CN119348445B - Torque control method and device for switching two drives and four drives - Google Patents
Torque control method and device for switching two drives and four drivesInfo
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- CN119348445B CN119348445B CN202411689545.8A CN202411689545A CN119348445B CN 119348445 B CN119348445 B CN 119348445B CN 202411689545 A CN202411689545 A CN 202411689545A CN 119348445 B CN119348445 B CN 119348445B
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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
- B60L15/32—Control or regulation of multiple-unit electrically-propelled vehicles
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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
- 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
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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
- B60L2260/00—Operating Modes
- B60L2260/20—Drive modes; Transition between modes
- B60L2260/28—Four wheel or all wheel drive
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Power Engineering (AREA)
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- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
本发明公开一种两驱切换四驱的扭矩控制方法及装置，通过在扭矩协调状态下，获取同步电机的当前输出扭矩、异步电机的当前输出扭矩以及油门开度；根据油门开度、异步电机的当前输出扭矩以及同步电机的当前输出扭矩，分别确定同步电机的扭矩下降斜率以及异步电机的扭矩上升斜率；根据扭矩下降斜率、扭矩上升斜率、异步电机的当前输出扭矩以及同步电机的当前输出扭矩，分别确定发送至异步电机的第一请求扭矩以及发送至同步电机的第二请求扭矩，用以控制异步电机及同步电机运行。如此，在两驱切换四驱的扭矩协调状态下，通过对扭矩上升斜率以及下降斜率进行控制，使扭矩下降斜率与扭矩上升斜率保持一致，保证车辆运行的平顺性。
The present invention discloses a torque control method and device for switching from two-wheel drive to four-wheel drive. The method obtains the current output torque of the synchronous motor, the current output torque of the asynchronous motor, and the throttle opening in a torque coordination state; determines the torque drop slope of the synchronous motor and the torque rise slope of the asynchronous motor according to the throttle opening, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor; and determines a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque drop slope, the torque rise slope, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, respectively, to control the operation of the asynchronous motor and the synchronous motor. In this way, in the torque coordination state of switching from two-wheel drive to four-wheel drive, by controlling the torque rise slope and the torque drop slope, the torque drop slope is kept consistent with the torque rise slope, thereby ensuring the smoothness of vehicle operation.
Description
Technical Field
The invention relates to the technical field of vehicle control, in particular to a torque control method and device for switching between two driving wheels and four driving wheels.
Background
Synchronous motor manufacturing cost is high but operating efficiency is high, and asynchronous motor manufacturing cost is low but operating efficiency is low. In order to realize four-wheel drive configuration and simultaneously consider manufacturing cost, electric automobile manufacturers generally select front asynchronous motors and rear synchronous motors when the motors are selected, so that the manufacturing cost of the whole automobile is reduced.
However, the running efficiency of the asynchronous motor with low rotating speed and low torque is low, and the driving mileage can be influenced. In order to improve the driving range of the front asynchronous rear synchronous motor four-wheel drive type electric vehicle, the economic mode is usually set to be two-wheel drive by default, namely, the front motor is in a tube-closing mode (only the controller has 12V low-voltage power supply and no high-voltage power supply). And the two-drive is switched to the four-drive running only under part of working conditions.
In the process of switching the two-drive driving to the four-drive driving, the request torque is transferred from the rear motor part to the front motor, the control process is complex, the falling slope of the rear motor torque is large, the rising slope of the front motor torque is small, and pits are formed after the front motor torque and the rear motor torque are overlapped, so that the vehicle is in a bump.
Disclosure of Invention
In view of the above problems, a method and a device for controlling torque of a two-drive switching four-drive are provided, which solve the problem that a vehicle is in a jerk at the moment of two-drive switching four-drive.
According to a first aspect of the present invention, there is provided a torque control method for switching between two-drive and four-drive, comprising:
Under the torque coordination state, the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening are obtained;
Determining a torque falling slope of the synchronous motor and a torque rising slope of the asynchronous motor respectively according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque falling slope of the synchronous motor, the torque rising slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
and respectively controlling the operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque.
Optionally, the determining, according to the accelerator opening, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, a torque down slope of the synchronous motor and a torque up slope of the asynchronous motor respectively includes:
determining a torque rising slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening;
and determining the torque descending slope of the synchronous motor according to the current output torque of the synchronous motor.
Optionally, the determining the torque rising slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening comprises:
Searching in a preset first relation table according to the current output torque of the asynchronous motor and the accelerator opening, and matching to obtain a torque rising slope of the asynchronous motor, wherein the first relation table comprises a first calibration torque and the accelerator opening, and the first relation table also comprises calibration rising slopes corresponding to the first calibration torque and the accelerator opening.
Optionally, the determining the torque down slope of the synchronous motor according to the current output torque of the synchronous motor includes:
And searching in a preset second relation table according to the current output torque of the synchronous motor to obtain a torque descending slope of the synchronous motor, wherein the second relation table comprises a second calibration torque and a calibration descending slope corresponding to the second calibration torque.
Optionally, in the torque coordination state, the obtaining the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening degree includes:
If an activation instruction of switching between two drives and four drives is detected, entering a torque coordination state, and acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening.
Optionally, before the step of detecting the activation instruction for switching between two drives and four drives, the method further includes:
and if the running condition of the vehicle is a target condition, generating an activation instruction for switching the two drives and the four drives, wherein the target condition comprises a synchronous motor fault condition, a rear wheel slip condition, an intelligent driving function activation condition and a sudden acceleration condition.
Optionally, the method further comprises:
acquiring the actual running torque of the asynchronous motor and the duration time of the torque coordination state;
And if the actual running torque of the asynchronous motor is larger than the preset transfer torque or the duration time is larger than the preset transfer judgment time, exiting the torque coordination state.
According to a second aspect of the present invention, there is provided a torque control device for switching between two and four drives, comprising:
The acquisition module is used for acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening in the torque coordination state;
The slope module is used for respectively determining the torque falling slope of the synchronous motor and the torque rising slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
The torque module is used for respectively determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque falling slope of the synchronous motor, the torque rising slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
and the operation module is used for respectively controlling the operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque.
According to a third aspect of the present invention, there is provided a controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the two-drive switching four-drive torque control method as described above.
According to a fourth aspect of the present invention, there is provided a vehicle including a vehicle body, a controller mounted in the vehicle body, wherein the controller executes the aforementioned two-drive switching four-drive torque control method.
The above-mentioned one or more technical solutions in the embodiments of the present disclosure at least have the following technical effects:
According to the torque control method and device for the two-drive switching four-drive, current output torque of the synchronous motor, current output torque of the asynchronous motor and accelerator opening are obtained in a torque coordination state, the torque descending slope of the synchronous motor and the torque ascending slope of the asynchronous motor are respectively determined according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor, the first request torque sent to the asynchronous motor and the second request torque sent to the synchronous motor are respectively determined according to the torque descending slope of the synchronous motor, the torque ascending slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor, and the operation of the asynchronous motor and the synchronous motor is respectively controlled according to the first request torque and the second request torque. In this way, in the torque coordination state of the two-drive switching four-drive, the torque rising slope of the asynchronous motor and the torque falling slope of the synchronous motor are controlled, so that the torque falling slope of the torque of the synchronous motor is consistent with the torque rising slope of the asynchronous motor, and further the first request torque and the second request torque are calculated to control the asynchronous motor and the synchronous motor to operate, and pits formed after the two-drive switching four-drive instant synchronous motor and the asynchronous motor are overlapped with each other can be avoided, so that smoothness of vehicle operation is ensured.
The foregoing description is only an overview of the present invention, and is intended to be implemented in accordance with the teachings of the present invention in order that the same may be more clearly understood and to make the same and other objects, features and advantages of the present invention more readily apparent.
Drawings
Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The drawings are only for purposes of illustrating the preferred embodiments and are not to be construed as limiting the invention. Also throughout the drawings, like reference numerals are used to designate like parts. In the drawings:
fig. 1 shows a flowchart of a torque control method for switching between two and four drives in an embodiment of the present invention.
FIG. 2 shows a block diagram of a two-drive, four-drive, torque control device in an embodiment of the present invention.
Detailed Description
For the purpose of making the objects, technical solutions and advantages of the embodiments of the present invention more apparent, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention, and it is apparent that the described embodiments are some embodiments of the present invention, but not all embodiments of the present invention. The components of the embodiments of the present invention generally described and illustrated in the figures herein may be arranged and designed in a wide variety of different configurations.
Thus, the following detailed description of the embodiments of the invention, as presented in the figures, is not intended to limit the scope of the invention, as claimed, but is merely representative of selected embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
It should be noted that like reference numerals and letters refer to like items in the following figures, and thus once an item is defined in one figure, no further definition or explanation thereof is necessary in the following figures.
In the description of the present invention, it should also be noted that, unless explicitly specified and limited otherwise, the terms "disposed," "mounted," "connected," and "connected" are to be construed broadly, and may be, for example, fixedly connected, detachably connected, integrally connected, mechanically connected, electrically connected, directly connected, indirectly connected through an intermediary, or in communication between two elements. The specific meaning of the above terms in the present invention will be understood in specific cases by those of ordinary skill in the art.
The embodiment of the invention provides a torque control method for switching between two drives and four drives, which comprises steps 101 to 104 by combining a flow chart shown in fig. 1:
Step 101, under a torque coordination state, acquiring the current output torque of a synchronous motor, the current output torque of an asynchronous motor and the opening degree of an accelerator;
In this embodiment, the vehicle is a pure electric vehicle, and a double motor is provided on the vehicle, and the double motor includes an asynchronous motor provided at a front end position and a synchronous motor provided at a rear end position.
The torque coordination state refers to a short period of time after the vehicle is switched between two drive and four drive. The length of the period is determined by the transfer torque and the transfer judgment time. The transfer torque is influenced by the model of the asynchronous motor, and can be determined through a calibration experiment of gear knocking. For example, when the transfer torque is 16Nm, the actual running torque of the asynchronous motor is 16Nm or less, the torque rising slope of the asynchronous motor needs to be limited, and is not excessively large (for example, more than 100 Nm), otherwise, gear rattle is easily generated.
The two-drive is to output power by the synchronous motor, and the four-drive is to output power by the synchronous motor and the asynchronous motor together.
When the two-drive is switched to the four-drive, the whole vehicle controller transfers the request torque from the synchronous motor (the rear motor of the vehicle) to the asynchronous motor (the front motor of the vehicle).
It will be appreciated that when the torque coordination state is just entered, that is, when the two-drive is switched to the four-drive, the output torque of the asynchronous motor is 0, and then the output torque of the asynchronous motor is increased, and the output torque of the synchronous motor is reduced.
When the asynchronous motor starts to output torque, due to meshing of gears, the torque rising slope of the asynchronous motor is smaller than the torque falling slope of the synchronous motor in the initial short period of time, so that the torque rising slope is easy to be different from the torque falling slope of the synchronous motor, and the smoothness of vehicle running is affected. If the torque ramp rate of the asynchronous motor is too high (e.g., greater than 100 Nm/s) before the output torque of the asynchronous motor reaches the transfer torque, then the gear mesh is again susceptible to rattle.
Based on the above, in the torque coordination state, the present embodiment performs slope limitation on the torque down slope of the synchronous motor and the torque up slope of the asynchronous motor by acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor, and the accelerator opening, and then performing processing.
In one embodiment, in the torque coordination state, the obtaining the current output torque of the synchronous motor, the current output torque of the asynchronous motor, and the accelerator opening degree may include:
if an activation instruction of switching between two drives and four drives is detected, entering a torque coordination state, and acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening.
In this embodiment, the vehicle controller of the vehicle may detect the operating conditions of the vehicle. Most of the operation conditions are that the synchronous motor outputs power. Under some target working conditions, the asynchronous motor and the synchronous motor are required to output power together, and two-drive switching and four-drive switching are required at the moment. The whole vehicle controller can generate an activation instruction for switching the two drives and the four drives. The target working conditions can comprise a synchronous motor fault working condition, a rear wheel slip working condition, an intelligent driving function activation working condition, a sudden acceleration working condition and the like.
Under the working condition of the synchronous motor fault, the power output of the synchronous motor is affected, and in order to ensure the power of the vehicle, two-drive switching and four-drive switching are needed. Under the working condition of rear wheel slip, the asynchronous motor is required to output power, so that the vehicle is stabilized. Under the condition of rapid acceleration, the power demand is increased, and two-drive switching and four-drive are needed to meet the torque demand.
After the activation instruction is detected, the vehicle enters a torque coordination state, and the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening are acquired. At the same time, the timer is started and the duration of the torque coordination state is calculated.
The current output torque of the synchronous motor refers to the output torque of the synchronous motor at the current acquisition time. The current output torque of the asynchronous motor refers to the output torque of the asynchronous motor at the current acquisition time. The accelerator opening corresponds to the depth of the driver's depression of the accelerator pedal, and the deeper the driver depresses the accelerator pedal, the larger the accelerator opening corresponds to. In this embodiment, the acquisition is performed once every one cycle time, and the cycle time may be 10ms, 12ms, or the like, which is not limited in this embodiment.
102, Respectively determining a torque falling slope of the synchronous motor and a torque rising slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
in this embodiment, the torque variation of the synchronous motor is controlled by the torque down slope during torque transfer. The torque change of the asynchronous motor is controlled by the torque rising slope. The slope control is divided into two stages, namely, in a torque coordination state, the torque rising slope of the asynchronous motor is limited not to be overlarge, and meanwhile, the torque falling slope of the torque of the synchronous motor is kept consistent with the torque rising slope of the asynchronous motor. And after the torque coordination state is finished, using normal rising/falling slope of the torque to control the slope of the asynchronous motor and the synchronous motor.
In a torque coordination state, the embodiment can determine the torque rising slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening, and determine the torque falling slope of the synchronous motor according to the current output torque of the synchronous motor.
Wherein the torque rising slope is positive and the torque falling slope is negative. The torque rising slope refers to the rising change rate of the output torque of the asynchronous motor. The larger the value of the torque rise slope, the faster the output torque of the asynchronous motor rises.
The torque down slope refers to a down change rate of the torque of the synchronous motor. The larger the absolute value of the torque down slope, the faster the output torque of the synchronous motor is dropped.
In one embodiment, in determining the torque ramp rate, reference may be made to the following steps:
Searching in a preset first relation table according to the current output torque of the asynchronous motor and the accelerator opening, and matching to obtain a torque rising slope of the asynchronous motor, wherein the first relation table comprises a first calibration torque and the accelerator opening, and the first relation table also comprises calibration rising slopes corresponding to the first calibration torque and the accelerator opening.
It should be noted that, if the first acquisition time is in the torque coordination state, the current output torque of the asynchronous motor is 0. The whole vehicle controller can acquire and acquire the data once every one cycle time. If the current output torque of the asynchronous motor is not 0 at the nth acquisition time in the torque coordination state, wherein n is an integer greater than 1.
The first relationship table may be obtained from a calibration experiment. The horizontal axis of the first relation table is a first calibration torque, the first calibration torque corresponds to the current output torque of the asynchronous motor at the current acquisition time, and if the current acquisition time is not the first acquisition time, the current output torque of the asynchronous motor at the current acquisition time can be also understood as the first request torque obtained by calculation at the last acquisition time. The vertical axis of the first relation table is the accelerator opening. When the current output torque and the accelerator opening degree of the asynchronous motor are determined, a first relation table is searched, the current output torque of the asynchronous motor is matched with the first calibration torque, the accelerator opening degree is matched with the accelerator opening degree in the table, so that a calibration rising slope is determined, and then the calibration rising slope is used as a torque rising slope.
In one embodiment, in determining the torque down slope, reference may be made to the following steps:
And searching in a preset second relation table according to the current output torque of the synchronous motor to obtain a torque descending slope of the synchronous motor, wherein the second relation table comprises a second calibration torque and a calibration descending slope corresponding to the second calibration torque.
It should be noted that the second relationship table may be obtained according to a calibration experiment. The second calibration torque of the second relation table corresponds to the current output torque of the synchronous motor at the current acquisition time, and if the current acquisition time is not the first acquisition time, the current output torque of the synchronous motor at the current acquisition time can be understood as the second request torque obtained by calculation at the last acquisition time. And when the current output torque of the synchronous motor is determined, searching a second relation table, matching the current output torque of the synchronous motor with a second calibration torque, thereby determining a calibration descent slope, and taking the calibration descent slope as the torque descent slope.
Step 103, respectively determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque falling slope of the synchronous motor, the torque rising slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
in the torque coordination state, the absolute value of the torque rising slope is equal to the absolute value of the torque falling slope
In this embodiment, in the torque coordination state, the absolute value of the torque rising slope is equal to the absolute value of the torque falling slope, so that the output torque of the asynchronous motor is expected to be matched with the output torque of the synchronous motor before the output torque of the asynchronous motor is smaller than the preset transfer torque, the reduced output torque of the synchronous motor is leveled with the increased output torque of the synchronous motor as much as possible, the occurrence of a jerk is avoided, and the occurrence of gear rattle is also avoided, thereby ensuring the smoothness of vehicle operation.
In the torque coordination state, the second request torque is calculated according to the torque falling slope of the synchronous motor and the current output torque of the synchronous motor. And simultaneously calculating a first request torque according to the torque rising slope of the asynchronous motor and the current output torque of the asynchronous motor.
And 104, respectively controlling the operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque.
And in the torque coordination state, according to the torque descending slope of the synchronous motor and the current output torque of the synchronous motor, the calculated second request torque is sent to the synchronous motor control unit, and the synchronous motor control unit controls the synchronous motor to operate in the next period time according to the second request torque. Meanwhile, according to the torque rising slope of the asynchronous motor and the current output torque of the asynchronous motor, the calculated first request torque is sent to an asynchronous motor control unit, and the asynchronous motor control unit controls the asynchronous motor to operate in the next period time according to the received first request torque. The synchronous motor outputs power according to the second request torque, and the asynchronous motor outputs power according to the first request torque.
In addition, the actual operating torque of the asynchronous motor is acquired, as well as the duration of the torque coordination state.
And if the actual running torque of the asynchronous motor is larger than the preset transfer torque or the duration time is larger than the preset transfer judgment time, exiting the torque coordination state. The transfer torque is mainly related to the type of the asynchronous motor, and the calibrated transfer torque can be different for different asynchronous motors. The transfer torque may be determined by calibration experiments of gear rattle. For example, when the transfer torque is 16Nm, the actual running torque of the asynchronous motor is 16Nm or less, the torque rising slope of the asynchronous motor needs to be limited, and is not excessively large (for example, more than 100 Nm), otherwise, gear rattle is easily generated.
The actual running torque of the asynchronous motor refers to the actual output torque obtained by measuring the running torque of the asynchronous motor according to the first request torque.
The actual running torque of the asynchronous motor is larger than the preset transferring torque, which indicates that the torque of the asynchronous motor can be quickly increased at the moment, and gear knocking is not easy to occur.
However, it should be noted that under some working conditions, if the asynchronous motor is required to output power, it cannot be simply considered whether the gear rattle is caused. For example, under the synchronous motor failure condition and the rear wheel slip condition, the priority is considered for safety at this time, and even if the actual running torque of the asynchronous motor does not reach the transfer torque at this time, the torque coordination state needs to be exited as long as the duration is longer than the preset transfer judgment time.
And after the torque coordination state is exited, slope limitation is not carried out on the synchronous motor and the asynchronous motor, and the slopes of the synchronous motor and the asynchronous motor are controlled according to the normal descending slope and the ascending slope. At this time, even if the torque rising slope of the asynchronous motor is large, there is no fear of gear rattle.
For example:
The horizontal axis of table 1 (first relation table), i.e. the first calibration torque is calibrated to be [ -100, -50, -20, -10,0,10,16,30,100] by calibration experiments in combination with the specific model and the asynchronous motor model, and the coordinates of the accelerator opening of the vertical axis are calibrated to be [0%,20%,40%,60%,80% ] in combination with the specific model and the asynchronous motor model. Table 2 (second relationship table) is calibrated in connection with specific vehicle models and motor models, as shown in table 2 below.
At 60% of the accelerator opening, at the moment of the activation command of the two-drive switching and four-drive switching, t=0, the current output torque of the asynchronous motor is gradually increased from 0 to 16Nm (the motor distribution torque is determined by the current vehicle speed and the accelerator opening), and the current output torque of the synchronous motor is reduced from 300Nm to 284Nm.
In the torque coordination state, according to the current output torque and the accelerator opening of the asynchronous motor, matching in a table 1 to obtain a torque rising slope (the torque rising slope obtained by interpolation table lookup is 100 Nm/s), calculating to obtain a first request torque of the asynchronous motor after torque rising slope control, and outputting the first request torque to an asynchronous motor control unit through a bus for controlling the operation of the asynchronous motor. Meanwhile, the current output torque of the synchronous motor is matched in the table 2 to obtain a torque down slope (the torque down slope obtained by table lookup by interpolation is-100 Nm/s). And after the torque descending slope is controlled, calculating to obtain a second request torque of the synchronous motor, and outputting the second request torque to the synchronous motor control unit through a bus for controlling the synchronous motor to run.
And when the acquired actual running torque of the asynchronous motor is larger than the preset transfer torque 16Nm, or the duration of the torque coordination state exceeds the transfer judgment time for 0.16s, exiting the torque coordination state, namely exiting the torque transfer slope control. Then, the slope change of the torque of the asynchronous motor is normally controlled by tables 1 and 3. The slope change of the torque of the synchronous motor is normally controlled by tables 4 and 5. Thereby obtaining a new first request torque of the asynchronous motor and a new second request torque of the synchronous motor, and outputting the new first request torque and the new second request torque to the asynchronous motor and the new second request torque of the synchronous motor through buses for execution.
TABLE 1 first relationship Table
TABLE 2 second relationship Table
TABLE 3 Torque Normal descent Rate of asynchronous Motor
TABLE 4 synchronous motor torque normal rise slope
TABLE 5 synchronous motor torque normal descent slope
In summary, the torque control method for switching between two drives and four drives provided in the embodiments of the present disclosure obtains a current output torque of a synchronous motor, a current output torque of an asynchronous motor, and an accelerator opening in a torque coordination state, determines a torque down slope of the synchronous motor and a torque up slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, determines a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque down slope of the synchronous motor, the torque up slope of the asynchronous motor, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, and controls operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque. In this way, in the torque coordination state of the two-drive switching four-drive, the torque rising slope of the asynchronous motor and the torque falling slope of the synchronous motor are controlled, so that the torque falling slope of the torque of the synchronous motor is consistent with the torque rising slope of the asynchronous motor, and further, the first request torque and the second request torque are calculated and used for controlling the asynchronous motor and the synchronous motor to operate, pits can be prevented from being formed after the two-drive switching four-drive instant synchronous motor and the asynchronous motor request torque are overlapped, and gear knocking is prevented from occurring, so that smoothness of vehicle operation is ensured.
Based on the same inventive concept, referring to fig. 2, the embodiment of the present invention further provides a torque control device for switching between two driving and four driving, including:
The acquisition module is used for acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening in the torque coordination state;
The slope module is used for respectively determining the torque falling slope of the synchronous motor and the torque rising slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
The torque module is used for respectively determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque falling slope of the synchronous motor, the torque rising slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
and the operation module is used for respectively controlling the operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque.
Optionally, the slope module is further configured to:
determining a torque rising slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening;
and determining the torque descending slope of the synchronous motor according to the current output torque of the synchronous motor.
Optionally, the slope module is further configured to:
Searching in a preset first relation table according to the current output torque of the asynchronous motor and the accelerator opening, and matching to obtain a torque rising slope of the asynchronous motor, wherein the first relation table comprises a first calibration torque and the accelerator opening, and the first relation table also comprises calibration rising slopes corresponding to the first calibration torque and the accelerator opening.
Optionally, the slope module is further configured to:
And searching in a preset second relation table according to the current output torque of the synchronous motor to obtain a torque descending slope of the synchronous motor, wherein the second relation table comprises a second calibration torque and a calibration descending slope corresponding to the second calibration torque.
Optionally, the acquiring module is further configured to:
if an activation instruction of switching between two drives and four drives is detected, entering a torque coordination state, and acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening.
Optionally, the acquiring module is further configured to:
and if the running condition of the vehicle is a target condition, generating an activation instruction for switching the two drives and the four drives, wherein the target condition comprises a synchronous motor fault condition, a rear wheel slip condition, an intelligent driving function activation condition and a sudden acceleration condition.
Optionally, the operation module is further configured to:
acquiring the actual running torque of the asynchronous motor and the duration time of the torque coordination state;
And if the actual running torque of the asynchronous motor is larger than the preset transfer torque or the duration time is larger than the preset transfer judgment time, exiting the torque coordination state.
In summary, the torque control device for switching between two drives and four drives provided in the embodiments of the present disclosure obtains a current output torque of a synchronous motor, a current output torque of an asynchronous motor, and an accelerator opening in a torque coordination state, determines a torque down slope of the synchronous motor and a torque up slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, determines a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque down slope of the synchronous motor, the torque up slope of the asynchronous motor, the current output torque of the asynchronous motor, and the current output torque of the synchronous motor, and controls operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque. In this way, in the torque coordination state of the two-drive switching four-drive, the torque rising slope of the asynchronous motor and the torque falling slope of the synchronous motor are controlled, so that the torque falling slope of the torque of the synchronous motor is consistent with the torque rising slope of the asynchronous motor, and further the first request torque and the second request torque are calculated to control the asynchronous motor and the synchronous motor to operate, and pits formed after the two-drive switching four-drive instant synchronous motor and the asynchronous motor are overlapped with each other can be avoided, so that smoothness of vehicle operation is ensured.
It can be clearly understood by those skilled in the art that, for convenience and brevity of description, the specific working process of the two-drive switching four-drive torque control device described above may refer to the corresponding process in the foregoing method, and will not be described in detail herein.
Based on the same inventive concept, the embodiment of the invention also provides a controller, which comprises a torque control device with two-drive switching and four-drive switching, a memory, a processor and a communication unit, wherein the memory stores machine-readable instructions executable by the processor, and when the controller runs, the processor and the memory communicate through a bus, the processor executes the machine-readable instructions, and the torque control method with two-drive switching and four-drive switching is executed.
The memory, the processor and the communication unit are electrically connected with each other directly or indirectly to realize signal transmission or interaction. For example, the components may be electrically connected to each other via one or more communication buses or signal lines. The two-drive, four-drive torque control includes at least one software function that may be stored in memory in the form of software or firmware (firmware). The processor is configured to execute executable modules (e.g., software functional modules or computer programs included in a two-drive, four-drive torque control device) stored in the memory.
The Memory may be, but is not limited to, random access Memory (Random Access Memory, RAM), read Only Memory (ROM), programmable Read Only Memory (Programmable Read-Only Memory, PROM), erasable Read Only Memory (Erasable Programmable Read-Only Memory, EPROM), electrically erasable Read Only Memory (Electric Erasable Programmable Read-Only Memory, EEPROM), etc.
In some embodiments, a processor is used to perform one or more of the functions described in this embodiment. In some embodiments, a processor may include one or more processing cores (e.g., a single core processor (S) or a multi-core processor (S)).
In this embodiment, the memory is configured to store a program, and the processor is configured to execute the program after receiving an execution instruction. The method of defining a flow disclosed in any implementation manner of this embodiment may be applied to a processor or implemented by a processor.
The communication unit is used for establishing communication connection between the controller and other devices through a network and is used for receiving and transmitting data through the network.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the controller described above may refer to the corresponding process in the foregoing method, and will not be described in detail herein.
Based on the same inventive concept, the embodiment of the invention also provides a vehicle, which comprises a vehicle body and a controller arranged in the vehicle body, wherein the vehicle is a pure electric vehicle, and a synchronous motor and an asynchronous motor are arranged on the sea of the vehicle. The controller is used for realizing the torque control method for switching the two drives and the four drives.
It will be clear to those skilled in the art that, for convenience and brevity of description, the specific working process of the controller of the vehicle described above may refer to the corresponding process in the foregoing method, and will not be described in detail herein.
The above is merely various embodiments of the present invention, but the protection scope of the present invention is not limited thereto, and any person skilled in the art can easily think about changes or substitutions within the technical scope of the present invention, and the changes and substitutions are intended to be covered in the protection scope of the present invention. Therefore, the protection scope of the invention is subject to the protection scope of the claims.
Claims (8)
1. The torque control method for switching between two drives and four drives is characterized by comprising the following steps:
Under the torque coordination state, the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening are obtained;
Determining a torque falling slope of the synchronous motor and a torque rising slope of the asynchronous motor respectively according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
Determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor respectively according to a torque falling slope of the synchronous motor, a torque rising slope of the asynchronous motor, a current output torque of the asynchronous motor and a current output torque of the synchronous motor, wherein the absolute value of the torque rising slope is equal to the absolute value of the torque falling slope;
according to the first request torque and the second request torque, respectively controlling the operation of the asynchronous motor and the synchronous motor;
acquiring the actual running torque of the asynchronous motor and the duration time of the torque coordination state;
If the actual running torque of the asynchronous motor is larger than the preset transfer torque or the duration time is longer than the preset transfer judgment time, the torque coordination state is exited;
the determining of the torque down slope of the synchronous motor and the torque up slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor includes:
determining a torque rising slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening;
and determining the torque descending slope of the synchronous motor according to the current output torque of the synchronous motor.
2. The method according to claim 1, wherein the determining a torque up slope of the asynchronous motor according to the current output torque of the asynchronous motor and the accelerator opening degree comprises:
Searching in a preset first relation table according to the current output torque of the asynchronous motor and the accelerator opening, and matching to obtain a torque rising slope of the asynchronous motor, wherein the first relation table comprises a first calibration torque and the accelerator opening, and the first relation table also comprises calibration rising slopes corresponding to the first calibration torque and the accelerator opening.
3. The method of claim 1, wherein determining a torque down slope of the synchronous motor based on a current output torque of the synchronous motor comprises:
And searching in a preset second relation table according to the current output torque of the synchronous motor to obtain a torque descending slope of the synchronous motor, wherein the second relation table comprises a second calibration torque and a calibration descending slope corresponding to the second calibration torque.
4. The method according to claim 1, wherein obtaining the current output torque of the synchronous motor, the current output torque of the asynchronous motor, and the accelerator opening degree in the torque coordination state includes:
if an activation instruction of switching between two drives and four drives is detected, entering a torque coordination state, and acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening.
5. The method of claim 4, wherein prior to the detecting the activate command to switch between two and four drives, the method further comprises:
and if the running condition of the vehicle is a target condition, generating an activation instruction for switching the two drives and the four drives, wherein the target condition comprises a synchronous motor fault condition, a rear wheel slip condition, an intelligent driving function activation condition and a rapid acceleration condition.
6. A two-drive, four-drive, torque control apparatus employing the two-drive, four-drive, torque control method of any one of claims 1-5, the apparatus comprising:
The acquisition module is used for acquiring the current output torque of the synchronous motor, the current output torque of the asynchronous motor and the accelerator opening in the torque coordination state;
The slope module is used for respectively determining the torque falling slope of the synchronous motor and the torque rising slope of the asynchronous motor according to the accelerator opening, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
The torque module is used for respectively determining a first request torque sent to the asynchronous motor and a second request torque sent to the synchronous motor according to the torque falling slope of the synchronous motor, the torque rising slope of the asynchronous motor, the current output torque of the asynchronous motor and the current output torque of the synchronous motor;
and the operation module is used for respectively controlling the operation of the asynchronous motor and the synchronous motor according to the first request torque and the second request torque.
7. A controller comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the two-drive, four-drive torque control method of any one of claims 1-5 when the computer program is executed.
8. A vehicle comprising a vehicle body, a controller mounted in the vehicle body, wherein the controller performs the two-drive switching four-drive torque control method of any one of claims 1 to 5.
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| CN117400946A (en) * | 2022-07-08 | 2024-01-16 | 上海汽车集团股份有限公司 | Torque control method and device for electric four-wheel drive vehicle |
| JP2024041003A (en) * | 2022-09-13 | 2024-03-26 | トヨタ自動車株式会社 | Vehicle driving force control device |
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| CN115891677B (en) * | 2022-11-14 | 2025-05-23 | 华为数字能源技术有限公司 | Control device of electric vehicle power system and related equipment thereof |
| CN118977583A (en) * | 2024-09-10 | 2024-11-19 | 安徽江淮汽车集团股份有限公司 | Driving control method for pure electric dual-motor four-wheel drive vehicle |
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| CN117400946A (en) * | 2022-07-08 | 2024-01-16 | 上海汽车集团股份有限公司 | Torque control method and device for electric four-wheel drive vehicle |
| JP2024041003A (en) * | 2022-09-13 | 2024-03-26 | トヨタ自動車株式会社 | Vehicle driving force control device |
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