CN120382796A - Electric vehicle torque control method and system - Google Patents
Electric vehicle torque control method and systemInfo
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- CN120382796A CN120382796A CN202510631349.3A CN202510631349A CN120382796A CN 120382796 A CN120382796 A CN 120382796A CN 202510631349 A CN202510631349 A CN 202510631349A CN 120382796 A CN120382796 A CN 120382796A
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Abstract
本发明涉及电机控制技术领域，公开了一种电动汽车扭矩控制方法及系统，所述控制方法包括，首先，整车控制器基于获取的扭矩计算参数，确定电机请求扭矩，并发送指令扭矩至电机驱动系统；然后，电机驱动系统接收到指令扭矩后，叠加补偿扭矩生成最终的执行扭矩进行输出响应；以及，完成最终的执行扭矩输出响应后，将电机控制器的母线电流和高压电池的母线电流进行比较，根据比较结果，判断是否重新执行新的扭矩控制。上述控制方法避免在电机控制器端实际消耗/补充超过高压电池当前最大能力导致电池管理系统(BMS)直接将功率限到很小值而影响整车动力性，提高整车的安全性和可靠性。
The present invention relates to the field of motor control technology, and discloses a torque control method and system for electric vehicles. The control method includes: first, the vehicle controller determines the motor request torque based on the acquired torque calculation parameters, and sends the command torque to the motor drive system; then, after the motor drive system receives the command torque, it superimposes the compensation torque to generate the final execution torque for output response; and after completing the final execution torque output response, the bus current of the motor controller and the bus current of the high-voltage battery are compared, and based on the comparison result, it is determined whether to re-execute new torque control. The above control method avoids the actual consumption/replenishment at the motor controller end exceeding the current maximum capacity of the high-voltage battery, causing the battery management system (BMS) to directly limit the power to a very small value, thereby affecting the power performance of the entire vehicle, thereby improving the safety and reliability of the entire vehicle.
Description
Technical Field
The invention belongs to the technical field of motor control, and particularly relates to a torque control method and system for an electric automobile.
Background
The existing permanent magnet synchronous motor driving system has the remarkable advantages of reliable operation, small volume, light weight, less loss, high efficiency, flexible and various shapes and sizes and the like, and is a key component for realizing the mutual conversion of electric energy and mechanical energy on an electric automobile. In the permanent magnet synchronous motor driving system, the motor controller is a software, hardware and structure assembly which actively works to control the motor to work according to the set direction and speed. In an electric vehicle, a motor controller receives a torque instruction sent by a whole vehicle controller, converts electric energy stored by a power battery into electric energy required by a driving motor to control running states such as starting running, advancing and retreating speed, climbing force and the like of the electric vehicle, or assists the vehicle to electrically brake, recovers part of braking energy into the power battery, and improves cruising ability of the electric vehicle.
The existing torque request strategy for running the whole vehicle is that a whole vehicle controller (VCU: vehicle Control Unit) obtains the power allowed to be used by the MCU direct current bus end at the moment by receiving the allowable discharging/recycling power sent by a Battery management system (BMS: battery MANAGEMENT SYSTEM), subtracting/adding the power required by the current rest high-voltage accessories such as DCDC (DC-DC Converter), PTC (Positive Temperature Coefficient: positive temperature coefficient thermistor), AC (Air Conditioner) and the like, and obtaining the allowable request torque of the current motor according to the efficiency and the rotating speed of the motor. However, aiming at the current torque control method, when the same power is generated by a mechanical end due to the production difference of a driving product (the actual efficiency of a motor product does not meet the existing calibration value) and the torque compensation working condition of an electric automobile through a motor, the direct-current bus end consumes/supplements more power, so that the battery is over-discharged/overcharged, the battery is damaged on one hand, the protection power limit after the battery is failed on the other hand, and the power performance of the whole automobile is greatly reduced.
Disclosure of Invention
In view of the above problems, it is an object of the present invention to provide a torque control method of an electric vehicle, including,
The whole vehicle controller determines motor request torque based on the obtained torque calculation parameters and sends command torque to a motor driving system;
after the motor driving system receives the command torque, the final execution torque is generated by superposing the compensation torque to output the response, and
After the final torque output response is finished, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether to execute new torque control again is judged according to the comparison result.
Further, the torque calculation parameters comprise one or more of an electronic throttle signal, a maximum allowable discharge power of the high-voltage battery, a maximum allowable charge power of the high-voltage battery, a required power of the high-voltage accessory, a maximum outputtable torque of the motor drive system and an efficiency value of the motor drive system, wherein,
The high-voltage battery sends the current allowable peak discharge power or the maximum allowable charge power to the whole vehicle controller according to the voltage information and the temperature information of the high-voltage battery, wherein the current allowable peak discharge power is the maximum allowable discharge power of the high-voltage battery;
The high-voltage accessory periodically sends the detected high-voltage input voltage and current to the whole vehicle controller, and the whole vehicle controller calculates the required power of the high-voltage accessory based on the obtained high-voltage input voltage and current;
The motor controller monitors the temperature, the working mode, the bus voltage, the bus current, the motor temperature and the motor rotating speed in real time, obtains the maximum outputtable torque of the current driving motor according to the motor rotating speed, the bus voltage, the motor temperature, the motor controller temperature and the motor external characteristic curve, and sends the maximum outputtable torque of the current driving motor to the whole vehicle controller;
The whole vehicle controller obtains the efficiency value of the motor driving system from the efficiency graph by utilizing the motor rotating speed and the maximum output torque of the current driving motor, wherein in the efficiency graph, the motor driving system corresponds to different efficiency values under different motor rotating speeds and torques.
Further, the vehicle controller determines that the motor request torque includes,
Subtracting the required power of the current high-voltage accessory from the acquired current allowable peak discharge power of the high-voltage battery to obtain allowable consumption power of a motor controller in the current state;
calculating to obtain the allowable output power of the motor end based on the allowable consumption power of the motor controller end and the efficiency value of the motor driving system;
And carrying the allowable output power of the motor end and the motor rotating speed into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed.
Further, the vehicle controller determines that the motor request torque includes,
Adding the required power of the current high-voltage accessory to obtain the allowable charging power of the motor controller in the current state based on the acquired current maximum allowable charging power of the high-voltage battery;
Calculating to obtain the allowable output power of the motor end based on the allowable charging power of the motor controller end and the efficiency value of the driving system;
And carrying the allowable output power of the motor end and the motor rotating speed into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed.
Further, after the final execution torque output response is completed, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether to execute the new torque command again is judged according to the comparison result,
When the high-voltage battery discharges, the motor controller monitors the bus current of the direct-current bus end in real time and receives the discharge current allowed by the high-voltage battery in real time;
And comparing the bus current of the direct current bus terminal with the discharge current of the high-voltage battery, wherein if the bus current of the motor controller is larger than the discharge current of the high-voltage battery and the duration time T1 is longer, the motor controller reduces the output torque T1 in real time, the two currents are continuously detected in real time and compared until the bus current of the direct current bus terminal is smaller than the discharge current of the high-voltage battery.
Further, after the final execution torque output response is completed, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether to execute the new torque command again is judged according to the comparison result,
When the high-voltage battery is charged, the motor controller monitors the bus current of the direct-current bus end in real time and receives the real-time allowed charging current sent by the high-voltage battery;
And comparing the bus current of the direct current bus terminal with the charging current of the high-voltage battery, wherein if the bus current of the direct current bus terminal is larger than the charging current of the high-voltage battery and the duration time T2 is longer, the motor controller reduces the output torque T2 in real time, and continuously detecting and comparing the two currents in real time until the bus current of the direct current bus terminal is smaller than the charging current of the high-voltage battery.
The invention further aims to provide a torque control system of an electric automobile, which comprises a whole automobile controller, a motor driving system, a high-voltage battery and a high-voltage accessory, wherein the motor driving system comprises the motor controller and a motor, the whole automobile controller is respectively connected with the motor controller, the high-voltage battery and the high-voltage accessory, the motor controller is also connected with the motor,
The whole vehicle controller is used for determining a motor request torque based on torque calculation parameters acquired from the motor controller, the high-voltage battery and the high-voltage accessory and sending a command torque to the motor controller;
a motor controller for generating final execution torque to output response by superimposing the compensation torque after receiving the command torque, and
After the final torque output response is finished, the bus current of the self direct current bus terminal is compared with the bus current of the high-voltage battery, and whether to execute new torque control again is judged according to the comparison result.
Further, the method comprises the steps of,
Upon discharge of the high-voltage battery, the vehicle controller is configured to determine, based on torque calculation parameters obtained from the motor controller, the high-voltage battery, and the high-voltage accessory, that the motor request torque includes,
Subtracting the required power sent by the current high-voltage accessory from the current allowable peak discharge power sent by the high-voltage battery to obtain allowable consumption power of a motor controller in the current state;
calculating to obtain the allowable output power of the motor end based on the allowable consumption power sent by the motor controller and the efficiency value of the motor driving system obtained by table lookup;
and carrying the calculated allowable output power of the motor end and the motor rotating speed obtained through real-time monitoring into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed;
When the high-voltage battery is charged, the vehicle controller is configured to determine that the motor request torque includes,
Based on the current maximum allowable charging power sent by the high-voltage battery, adding the required power sent by the current high-voltage accessory, and obtaining the allowable charging power of the motor controller in the current state;
calculating to obtain the allowable output power of the motor end based on the allowable charging power sent by the motor controller and the efficiency value of the motor driving system obtained by looking up a table;
and carrying the calculated allowable output power of the motor end and the motor rotating speed obtained through real-time monitoring into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed.
Further, after the final execution torque output response is completed, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether to execute the new torque command again is judged according to the comparison result,
When the high-voltage battery discharges, the motor controller monitors the bus current of the direct-current bus end in real time and receives the discharge current allowed by the high-voltage battery in real time;
Comparing the bus current of the direct current bus terminal with the discharge current of the high-voltage battery, wherein if the bus current of the motor controller is larger than the discharge current of the high-voltage battery and the duration time T1 is longer, the motor controller reduces the output torque T1 in real time, the two currents are continuously detected in real time and compared until the bus current of the direct current bus terminal is smaller than the discharge current of the high-voltage battery;
When the high-voltage battery is charged, the motor controller monitors the bus current of the direct-current bus end in real time and receives the real-time allowed charging current sent by the high-voltage battery;
And comparing the bus current of the direct current bus terminal with the charging current of the high-voltage battery, wherein if the bus current of the direct current bus terminal is larger than the charging current of the high-voltage battery and the duration time T2 is longer, the motor controller reduces the output torque T2 in real time, and continuously detecting and comparing the two currents in real time until the bus current of the direct current bus terminal is smaller than the charging current of the high-voltage battery.
Further, the electric vehicle further comprises a storage battery which is connected with the high-voltage battery through the power manager and used for obtaining electric energy, and the storage battery is further connected with the whole vehicle controller, the motor controller and the high-voltage accessory respectively and used for providing electric energy for the whole vehicle controller, the motor controller and the high-voltage accessory.
The control method of the invention avoids the influence of the power performance of the whole vehicle caused by the fact that the Battery Management System (BMS) directly limits the power to a small value due to the fact that the current maximum capacity of the high-voltage battery is exceeded in actual consumption/supplement at the motor controller end, and improves the safety and reliability of the whole vehicle.
Additional features and advantages of the invention will be set forth in the description which follows, and in part will be obvious from the description, or may be learned by practice of the invention. The objectives and other advantages of the invention may be realized and attained by the structure particularly pointed out in the written description and claims hereof as well as the appended drawings.
Drawings
In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings that are required in the embodiments or the description of the prior art will be briefly described, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 shows a schematic flow chart of a torque control method of an electric vehicle in an embodiment of the invention;
FIG. 2 illustrates an efficiency profile of a motor drive system in an embodiment of the invention;
fig. 3 shows a schematic structural diagram of an electric vehicle torque control system according to 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. 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.
As shown in FIG. 1, an embodiment of the invention discloses an electric vehicle torque control method, which comprises the steps of firstly, determining a motor request torque by a vehicle controller based on acquired torque calculation parameters and sending an instruction torque to a driving system, then, after the motor driving system receives the instruction torque, generating a final execution torque by superposition of compensation torque to carry out output response, and after the final execution torque output response is completed, comparing bus current of the motor controller with bus current of a high-voltage battery, and judging whether to execute new torque control again according to a comparison result. By the control method, the situation that the actual consumption/supplement of the motor controller exceeds the current maximum capacity of the high-voltage battery, so that a Battery Management System (BMS) directly limits the power to a small value to influence the power performance of the whole vehicle is avoided, and the safety and reliability of the whole vehicle are improved.
Specifically, the system (the electric vehicle torque control system) has no fault report, the motor drive system can normally respond to the mode request of the whole Vehicle Controller (VCU), enter the torque control mode, and the drive system can normally respond to the torque request of the whole vehicle controller. Further, the torque calculation parameters comprise one or more of an electronic throttle signal, a maximum allowable discharging power of a high-voltage battery, a maximum allowable charging power of the high-voltage battery, a required power of a high-voltage accessory, a maximum outputtable torque of a motor driving system and an efficiency value of the motor driving system, wherein the electronic throttle signal is a direct input of acceleration or deceleration intention of a driver and is used for VCU torque arbitration. The maximum allowable discharging power of the high-voltage battery and the maximum allowable charging power of the high-voltage battery are respectively obtained by sending the current allowable peak discharging power or the maximum allowable charging power to the whole vehicle controller according to the voltage information and the temperature information of the high-voltage battery when the high-voltage battery is discharged or charged, wherein the current allowable peak discharging power is the maximum allowable discharging power of the high-voltage battery. Furthermore, the current allowable peak discharge power acquisition method is calculated according to the voltage information and the temperature coefficient. For example, an optimal temperature range of the high-voltage battery is determined, in which the temperature coefficient k is 1, and when the temperature is lower than the minimum value of the optimal temperature range, it is assumed that the discharge power is reduced by 2% every time the temperature is reduced by 1 ℃, or when the temperature is higher than the maximum value of the optimal temperature range, it is assumed that the discharge power is reduced by 3% every time the temperature is increased by 1 ℃, so that the temperature coefficient k Temperature (temperature) can be found:
Further, the discharge power is calculated from the voltage information to satisfy that the high-voltage battery full voltage vmax=400V corresponds to the maximum allowable discharge power pmax=100 kW. The high-voltage battery minimum operating voltage vmin=300V, and when the battery voltage is lower than this value, the allowable discharge power is reduced to pmin=10 kW in order to protect the battery. The voltage of the high-voltage battery and the discharge power are in a linear relationship, and then the relationship between the discharge power P1 and the battery voltage V, and the temperature can be expressed as:
The required power of the high-voltage accessory is obtained by calculating the required power of the high-voltage accessory based on the obtained high-voltage input voltage and current, wherein the required power of the high-voltage accessory is equal to the product of the high-voltage input voltage and the current.
The maximum outputtable torque of the motor driving system is that the motor controller monitors the temperature, the working mode, the bus voltage, the bus current, the motor temperature and the motor rotating speed in real time, and sends the current maximum outputtable torque of the driving motor to the whole vehicle controller according to the motor rotating speed, the bus voltage, the motor temperature, the motor controller temperature and the motor external characteristic curve, and the maximum outputtable torque of the motor is exemplified as T 0 = 40 ℃ under the rated state (the motor temperature is V 0 = 380V, the motor rotating speed is N 0 = 3000 r/min) and the maximum outputtable torque is T max0 = 200N m. Further, the motor external characteristic curve shows that the torque T is inversely proportional to the motor speed n (within a certain speed range), i.e.Where k is a constant, k=t max0×n0 =200×3000=600000 can be calculated from the nominal state.
Further, the maximum outputtable torque is reduced by a first preset percentage for each increase in the motor temperature by a first preset temperature, increased by a second preset percentage for each decrease in the motor temperature, and k Motor temperature satisfies:
Illustratively, the maximum output torque is reduced by 1% for each 1 ℃ increase in motor temperature, and is increased by 1% for each 1 ℃ decrease. When the motor temperature t=50 ℃, the torque correction coefficient k Motor temperature =1-10×0.01=0.9 increases by 50-40=10 ℃ from the rated temperature.
When the temperature exceeds the highest range value in the first preset range, the torque is reduced by a fourth preset percentage, and k Motor controller temperature meets the following conditions:
k Motor controller temperature =
1-a third predetermined percentage- (T C -highest temperature of the first predetermined range) ×
A fourth predetermined percentage.
For example, the torque is reduced by 5% for motor controller temperatures between T c0 = 50 ℃ and T c1 = 60 ℃, and by 2% for each 1 ℃ increase in temperature above 60 ℃. Assuming that motor controller temperature tc=65 ℃, then motor controller temperature correction coefficient:
k Motor controller temperature =1-0.05-(65-60)×0.02=0.85。
When the bus voltage is at the minimum value Vmin, the torque is reduced to a fifth preset percentage of the rated torque, and when the bus voltage is at Vmax, the torque may be increased to the sixth preset percentage of the rated torque. The torque versus bus voltage relationship can be expressed as:
+a fifth predetermined percentage
By way of example, the torque is reduced to 80% of the nominal torque when the busbar voltage is vmin=320V, and the torque is increased to 120% of the nominal torque when the busbar voltage is vmax=420V. The torque versus bus voltage relationship can be expressed as:
When the bus current I exceeds a seventh preset percentage of the rated current I 0, the torque starts to decrease. When i=mi 0, the torque is reduced to an eighth preset percentage of the rated torque. Between I 0 and mI 0, torque is linear with current.
Illustratively, when i= 1.3I0, the torque begins to decrease when the bus current I exceeds 120% of the rated current I 0. When i=1.5I 0, the torque is reduced to 90% of the rated torque. Between I 0 and 1.5I 0, torque is linear with current. Let k bus current be the current correction coefficient, when i=1.3i 0,
Thereby calculating torque satisfies:
Further, the operating modes of the motor drive system, including economy mode, power mode, etc., need to be considered. The maximum torque which can be output by the motor under a certain rotating speed in the standard mode is 200 N.m, the maximum torque can be limited to about 150 N.m in the economic mode, and the maximum torque which can be output by the motor under the same rotating speed in the power mode can be increased by 20% -30% compared with the standard mode. If the maximum torque corresponding to a certain rotating speed in the standard mode is 200 N.m, the speed may be increased to 240-260 N.m in the power mode, so that the vehicle can accelerate more quickly and realize stronger power output. Thus, after calculating T Torque moment , the working mode needs to be considered again, for example, the working mode is lifted by 30% in the power mode, and the maximum output torque of the motor drive system is T Final torque ＝0.3T Torque moment .
The above calculations are exemplary and other algorithms, etc., are suitable for use with the present invention.
The motor driving system comprises a motor controller and a motor, and the motor driving system determines the efficiency requirement of the system at the beginning of design, namely, the motor driving system corresponds to different efficiencies under different rotating speeds and torques, so that the efficiency distribution diagram of the driving system can be obtained. The whole vehicle controller forms the efficiency map into a table, and the whole vehicle controller obtains the efficiency value of the motor driving system from the efficiency map by utilizing the motor rotating speed and the maximum outputtable torque of the current driving motor, as shown in fig. 2, a table look-up method is used in a control method to obtain the efficiency value of the driving system under the conditions of different rotating speeds and torques, wherein the middle value is an abscissa, which represents the motor rotating speed, the ordinate is the motor torque, and the other values are the efficiency values, namely, in the efficiency map, the motor driving system corresponds to different efficiency values under different motor rotating speeds and torques. Further, the MCU (Motor Control Unit: motor control unit) feeds back the torque and the rotation speed in real time, and the VCU CAN receive the torque and the rotation speed through the CAN bus.
In the embodiment of the invention, based on the acquired torque calculation parameters, the whole vehicle controller determines that the motor request torque comprises,
When the high-voltage battery discharges, subtracting the required power of the current high-voltage accessory from the current allowable peak discharge power of the high-voltage battery to obtain the allowable consumption power of the motor controller in the current state;
And calculating the allowable output power of the motor end based on the allowable consumption power of the motor controller and the efficiency value of the motor driving system, wherein the allowable output power of the motor end meets the condition that P (motor) =P (direct current) ×eta, wherein P (direct current) represents the allowable consumption power of the motor controller, and eta represents the efficiency value of the motor driving system.
Carrying the allowable output power of the motor and the motor rotating speed into a motor output power calculation formula to obtain motor request torque, wherein the motor output power calculation formula;
P=T*n/9550
wherein T is the motor request torque, and n is the motor speed, i.e. the motor speed obtained when calculating the maximum outputtable torque of the motor drive system.
When the high-voltage battery is charged, namely the electric automobile is in an energy recovery mode, adding the required power of the current high-voltage accessory to obtain the allowable charging power of the motor controller in the current state based on the acquired current maximum allowable charging power of the high-voltage battery;
calculating to obtain the allowable output power of the motor end based on the allowable charging power of the motor controller and the efficiency value of the motor driving system;
Carrying the allowable output power of the motor end and the motor rotating speed into a motor output power calculation formula to obtain motor request torque, wherein the motor output power calculation formula;
P=T*n/9550
wherein T is the motor request torque, and n is the motor speed, i.e. the motor speed obtained when calculating the maximum outputtable torque of the motor drive system.
In the embodiment of the invention, because of intrinsic factors such as the chassis of the electric automobile and the gear clearance of the speed reducer at present, if the motor drive system directly executes the request torque of the whole automobile controller, a shaking problem of the whole automobile is necessarily brought under some working conditions, and the driving feeling is influenced. Therefore, the current mainstream practice is to compensate a torque in time when the driving system monitors possible shake of the system based on the request torque obtained by the vehicle controller. Specifically, after the rotational speed fluctuation is extracted, a reverse torque is compensated to offset the shake, and an exemplary formula for calculating the compensation torque is T comp＝k Compensation . Delta. N, wherein k Compensation is a compensation coefficient, the unit is N m/rpm, delta N represents the fluctuation amount of the rotational speed, if delta N >0, the compensation torque direction is opposite to the motor rotation direction, and if delta N <0, the compensation torque direction is the same as the motor rotation direction. The driving experience of the whole vehicle is improved by compensating a reverse torque, and the running reliability of the vehicle is also improved.
In the embodiment of the invention, after the final execution torque output response is completed, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether a new torque command is executed again is judged according to the comparison result, wherein the bus current of the high-voltage battery is the discharge current of the high-voltage battery when the high-voltage battery is discharged, and is the charging current of the high-voltage battery when the high-voltage battery is charged.
When the high-voltage battery discharges, the motor controller monitors the bus current of the direct-current bus end in real time and receives the discharge current allowed by the high-voltage battery in real time;
And comparing the bus current of the direct current bus terminal with the discharge current of the high-voltage battery, wherein if the bus current of the motor controller is larger than the discharge current of the high-voltage battery and the duration time T1 is longer, the motor controller reduces the output torque T1 in real time, the two currents are continuously detected in real time and compared until the bus current of the direct current bus terminal is smaller than the discharge current of the high-voltage battery. Further, the present torque output is maintained until the bus current at the dc bus terminal is less than the discharge current of the high voltage battery.
When the high-voltage battery is charged, the motor controller monitors the bus current of the direct-current bus end in real time and receives the real-time allowed charging current sent by the high-voltage battery;
And comparing the bus current of the direct current bus terminal with the charging current of the high-voltage battery, wherein if the bus current of the direct current bus terminal is larger than the charging current of the high-voltage battery and the duration time T2 is longer, the motor controller reduces the output torque T2 in real time, and continuously detecting and comparing the two currents in real time until the bus current of the direct current bus terminal is smaller than the charging current of the high-voltage battery. Further, the present torque output is maintained until the bus current at the dc bus terminal is less than the charging current of the high voltage battery.
In the embodiment of the invention, the parameters T1, T2 and T2 can be calibrated, namely, corresponding parameters are set according to the application environment.
The embodiment of the invention further discloses an electric automobile torque control system capable of executing the control method, the control system comprises a whole automobile controller, a driving system, a high-voltage battery and a high-voltage accessory, the driving system comprises a motor controller and a motor, the whole automobile controller is respectively connected with the motor controller, the high-voltage battery and the high-voltage accessory, the motor controller is further connected with the motor, the whole automobile controller is used for determining motor request torque based on torque calculation parameters acquired from the motor controller, the high-voltage battery and the high-voltage accessory and sending command torque to the motor controller, the motor controller is used for generating final execution torque to carry out output response by superposing compensation torque after receiving the command torque, and after the final execution torque output response is completed, bus current of a direct-current bus terminal of the motor controller and bus current of the high-voltage battery are compared, and whether new torque control is executed again is judged according to comparison results. In fig. 2, CMDC refers to a two-in-one abbreviation of a DCDC converter and an OBC Charger (On-Board Charger). High voltage accessories include CMDC, PTC (Positive Temperature Coefficient: positive temperature coefficient thermistor), AC (Air Conditioner), and the like.
In the embodiment of the invention, when the high-voltage battery is discharged, the whole vehicle controller is used for determining the motor request torque based on torque calculation parameters acquired from the motor controller, the high-voltage battery and the high-voltage accessories,
Subtracting the required power sent by the current high-voltage accessory from the current allowable peak discharge power sent by the high-voltage battery to obtain allowable consumption power of a motor controller in the current state;
calculating to obtain the allowable output power of the motor end based on the allowable consumption power sent by the motor controller and the efficiency value of the driving system obtained by table lookup;
and carrying the calculated allowable output power of the motor end and the motor rotating speed obtained through real-time monitoring into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed;
When the high-voltage battery is charged, the vehicle controller is configured to determine that the motor request torque includes,
Based on the current maximum allowable charging power sent by the high-voltage battery, adding the required power sent by the current high-voltage accessory, and obtaining the allowable charging power of the motor controller in the current state;
Calculating to obtain the allowable output power of the motor based on the allowable charging power sent by the motor controller and the efficiency value of the driving system obtained by looking up a table;
and carrying the calculated allowable output power of the motor end and the motor rotating speed obtained through real-time monitoring into a motor output power calculation formula to obtain the motor request torque, wherein the motor output power calculation formula is as follows:
P=T*n/9550
Wherein T is the motor request torque, and n is the motor rotation speed.
In the embodiment of the invention, after the final execution torque output response is completed, the bus current of the motor controller is compared with the bus current of the high-voltage battery, and whether to execute the new torque command again is judged according to the comparison result,
When the high-voltage battery discharges, the motor controller monitors the bus current of the direct-current bus end in real time and receives the discharge current allowed by the high-voltage battery in real time;
Comparing the bus current of the direct current bus terminal with the discharge current of the high-voltage battery, wherein if the bus current of the motor controller is larger than the discharge current of the high-voltage battery and the duration time T1 is longer, the motor controller reduces the output torque T1 in real time, the two currents are continuously detected in real time and compared until the bus current of the direct current bus terminal is smaller than the discharge current of the high-voltage battery;
When the high-voltage battery is charged, the motor controller monitors the bus current of the direct-current bus end in real time and receives the real-time allowed charging current sent by the high-voltage battery;
And comparing the bus current of the direct current bus terminal with the charging current of the high-voltage battery, wherein if the bus current of the direct current bus terminal is larger than the charging current of the high-voltage battery and the duration time T2 is longer, the motor controller reduces the output torque T2 in real time, and continuously detecting and comparing the two currents in real time until the bus current of the direct current bus terminal is smaller than the charging current of the high-voltage battery.
In the embodiment of the invention, the control system further comprises a storage battery which is connected with the high-voltage battery through the power manager and used for acquiring electric energy, and the storage battery is further connected with the whole vehicle controller, the motor controller and the high-voltage accessory respectively and used for providing electric energy for the whole vehicle controller, the motor controller and the high-voltage accessory.
The control system can ensure the dynamic performance of the whole vehicle under the complex working condition, can also prevent the overdischarge and overcharge of the high-voltage battery, and effectively improves the safety and reliability of the whole vehicle driving.
Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art will understand that modifications may be made to the technical solutions described in the foregoing embodiments or equivalents may be substituted for some of the technical features thereof, and that such modifications or substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present invention in essence of the corresponding technical solutions.
Claims (10)
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510631349.3A CN120382796A (en) | 2025-05-16 | 2025-05-16 | Electric vehicle torque control method and system |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN202510631349.3A CN120382796A (en) | 2025-05-16 | 2025-05-16 | Electric vehicle torque control method and system |
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| Publication Number | Publication Date |
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| CN120382796A true CN120382796A (en) | 2025-07-29 |
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| CN202510631349.3A Pending CN120382796A (en) | 2025-05-16 | 2025-05-16 | Electric vehicle torque control method and system |
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| CN (1) | CN120382796A (en) |
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- 2025-05-16 CN CN202510631349.3A patent/CN120382796A/en active Pending
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