacity of the battery when the vehicle runs; determining the current maximum torque of the motor according to the current maximum available power of the motor and the speed of the vehicle; determining the current compensation torque compensation of the motor according to the current maximum available current of the motor and the actual current of the motor; according to the current maximum torque and the compensation torque of the motor, the current maximum torque which can be provided by the motor is determined, so that the following advantages can be brought:
1) The energy of the power battery can be fully utilized, the power of the electric automobile is improved to the maximum extent, and the requirement of a driver on the dynamic property of the automobile is met; 2) The motor can be ensured to execute torque output under different working conditions and different battery states, so that the battery can not be over-discharged, the battery performance is improved, and the battery cycle service life is prolonged. Therefore, the battery energy can be output to the maximum extent, the battery overdischarge caused by the driving of the motor can be avoided, and the method has very important significance for prolonging the cycle life of the battery and improving the dynamic property of the vehicle.
In addition, when the motor with limited battery capacity needs to output torque with maximum torque because a driver has a strong power demand or because the battery electric quantity SOC is low and the battery temperature is low, the motor driving state is in a safe state or a critical state, the condition that the motor driving state has a risk state is avoided, and the safety of vehicle driving is improved.
In addition, under the condition that the actual use power and the use current of the high-voltage accessory are not limited, the maximum torque which can be provided by the motor is adjusted, the normal electricity utilization of the high-voltage accessory can be ensured, and therefore the safe operation of a vehicle or a system is ensured.
Optionally, an embodiment of the present application further provides a vehicle torque control device, and fig. 9 is a block diagram of the structure of the vehicle torque control device according to the embodiment of the present application.
As shown in fig. 9, the vehicle torque control device 2000 includes a memory 2200 and a processor 2400 electrically connected to the memory 2200, where the memory 2200 stores a computer program that can be executed by the processor 2400, and the computer program, when executed by the processor, implements each process of any one of the above embodiments of the vehicle torque control method, and can achieve the same technical effect, and is not repeated here to avoid repetition.
The embodiment of the present application further provides a computer-readable storage medium, where a computer program is stored on the computer-readable storage medium, and when the computer program is executed by a processor, the computer program implements each process of any one of the above embodiments of the vehicle torque control method, and can achieve the same technical effect, and in order to avoid repetition, the detailed description is omitted here. The computer-readable storage medium may be a Read-Only Memory (ROM), a Random Access Memory (RAM), a magnetic disk or an optical disk.
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 apparatus 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 apparatus. Without further limitation, an element defined by the phrases "comprising a component of' 8230; \8230;" does not exclude the presence of another like element in a process, method, article, or apparatus that comprises the element.
Through the above description of the embodiments, those skilled in the art will clearly understand that the method of the above embodiments can be implemented by software plus a necessary general hardware platform, and certainly can also be implemented by hardware, but in many cases, the former is a better implementation manner. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which is stored in a storage medium (such as ROM/RAM, magnetic disk, optical disk) and includes instructions for enabling a terminal (such as a mobile phone, a computer, a server, an air conditioner, or a network device) to execute the method according to the embodiments of the present application.
While the present embodiments have been described with reference to the accompanying drawings, it is to be understood that the invention is not limited to the precise embodiments described above, which are meant to be illustrative and not restrictive, and that various changes may be made therein by those skilled in the art without departing from the spirit and scope of the invention as defined by the appended claims.

Claims (9)

1. A vehicle torque control method, characterized by comprising:
determining the current maximum available power and the current maximum available current of a motor of the vehicle according to the current maximum discharge capacity of a battery when the vehicle runs;
determining the current maximum torque of the motor according to the current maximum available power of the motor and the speed of the vehicle;
acquiring the actual current of the motor, and calculating the current deviation between the current maximum available current of the motor and the actual current of the motor;
determining a corresponding dynamic adjustment coefficient according to the current electric quantity charge state of the battery and/or the opening degree of an accelerator pedal of the vehicle;
determining the current compensation torque of the motor according to the product of the current deviation and the dynamic adjustment coefficient, wherein the dynamic adjustment coefficient is greater than or equal to 0;
and determining the current maximum torque which can be provided by the motor according to the current maximum torque of the motor and the current compensation torque.
2. The method of claim 1, wherein determining a current maximum available power of a motor of the vehicle based on a current maximum discharge capacity of a battery while the vehicle is in motion comprises:
acquiring the current maximum discharge power, the current battery voltage and the current maximum discharge current of the battery;
calculating the current maximum discharge power of the battery according to the obtained current battery voltage and the current maximum discharge current;
and obtaining the current maximum available power of the motor according to the minimum value of the obtained current maximum discharge power of the battery and the calculated current maximum discharge power of the battery.
3. The method of claim 2, further comprising:
acquiring actual consumed current of high-voltage accessories of the vehicle;
determining the actual consumed power of the high-voltage accessory according to the actual consumed current of the high-voltage accessory and the current battery voltage of the battery;
and obtaining the current maximum available power of the motor according to the difference value between the minimum value and the actual consumed power of the high-voltage accessory.
4. The method of claim 1, wherein determining a present maximum available current of an electric machine of the vehicle based on a present maximum discharge capacity of a battery while the vehicle is in motion comprises:
acquiring the current maximum discharge current of the battery;
and obtaining the current maximum available current of the motor according to the current maximum discharge current of the battery.
5. The method of claim 4, further comprising:
acquiring actual consumed current of high-voltage accessories of the vehicle;
and obtaining the current maximum available current of the motor according to the difference value between the current maximum discharge current of the battery and the actual consumed current of the high-voltage accessory.
6. A method according to claim 2 or 3, wherein determining a current maximum torque of the electric machine based on a current maximum available power of the electric machine and a vehicle speed of the vehicle comprises:
obtaining the actual rotating speed of the motor based on the vehicle speed of the vehicle;
and determining the current maximum torque of the motor according to the actual rotating speed of the motor and the current maximum available power of the motor.
7. The method of claim 1, further comprising, prior to calculating a current deviation between a present maximum available current and an actual current of the electric machine:
determining a safety current value corresponding to the current maximum available current of the motor according to the detection precision of the current generated when the motor executes torque, wherein the safety current value is smaller than the current maximum available current of the motor;
wherein calculating a current deviation between a present maximum available current and an actual current of the motor comprises:
and obtaining the current deviation according to the difference between the safe current value of the motor and the actual current of the motor.
8. A vehicular torque control apparatus, characterized by comprising: a memory and a processor electrically connected to the memory, the memory storing a computer program executable on the processor, the computer program, when executed by the processor, implementing the steps of the method according to any one of claims 1 to 7.
9. A computer-readable storage medium, characterized in that a computer program is stored on the computer-readable storage medium, which computer program, when being executed by a processor, carries out the steps of the method according to any one of claims 1 to 7.
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