技术领域Technical Field
本发明涉及车辆技术领域，尤其是涉及一种电机控制方法，以及电机控制装置、电机控制器、车辆和计算机可读存储介质。The present invention relates to the field of vehicle technology, and in particular to a motor control method, a motor control device, a motor controller, a vehicle and a computer-readable storage medium.
背景技术Background technique
新能源车用电机为新能源车辆的重要动力来源，因此如何保证电机持续、可靠地输出扭矩是至关重要的。传统的新能源车辆电机控制方法仅基于电机绕组温度设定一个固定的保护阈值，一旦电机绕组温度超过该阈值，就会立即限制电机的扭矩输出。New energy vehicle motors are an important source of power for new energy vehicles, so how to ensure that the motors can continuously and reliably output torque is crucial. Traditional new energy vehicle motor control methods only set a fixed protection threshold based on the motor winding temperature. Once the motor winding temperature exceeds this threshold, the motor torque output will be immediately limited.
然而，以上控制方法，仅考虑电机温度的固定保护阈值，不能准确反映电机的实际工作状态，若电机温度传感器失效，则限扭判断存在偏差，存在安全隐患。However, the above control method only considers the fixed protection threshold of the motor temperature and cannot accurately reflect the actual working state of the motor. If the motor temperature sensor fails, there will be deviations in the torque limit judgment, which will pose a safety hazard.
发明内容Summary of the invention
本发明旨在至少解决现有技术中存在的技术问题之一。为此，本发明的一个目的在于提出一种电机控制方法，该电机控制方法综合考虑了多个变量，可以提高限扭控制的准确性，提高了整车的安全性和可靠性。The present invention aims to solve at least one of the technical problems existing in the prior art. To this end, one object of the present invention is to provide a motor control method, which comprehensively considers multiple variables, can improve the accuracy of torque control, and improve the safety and reliability of the whole vehicle.
本发明第二个目的在于提出一种电机控制装置。The second objective of the present invention is to provide a motor control device.
本发明第三个目的在于提出一种电机控制器。The third objective of the present invention is to provide a motor controller.
本发明第四个目的在于提出一种车辆。A fourth object of the present invention is to provide a vehicle.
本发明第五个目的在于提出一种计算机可读存储介质。A fifth object of the present invention is to provide a computer-readable storage medium.
为了达到上述目的，本发明第一方面实施例的电机控制方法，包括：获取电机绕组温度和电机冷却液温度；根据所述电机绕组温度和所述电机冷却液温度获得目标限扭信息；根据所述目标限扭信息控制电机输出扭矩。In order to achieve the above-mentioned purpose, the motor control method of the first aspect of the embodiment of the present invention includes: obtaining the motor winding temperature and the motor coolant temperature; obtaining target torque limit information according to the motor winding temperature and the motor coolant temperature; and controlling the motor output torque according to the target torque limit information.
根据本发明实施例的电机控制方法，通过综合考虑电机绕组温度和电机冷却液温度两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，根据目标限扭信息可以动态调整电机的输出扭矩，可以提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor control method of the embodiment of the present invention, by comprehensively considering the two variables of the motor winding temperature and the motor coolant temperature, it is possible to more accurately reflect the actual working state of the motor, and thus obtain more reasonable target torque limit information. The output torque of the motor can be dynamically adjusted according to the target torque limit information, which can improve the accuracy of the torque limit control and ensure that the vehicle can maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
在一些实施例中，根据所述电机绕组温度和所述电机冷却液温度获得目标限扭信息，包括：基于所述电机绕组温度检测异常情况，选择与所述电机冷却液温度对应的目标限扭曲线，并从所述目标限扭曲线上确定目标扭矩值。In some embodiments, target torque limit information is obtained based on the motor winding temperature and the motor coolant temperature, including: based on the abnormal situation of the motor winding temperature detection, selecting a target torque limit line corresponding to the motor coolant temperature, and determining a target torque value from the target torque limit line.
在一些实施例中，基于所述电机绕组温度检测异常情况，选择与所述电机冷却液温度对应的目标限扭曲线以及从所述目标限扭曲线上确定目标扭矩值，包括：In some embodiments, based on the abnormality of the motor winding temperature detection, selecting a target twist limit line corresponding to the motor coolant temperature and determining a target torque value from the target twist limit line comprises:
确定所述电机绕组温度异常；获得预设时间内所述电机冷却液温度的温度变化率；根据所述温度变化率从多个限扭曲线中确定所述目标限扭曲线；根据所述电机冷却液温度从所述目标限扭曲线上确定所述目标扭矩值。Determine that the motor winding temperature is abnormal; obtain the temperature change rate of the motor coolant temperature within a preset time; determine the target limit twist line from multiple limit twist lines based on the temperature change rate; determine the target torque value from the target limit twist line based on the motor coolant temperature.
在一些实施例中，在多个所述限扭曲线中，每个所述限扭曲线均包括恒扭阶段和降扭阶段；其中，每个所述限扭曲线的所述恒扭阶段的扭矩值不相等，每个所述限扭曲线的降扭阶段的斜率相等。In some embodiments, among the multiple twist limit lines, each of the twist limit lines includes a constant torque stage and a torque reduction stage; wherein the torque values of the constant torque stage of each of the twist limit lines are not equal, and the slopes of the torque reduction stage of each of the twist limit lines are equal.
在一些实施例中，所述温度变化率越大，所述目标限扭曲线的恒扭阶段的扭矩值越小。In some embodiments, the greater the temperature change rate, the smaller the torque value of the constant torsion stage of the target torsion limit curve.
在一些实施例中，根据所述目标限扭信息控制电机输出扭矩，包括：在所述目标限扭曲线的所述恒扭阶段，若电机需求扭矩小于所述目标限扭曲线的恒扭阶段的扭矩值，则控制电机以所述需求扭矩输出；若电机需求扭矩大于或等于所述目标限扭曲线的恒扭阶段的扭矩值，则控制所述电机最大允许输出扭矩为所述目标限扭曲线的恒扭阶段的扭矩值。In some embodiments, the motor output torque is controlled according to the target torque limit information, including: in the constant torque stage of the target torque limit line, if the motor demand torque is less than the torque value of the constant torque stage of the target torque limit line, then the motor is controlled to output with the demand torque; if the motor demand torque is greater than or equal to the torque value of the constant torque stage of the target torque limit line, then the maximum allowable output torque of the motor is controlled to be the torque value of the constant torque stage of the target torque limit line.
在一些实施例中，基于所述电机绕组温度检测异常情况，选择与所述电机冷却液温度对应的目标限扭曲线，并从所述目标限扭曲线上确定目标扭矩值，包括：确定所述电机绕组温度正常；根据所述电机冷却液温度从多个限扭曲线中确定所述目标限扭曲线；根据所述电机绕组温度从所述目标限扭曲线上确定所述目标扭矩值。In some embodiments, based on the abnormal condition of the motor winding temperature detection, a target limit distortion line corresponding to the motor coolant temperature is selected, and a target torque value is determined from the target limit distortion line, including: determining that the motor winding temperature is normal; determining the target limit distortion line from multiple limit distortion lines according to the motor coolant temperature; and determining the target torque value from the target limit distortion line according to the motor winding temperature.
在一些实施例中，所述电机冷却液温度越大，所述目标限扭曲线对应的电机绕组保护温度阈值越小。In some embodiments, the higher the motor coolant temperature is, the smaller the motor winding protection temperature threshold corresponding to the target limit distortion line is.
在一些实施例中，所述电机控制方法还包括：确定所述目标限扭曲线发生变化；对所述目标扭矩值进行滤波处理；将滤波处理之后的扭矩值作为最终的目标扭矩值。In some embodiments, the motor control method further includes: determining that the target twist limit line changes; filtering the target torque value; and using the torque value after filtering as the final target torque value.
为了达到上述目的，本发明第二方面实施例的电机控制装置，包括：第一温度传感器，用于检测电机绕组温度并输出电机绕组温度检测值；第二温度传感器，用于检测电机冷却液温度；控制器，与所述第一温度传感器和所述第二温度传感器连接，用于执行上面实施例所述的电机控制方法。In order to achieve the above-mentioned purpose, the motor control device of the second embodiment of the present invention includes: a first temperature sensor, used to detect the motor winding temperature and output the motor winding temperature detection value; a second temperature sensor, used to detect the motor coolant temperature; a controller, connected to the first temperature sensor and the second temperature sensor, for executing the motor control method described in the above embodiment.
根据本发明实施例的电机控制装置，控制器接收来自第一温度传感器和第二温度传感器检测的温度数据，通过执行上面实施例所述的电极控制方法，综合考虑电机绕组温度和电机冷却液温度两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor control device of the embodiment of the present invention, the controller receives temperature data detected by the first temperature sensor and the second temperature sensor, and by executing the electrode control method described in the above embodiment, comprehensively considering the two variables of the motor winding temperature and the motor coolant temperature, it can more accurately reflect the actual working state of the motor, and then obtain more reasonable target torque limit information, improve the accuracy of torque limit control, and ensure that the vehicle can still maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
为了达到上述目的，本发明第三方面实施例的电机控制器，处理器；与所述处理器通信连接的存储器；其中，所述存储器中存储有可被所述处理器执行的计算机程序，所述处理器执行所述计算机程序时实现上面实施例所述的电机控制方法。In order to achieve the above-mentioned purpose, the motor controller of the embodiment of the third aspect of the present invention comprises a processor; a memory communicatively connected to the processor; wherein the memory stores a computer program executable by the processor, and when the processor executes the computer program, the motor control method described in the above embodiment is implemented.
根据本发明实施例的电机控制器，处理器通过执行上面实施例所述的电机控制方法，通过综合考虑电机绕组温度和电机冷却液温度两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，根据目标限扭信息可以动态调整电机的输出扭矩，使得电机的输出扭矩达到预定的目标扭矩值，从而提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor controller of the embodiment of the present invention, the processor executes the motor control method described in the above embodiment and comprehensively considers the two variables of the motor winding temperature and the motor coolant temperature, so as to more accurately reflect the actual working state of the motor, and thus obtain more reasonable target torque limit information. The output torque of the motor can be dynamically adjusted according to the target torque limit information so that the output torque of the motor reaches a predetermined target torque value, thereby improving the accuracy of the torque limit control, and ensuring that the vehicle can maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
为了达到上述目的，本发明第四方面实施例的车辆，包括：电机；上面实施例所述的电机控制装置或者上面实施例所述的电机控制器，所述电机控制装置或者所述电机控制器与所述电机连接。In order to achieve the above-mentioned purpose, the vehicle of the fourth embodiment of the present invention includes: a motor; the motor control device described in the above embodiment or the motor controller described in the above embodiment, and the motor control device or the motor controller is connected to the motor.
根据本发明实施例的车辆，通过搭载电机控制装置或电机控制器，以及合理地连接到电机，可以实现电机的智能化控制。通过综合考虑电机绕组温度和电机冷却液温度两个变量，可以获得更合理的目标限扭信息，并根据目标限扭信息可以动态调整电机的输出扭矩，可以提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the vehicle of the embodiment of the present invention, by carrying a motor control device or a motor controller and being reasonably connected to the motor, the intelligent control of the motor can be realized. By comprehensively considering the two variables of the motor winding temperature and the motor coolant temperature, more reasonable target torque limit information can be obtained, and the output torque of the motor can be dynamically adjusted according to the target torque limit information, which can improve the accuracy of torque limit control, and can ensure that the vehicle can still maintain stable power output under abnormal conditions, thereby improving the safety and reliability of the whole vehicle.
为了达到上述目的，本发明第五方面实施例的计算机可读存储介质，其上存储有计算机程序，所述计算机程序被执行时实现上面实施例所述的电机控制方法。In order to achieve the above-mentioned purpose, a computer-readable storage medium of an embodiment of the fifth aspect of the present invention stores a computer program thereon, and when the computer program is executed, the motor control method described in the above embodiment is implemented.
本发明的附加方面和优点将在下面的描述中部分给出，部分将从下面的描述中变得明显，或通过本发明的实践了解到。Additional aspects and advantages of the present invention will be given in part in the following description and in part will be obvious from the following description, or will be learned through practice of the present invention.
附图说明BRIEF DESCRIPTION OF THE DRAWINGS
本发明的上述和/或附加的方面和优点从结合下面附图对实施例的描述中将变得明显和容易理解，其中：The above and/or additional aspects and advantages of the present invention will become apparent and easily understood from the description of the embodiments in conjunction with the following drawings, in which:
图1是根据本发明一个实施例的电机控制方法的流程图；FIG1 is a flow chart of a motor control method according to an embodiment of the present invention;
图2是根据本发明一个实施例的限扭曲线的示意图；FIG2 is a schematic diagram of a twist limiting line according to an embodiment of the present invention;
图3是根据本发明一个实施例的选取目标限扭曲线过程的示意图；FIG3 is a schematic diagram of a process for selecting a target limit distortion line according to an embodiment of the present invention;
图4是根据本发明一个实施例的选取目标限扭曲线的示意图；FIG4 is a schematic diagram of selecting a target limit distortion line according to an embodiment of the present invention;
图5是根据本发明一个实施例的限扭曲线的示意图；FIG5 is a schematic diagram of a twist limiting line according to an embodiment of the present invention;
图6是根据本发明一个实施例的限扭曲线滞回滤波处理的示意图；FIG6 is a schematic diagram of a distortion-limited linear hysteresis filtering process according to an embodiment of the present invention;
图7是根据本发明一个实施例的电机控制方法的整体流程图FIG. 7 is an overall flow chart of a motor control method according to an embodiment of the present invention.
图8是根据本发明一个实施例的电机控制装置的框图；FIG8 is a block diagram of a motor control device according to an embodiment of the present invention;
图9是根据本发明一个实施例的电机控制器的框图；FIG9 is a block diagram of a motor controller according to one embodiment of the present invention;
图10是根据本发明一个实施例的车辆的框图。FIG. 10 is a block diagram of a vehicle according to an embodiment of the present invention.
附图标记：Reference numerals:
车辆100；Vehicle 100;
电机1；电机控制装置2；电机控制器3；Motor 1; Motor control device 2; Motor controller 3;
第一温度传感器21；第二温度传感器22；控制器23；处理器31；存储器32。First temperature sensor 21; second temperature sensor 22; controller 23; processor 31; memory 32.
具体实施方式Detailed ways
下面详细描述本发明的实施例，参考附图描述的实施例是示例性的，下面详细描述本发明的实施例。Embodiments of the present invention are described in detail below. The embodiments described with reference to the accompanying drawings are exemplary. Embodiments of the present invention are described in detail below.
下面参考图1-图6描述根据本发明实施例的电机控制方法。The motor control method according to an embodiment of the present invention is described below with reference to FIG. 1 to FIG. 6 .
图1是根据本发明一个实施例的电机控制方法的流程图，如图2所示，电机控制方法至少包括步骤S1-S3，具体如下。FIG1 is a flow chart of a motor control method according to an embodiment of the present invention. As shown in FIG2 , the motor control method at least includes steps S1 - S3 , which are specifically as follows.
S1，获取电机绕组温度和电机冷却液温度。S1, obtain the motor winding temperature and motor coolant temperature.
其中，电机绕组温度可以是指电机内部绕组温度的实时测量值，该温度检测值可以通过安装在电机上的温度传感器进行实时监测。电机冷却液温度可以是指电机冷却液的实时测量温度，该温度值可以通过安装在电机冷却系统中的温度传感器进行实时监测。The motor winding temperature may refer to the real-time measurement value of the motor internal winding temperature, and the temperature detection value may be monitored in real time by a temperature sensor installed on the motor. The motor coolant temperature may refer to the real-time measurement temperature of the motor coolant, and the temperature value may be monitored in real time by a temperature sensor installed in the motor cooling system.
在一些实施例中，电机绕组温度反映了电机内部温度情况，电机绕组温度可以是电机内部热量积累的直接表征，可以直接影响电机的安全性和寿命。电机绕组温度可以通过安装在电机上的温度传感器进行实时监测，通过实时监测电机绕组温度，可以及时发现过热情况，触发保护措施，防止电机因过热而损坏。电机冷却液温度可以是电机冷却系统的重要指标，反映了电机散热的效果。电机冷却液温度可以通过安装在电机冷却系统中的温度传感器进行实时监测。通过控制冷却液温度，可以保持电机在适宜的工作温度范围内，防止过热和过冷现象。因此，这些温度数据对于电机保护和控制非常重要，可以帮助判断电机的工作状态和保证电机在安全范围内运行。In some embodiments, the motor winding temperature reflects the internal temperature of the motor. The motor winding temperature can be a direct representation of the heat accumulation inside the motor, which can directly affect the safety and life of the motor. The motor winding temperature can be monitored in real time by a temperature sensor installed on the motor. By real-time monitoring of the motor winding temperature, overheating can be detected in time, and protective measures can be triggered to prevent the motor from being damaged due to overheating. The motor coolant temperature can be an important indicator of the motor cooling system, reflecting the effect of motor heat dissipation. The motor coolant temperature can be monitored in real time by a temperature sensor installed in the motor cooling system. By controlling the coolant temperature, the motor can be kept within a suitable operating temperature range to prevent overheating and overcooling. Therefore, these temperature data are very important for motor protection and control, and can help determine the working state of the motor and ensure that the motor operates within a safe range.
S2，根据电机绕组温度和电机冷却液温度获得目标限扭信息。S2, obtaining target torque limit information according to the motor winding temperature and the motor coolant temperature.
其中，目标限扭信息可以给定电机绕组温度和电机冷却液温度条件下，期望电机在特定工况下达到的扭矩输出限制。目标限扭信息可以用于为电机控制系统提供指导，帮助系统在不同工作条件下调整电机的输出，以满足性能要求并确保电机的安全运行。这包括防止过热、过载、以及在极端条件下维持合适的扭矩输出。The target torque limit information can be the torque output limit that the motor is expected to achieve under specific operating conditions given the motor winding temperature and motor coolant temperature. The target torque limit information can be used to provide guidance to the motor control system to help the system adjust the motor output under different operating conditions to meet performance requirements and ensure safe operation of the motor. This includes preventing overheating, overloading, and maintaining appropriate torque output under extreme conditions.
在一些实施例中，电机控制器可以根据获取到的电机绕组温度和电机冷却液温度，获得一个表征目标限扭信息的曲线或参数。根据综合考虑电机绕组温度、冷却液温度和电机扭矩等变量，可以计算出相应的目标扭矩值，以使得电机在各种工况下都能保持在安全范围内，并充分发挥其输出能力。In some embodiments, the motor controller can obtain a curve or parameter representing the target torque limit information based on the acquired motor winding temperature and motor coolant temperature. Based on comprehensive consideration of variables such as motor winding temperature, coolant temperature, and motor torque, the corresponding target torque value can be calculated so that the motor can remain within a safe range under various working conditions and give full play to its output capacity.
S3，根据目标限扭信息控制电机输出扭矩。S3, controlling the motor output torque according to the target torque limit information.
在一些实施例中，电机控制器可以根据目标限扭信息对电机进行实时的控制。通过调整电机控制器中的电流输出、电压输出或其他控制参数，使得电机的输出扭矩达到预定的目标扭矩值。这样，电机能够在不同工况下持续稳定地输出所需的扭矩。In some embodiments, the motor controller can control the motor in real time according to the target torque limit information. By adjusting the current output, voltage output or other control parameters in the motor controller, the output torque of the motor reaches a predetermined target torque value. In this way, the motor can continuously and stably output the required torque under different working conditions.
因此，通过根据目标限扭信息调整电机输出，系统可以在不同工作条件下优化电机的性能。这包括确保在最大扭矩需求下电机不过载，以及在低负载条件下降低功耗。Therefore, by adjusting the motor output based on the target torque limit information, the system can optimize the motor's performance under different operating conditions. This includes ensuring that the motor is not overloaded under maximum torque demand and reducing power consumption under low load conditions.
根据本发明实施例的电机控制方法，通过综合考虑电机绕组温度和电机冷却液温度等两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，根据目标限扭信息可以动态调整电机的输出扭矩，使得电机的输出扭矩达到预定的目标扭矩值，从而可以提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor control method of the embodiment of the present invention, by comprehensively considering two variables such as the motor winding temperature and the motor coolant temperature, it is possible to more accurately reflect the actual working state of the motor, and thus obtain more reasonable target torque limit information. The output torque of the motor can be dynamically adjusted according to the target torque limit information so that the output torque of the motor reaches a predetermined target torque value, thereby improving the accuracy of the torque limit control and ensuring that the vehicle can maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
在一些实施例中，根据电机绕组温度和电机冷却液温度获得目标限扭信息，包括：基于电机绕组温度检测异常情况，选择与电机冷却液温度对应的目标限扭曲线以及从目标限扭曲线上确定目标扭矩值。In some embodiments, target torque limit information is obtained based on the motor winding temperature and the motor coolant temperature, including: based on the abnormal situation of the motor winding temperature detection, selecting a target torque limit line corresponding to the motor coolant temperature and determining a target torque value from the target torque limit line.
具体地，系统实时监测电机绕组温度。如果检测到异常情况，例如温度升高超出安全范围，系统将标记为异常情况。系统可以根据电机绕组温度的异常情况选择与电机冷却液温度对应的目标限扭曲线。这涉及到建立一个预先定义的映射关系，将电机绕组温度异常情况映射到相应的冷却液温度范围。Specifically, the system monitors the motor winding temperature in real time. If an abnormality is detected, such as a temperature rise beyond a safe range, the system will mark it as an abnormality. The system can select a target limit distortion curve corresponding to the motor coolant temperature based on the abnormality of the motor winding temperature. This involves establishing a pre-defined mapping relationship that maps the abnormality of the motor winding temperature to the corresponding coolant temperature range.
进一步地，当选择了目标限扭曲线后，系统可以从该曲线上确定目标扭矩值。这可以通过查找目标限扭曲线上与当前电机绕组温度和冷却液温度相对应的点来实现。目标扭矩值可以根据综合考虑电机绕组温度和冷却液温度等变量进行动态调整。这样，系统可以更灵活地应对不同工作条件下的电机状况。Furthermore, when the target twist limit curve is selected, the system can determine the target torque value from the curve. This can be achieved by finding the point on the target twist limit curve that corresponds to the current motor winding temperature and coolant temperature. The target torque value can be dynamically adjusted based on a comprehensive consideration of variables such as motor winding temperature and coolant temperature. In this way, the system can more flexibly respond to motor conditions under different working conditions.
在一些实施例中，基于电机绕组温度检测异常情况，选择与电机冷却液温度对应的目标限扭曲线以及从目标限扭曲线上确定目标扭矩值，包括：确定电机绕组温度检测异常。获得预设时间内电机冷却液温度的温度变化率。根据温度变化率从多个限扭曲线中确定目标限扭曲线。根据电机冷却液温度从目标限扭曲线上确定目标扭矩值。In some embodiments, based on the abnormality of the motor winding temperature detection, selecting a target limit twist line corresponding to the motor coolant temperature and determining a target torque value from the target limit twist line includes: determining that the motor winding temperature detection is abnormal. Obtaining the temperature change rate of the motor coolant temperature within a preset time. Determining the target limit twist line from multiple limit twist lines according to the temperature change rate. Determining the target torque value from the target limit twist line according to the motor coolant temperature.
具体地，通过对电机绕组温度进行检测，并判断是否存在异常情况，如果检测到电机绕组温度异常，例如超过预设的安全温度阈值或异常波动等。电机控制器将采取相应的措施，例如减小目标扭矩值或限制电机输出，以防止电机过热损坏。Specifically, by detecting the motor winding temperature and judging whether there is any abnormality, if the motor winding temperature is detected to be abnormal, such as exceeding the preset safety temperature threshold or abnormal fluctuation, the motor controller will take corresponding measures, such as reducing the target torque value or limiting the motor output, to prevent the motor from overheating and damage.
进一步地，电机控制器以一定的频率对冷却液温度传感器进行实时连续采样，通过记录预设的时间段内电机冷却液温度的变化情况，可以计算出电机冷却液温度的温度变化率，即在预设时间内冷却液温度的变化量除以时间的变化量，具体公式如下：Furthermore, the motor controller continuously samples the coolant temperature sensor in real time at a certain frequency. By recording the change of the motor coolant temperature within a preset time period, the temperature change rate of the motor coolant temperature can be calculated, that is, the change of the coolant temperature within the preset time divided by the change of time. The specific formula is as follows:
δTc＝ΔTc/Δt＝(Tc2-Tc1)/(t2-t1)δTc＝ΔTc/Δt＝(Tc2-Tc1)/(t2-t1)
其中，δTc为电机冷却液温度的温度变化率，Tc1为冷却液在t1时刻的温度，Tc2为冷却液在t2时刻的温度。Wherein, δTc is the temperature change rate of the motor coolant temperature, Tc1 is the temperature of the coolant at time t1, and Tc2 is the temperature of the coolant at time t2.
温度变化率的高低反映了冷却系统的散热效果，当温度变化率较高时，可能意味着冷却系统的散热效果较差，冷却液温度迅速上升；反之，温度变化率较低则表示冷却系统的散热效果较好，冷却液温度上升较为缓慢。The temperature change rate reflects the heat dissipation effect of the cooling system. When the temperature change rate is high, it may mean that the heat dissipation effect of the cooling system is poor and the coolant temperature rises rapidly. Conversely, a low temperature change rate indicates that the heat dissipation effect of the cooling system is good and the coolant temperature rises slowly.
进一步地，电机控制器根据电机冷却液温度的温度变化率，从预先设定的多个限扭曲线中选择合适的目标限扭曲线。不同的限扭曲线代表了在不同冷却液温度变化率下电机的限制扭矩值。当冷却液温度变化率较高时，可以采用限扭曲线中限制较为严格的曲线，以防止电机过热。而在冷却液温度变化率较低的情况下，则可以选择限扭曲线中限制较为宽松的曲线，允许电机输出更大的扭矩。通过选择合适的限扭曲线，可以确保电机在不同温度下运行时的安全性和性能。Furthermore, the motor controller selects a suitable target twist limit curve from a plurality of preset twist limit curves according to the temperature change rate of the motor coolant temperature. Different twist limit curves represent the limit torque value of the motor at different coolant temperature change rates. When the coolant temperature change rate is high, a curve with stricter restrictions in the twist limit curve can be used to prevent the motor from overheating. When the coolant temperature change rate is low, a curve with looser restrictions in the twist limit curve can be selected to allow the motor to output a greater torque. By selecting a suitable twist limit curve, the safety and performance of the motor when running at different temperatures can be ensured.
进一步地，根据电机冷却液温度，从目标限扭曲线上确定对应的目标扭矩值。目标扭矩值可以是限制电机输出的参考值，通过限制电机输出的扭矩，可以保护电机免受过热和损坏的风险，并确保电机的安全运行。Further, according to the motor coolant temperature, the corresponding target torque value is determined from the target twist limit line. The target torque value can be a reference value for limiting the motor output. By limiting the torque output by the motor, the motor can be protected from the risk of overheating and damage and the safe operation of the motor can be ensured.
在一些实施例中，电机控制器可以根据不同的驾驶模式和车辆工况，设置不同的目标限扭曲线。例如，在高速行驶时，电机控制器可以选择限制较为严格的限扭曲线，以防止电机过热。而在城市行驶或低负载工况下，电机控制器可以选择限制较为宽松的限扭曲线，允许电机输出更大的扭矩，以提供更好的动力支持。In some embodiments, the motor controller can set different target twist limit curves according to different driving modes and vehicle operating conditions. For example, when driving at high speed, the motor controller can select a twist limit curve with stricter restrictions to prevent the motor from overheating. In urban driving or low-load conditions, the motor controller can select a twist limit curve with looser restrictions to allow the motor to output greater torque to provide better power support.
图2是根据本发明一个实施例的限扭曲线的示意图，如图2所示，在本发明实施例的电机控制方法中，引入了多个限扭曲线，每个限扭曲线代表了在不同工况下限制电机输出的策略。这些限扭曲线可以通过试验数据获取或者通过模型计算得出。FIG2 is a schematic diagram of a twist limit line according to an embodiment of the present invention. As shown in FIG2, in the motor control method of the embodiment of the present invention, multiple twist limit lines are introduced, each of which represents a strategy for limiting the motor output under different working conditions. These twist limit lines can be obtained through test data or calculated through a model.
具体地，可以通过在实际车辆上进行测试和试验，收集电机在不同工况下的数据，包括电机扭矩、电机冷却液温度和电机绕组温度等变量。通过对这些数据进行分析和处理，可以得到电机在不同工况下的表现，并确定限制扭矩的补偿曲线。试验数据获取是一种直接、准确的方式，但需要较多的测试和实验工作。或者，可以通过建立电机和冷却系统的数学模型，模拟电机在不同工况下的运行。这样的模型可以考虑电机的热特性、冷却系统的散热能力以及传感器失效等情况。通过模拟计算，可以得到电机在不同工况下的温度和扭矩等变量，进而确定限制扭矩的补偿曲线。模型计算是一种灵活的方式，可以通过调整模型参数和输入条件来研究不同的工况和策略。Specifically, data of the motor under different working conditions can be collected by testing and experimenting on actual vehicles, including variables such as motor torque, motor coolant temperature, and motor winding temperature. By analyzing and processing these data, the performance of the motor under different working conditions can be obtained, and the compensation curve for limiting torque can be determined. Experimental data acquisition is a direct and accurate way, but it requires more testing and experimental work. Alternatively, the operation of the motor under different working conditions can be simulated by establishing a mathematical model of the motor and the cooling system. Such a model can take into account the thermal characteristics of the motor, the heat dissipation capacity of the cooling system, and sensor failure. Through simulation calculations, variables such as the temperature and torque of the motor under different working conditions can be obtained, and then the compensation curve for limiting torque can be determined. Model calculation is a flexible way to study different working conditions and strategies by adjusting model parameters and input conditions.
因此，综合使用试验数据获取和模型计算，可以更全面地了解电机的特性和性能，得到合理的限扭曲线。这样的限扭曲线能够更好地反映电机的实际运行状态，确保电机在安全范围内稳定工作，同时充分发挥其性能，提高车辆的性能和效率。Therefore, the comprehensive use of test data acquisition and model calculation can provide a more comprehensive understanding of the characteristics and performance of the motor and obtain a reasonable limit twist curve. Such a limit twist curve can better reflect the actual operating state of the motor, ensure that the motor works stably within a safe range, and give full play to its performance, thereby improving the performance and efficiency of the vehicle.
在一些实施例中，如图2所示，每个限扭曲线均包括恒扭阶段和降扭阶段。其中，恒扭阶段可以表示电机在一定温度范围内能够持续输出恒定的扭矩值。每个限扭曲线的恒扭阶段的扭矩值是不相等的，即在不同限扭曲线上，恒扭阶段对应的扭矩值不同。这样设计的目的是使不同限扭曲线在不同工况下有不同的扭矩输出策略，从而更好地满足电机在不同场景下的工作要求。这些值可以是根据电机的设计特性和工作条件等进行设定的。In some embodiments, as shown in FIG2 , each twist limit line includes a constant torque stage and a torque reduction stage. Among them, the constant torque stage can indicate that the motor can continuously output a constant torque value within a certain temperature range. The torque values of the constant torque stage of each twist limit line are not equal, that is, on different twist limit lines, the torque values corresponding to the constant torque stage are different. The purpose of this design is to enable different twist limit lines to have different torque output strategies under different working conditions, so as to better meet the working requirements of the motor in different scenarios. These values can be set according to the design characteristics and working conditions of the motor.
在每个限扭曲线中，降扭阶段可以表示电机在超过恒扭阶段温度范围后，电机的扭矩输出开始逐渐降低，以达到限制电机输出的效果。每个限扭曲线的降扭阶段的斜率相等。这意味着在降扭阶段，不论是哪个限扭曲线，电机的扭矩输出都会以相同的斜率逐渐降低。通过这样的设计，可以保证在不同限扭曲线之间的平滑切换，避免因切换限扭曲线而导致的扭矩输出的剧烈变化，从而提高电机的稳定性和控制精度。In each twist limit line, the torque reduction stage can mean that after the motor exceeds the temperature range of the constant torque stage, the torque output of the motor begins to gradually decrease to achieve the effect of limiting the motor output. The slope of the torque reduction stage of each twist limit line is equal. This means that in the torque reduction stage, no matter which twist limit line, the torque output of the motor will gradually decrease at the same slope. Through such a design, smooth switching between different twist limit lines can be guaranteed, avoiding drastic changes in torque output caused by switching the twist limit line, thereby improving the stability and control accuracy of the motor.
通过综合考虑多个限扭曲线，此时电机绕组温度传感器失效，则根据电机冷却液温度确定所应使用的限扭曲线，电机控制器可以根据实际工作状态和温度情况，在恒扭阶段内选择合适的扭矩输出，并在超过该温度范围后逐步降低扭矩输出。通过这样的控制方式，电机可以在不同工况下安全可靠地运行，同时充分发挥其输出性能。By comprehensively considering multiple twist limit curves, if the motor winding temperature sensor fails, the twist limit curve to be used is determined according to the motor coolant temperature. The motor controller can select the appropriate torque output in the constant torque stage according to the actual working state and temperature conditions, and gradually reduce the torque output after exceeding the temperature range. Through this control method, the motor can operate safely and reliably under different working conditions, while giving full play to its output performance.
在一些实施例中，温度变化率越大，目标限扭曲线的恒扭阶段的扭矩值越小。这意味着在电机温度变化迅速的情况下，系统更倾向于限制电机的输出扭矩，以防止过热或其他不安全的状况发生。这种设计可以被解释为一种保护机制。当温度变化较大时，系统降低了电机的输出扭矩，从而减缓了温度上升速度，提高了系统的稳定性和安全性。In some embodiments, the greater the temperature change rate, the smaller the torque value of the constant torque stage of the target twist limit curve. This means that when the motor temperature changes rapidly, the system is more inclined to limit the output torque of the motor to prevent overheating or other unsafe conditions. This design can be interpreted as a protection mechanism. When the temperature changes greatly, the system reduces the output torque of the motor, thereby slowing down the temperature rise rate and improving the stability and safety of the system.
举例来说，图3是根据本发明一个实施例的选取目标限扭曲线过程的示意图，如图2和3所示，电机控制器根据记录的第一温度变化率，即电机冷却液温度随时间的变化率，从预先设定的多个限扭曲线中选择第一目标限扭曲线。电机控制器根据记录的第二温度变化率，即电机冷却液温度随时间的变化率，从预先设定的多个限扭曲线中选择第二目标限扭曲线。第一温度变化率大于第二温度变化率，第一目标限扭曲线的恒扭阶段的扭矩值小于第二目标限扭曲线的恒扭阶段的扭矩值。即温度变化率越小，使用恒扭阶段的扭矩值越大的限扭曲线例如图2中的Tor4进行扭矩控制,反之，温度变化率越大，则使用恒扭矩阶段的扭矩值越小的限扭曲线例如图2中的Tor1进行扭矩限制。For example, FIG3 is a schematic diagram of a process for selecting a target limit twist line according to an embodiment of the present invention. As shown in FIGS. 2 and 3, the motor controller selects a first target limit twist line from a plurality of pre-set limit twist lines according to the recorded first temperature change rate, that is, the rate of change of the motor coolant temperature over time. The motor controller selects a second target limit twist line from a plurality of pre-set limit twist lines according to the recorded second temperature change rate, that is, the rate of change of the motor coolant temperature over time. The first temperature change rate is greater than the second temperature change rate, and the torque value of the constant torque stage of the first target limit twist line is less than the torque value of the constant torque stage of the second target limit twist line. That is, the smaller the temperature change rate, the larger the torque value of the limit twist line in the constant torque stage is used, such as Tor4 in FIG2 for torque control, and conversely, the larger the temperature change rate, the smaller the torque value of the limit twist line in the constant torque stage is used, such as Tor1 in FIG2 for torque limitation.
其中，第一温度变化率较大可能意味着电机处于高负载或高温状态，且冷却液温度升温较快，因此选择的第一目标限扭曲线在恒扭阶段的扭矩值较小，以限制电机的输出扭矩，防止电机过热。第二温度变化率较小可能意味着电机处于较低负载或低温状态，且冷却液温度升温较慢，此时选择的第二目标限扭曲线在恒扭阶段的扭矩值较大，可以允许电机输出更多的扭矩，以满足高负载或高速行驶时的需求。Among them, a large first temperature change rate may mean that the motor is in a high load or high temperature state, and the coolant temperature rises quickly, so the torque value of the first target limit twist line selected in the constant torque stage is small to limit the output torque of the motor and prevent the motor from overheating. A small second temperature change rate may mean that the motor is in a low load or low temperature state, and the coolant temperature rises slowly. At this time, the torque value of the second target limit twist line selected in the constant torque stage is large, which can allow the motor to output more torque to meet the needs of high load or high-speed driving.
通过根据不同的温度变化率选择不同的目标限扭曲线，以动态调整电机的输出扭矩，确保电机在各种工况下都能保持在安全范围内，并充分发挥其输出能力，提高整车的性能和可靠性。By selecting different target limit torsion curves according to different temperature change rates, the output torque of the motor can be dynamically adjusted to ensure that the motor can remain within a safe range under various operating conditions and give full play to its output capacity, thereby improving the performance and reliability of the entire vehicle.
在一些实施例中，电机控制器根据之前所选定的目标限扭曲线，即恒扭阶段的限扭曲线，对电机的扭矩输出进行控制。若电机的实际需求扭矩小于目标限扭曲线的恒扭阶段的扭矩值时，说明电机当前工况下需要的输出扭矩较小。在这种情况下，电机控制器将控制电机以需求扭矩输出，保证电机稳定运行。In some embodiments, the motor controller controls the torque output of the motor according to the previously selected target twist limit line, that is, the twist limit line in the constant torque stage. If the actual required torque of the motor is less than the torque value in the constant torque stage of the target twist limit line, it means that the output torque required by the motor under the current working condition is small. In this case, the motor controller will control the motor to output at the required torque to ensure stable operation of the motor.
若电机需求扭矩大于或等于目标限扭曲线的恒扭阶段的扭矩值时，说明电机当前工况需要更大的输出扭矩。在这种情况下，电机控制器将控制电机最大允许输出扭矩为目标限扭曲线的恒扭阶段的扭矩值，以防止电机输出扭矩超过安全范围。If the motor demand torque is greater than or equal to the torque value of the constant torque stage of the target limit twist line, it means that the current working condition of the motor requires a larger output torque. In this case, the motor controller will control the maximum allowable output torque of the motor to be the torque value of the constant torque stage of the target limit twist line to prevent the motor output torque from exceeding the safety range.
通过以上控制策略，电机控制器能够根据目标限扭曲线对电机输出进行有效控制，确保电机的输出扭矩始终在安全范围内，并且根据不同工况动态调整输出扭矩，从而实现更高效、可靠的电机控制，保障车辆的安全性和性能表现。Through the above control strategy, the motor controller can effectively control the motor output according to the target limit twist line, ensure that the output torque of the motor is always within a safe range, and dynamically adjust the output torque according to different working conditions, thereby achieving more efficient and reliable motor control and ensuring the safety and performance of the vehicle.
在一些实施例中，基于电机绕组温度检测异常情况，选择与电机冷却液温度对应的目标限扭曲线，并从目标限扭曲线上确定目标扭矩值，包括：确定电机绕组温度检测正常。根据电机冷却液温度从多个限扭曲线中确定目标限扭曲线。根据电机绕组温度从目标限扭曲线上确定目标扭矩值。In some embodiments, based on the abnormality of the motor winding temperature detection, a target twist limit line corresponding to the motor coolant temperature is selected, and a target torque value is determined from the target twist limit line, including: determining that the motor winding temperature detection is normal. Determining the target twist limit line from a plurality of twist limit lines according to the motor coolant temperature. Determining the target torque value from the target twist limit line according to the motor winding temperature.
具体地，电机控制器通过安装在电机绕组中的温度传感器获取电机绕组温度，从而检查电机绕组温度是否在正常范围内，判断电机绕组是否处于正常工作状态。Specifically, the motor controller obtains the temperature of the motor winding through a temperature sensor installed in the motor winding, thereby checking whether the temperature of the motor winding is within a normal range and determining whether the motor winding is in a normal working state.
进一步地，若确定电机绕组温度检测正常，则根据检测到的电机冷却液温度，从预先设定的多个限扭曲线中选择合适的目标限扭曲线，不同的冷却液温度可能对应不同的限扭曲线，这是因为冷却液温度的变化可能会影响电机的散热效果和工作状态。Furthermore, if it is determined that the motor winding temperature detection is normal, a suitable target limit twist line is selected from multiple pre-set limit twist lines based on the detected motor coolant temperature. Different coolant temperatures may correspond to different limit twist lines. This is because changes in coolant temperature may affect the heat dissipation effect and working state of the motor.
进一步地，在确定了目标限扭曲线之后，电机控制系统根据实际的电机绕组温度，从所选定的目标限扭曲线上获取相应的目标扭矩值。这个目标扭矩值代表了在当前温度下，电机应该输出的理想扭矩大小。Furthermore, after determining the target twist limit line, the motor control system obtains the corresponding target torque value from the selected target twist limit line according to the actual motor winding temperature. The target torque value represents the ideal torque that the motor should output at the current temperature.
因此，电机控制器可以根据电机绕组温度和电机冷却液温度等参数动态调整目标扭矩，以确保电机在不同的工况下都能在安全范围内运行，并充分发挥其输出能力。Therefore, the motor controller can dynamically adjust the target torque based on parameters such as the motor winding temperature and the motor coolant temperature to ensure that the motor can operate within a safe range under different operating conditions and give full play to its output capacity.
在实施例中，不同的冷却液温度和电机扭矩下，电机能够保持正常运行可承受的最大电机绕组温度也是不同的，因此，在不同的冷却液温度、不同的电机扭矩条件下，可以动态的调整电机绕组温度保护阈值，在较大大扭矩、冷却液高温时提前限制电机扭矩输出，在较小扭矩、冷却低温时延迟限制电机扭矩输出。从而，可以在保证电机正常运行的情况下，可以避免对电机造成损坏。In the embodiment, the maximum motor winding temperature that the motor can withstand to maintain normal operation is different under different coolant temperatures and motor torques. Therefore, under different coolant temperatures and motor torques, the motor winding temperature protection threshold can be dynamically adjusted to limit the motor torque output in advance when the torque is large and the coolant temperature is high, and to delay limiting the motor torque output when the torque is small and the coolant temperature is low. Thus, damage to the motor can be avoided while ensuring normal operation of the motor.
在一些实施例中，电机冷却液温度越大，目标限扭曲线对应的电机绕组保护温度阈值越小。这种设计允许系统在高温环境下仍能保持电机的性能，但在确保安全的前提下进行了一些限制。因此，可以在不牺牲电机性能的情况下，更好地适应不同的工作环境。In some embodiments, the higher the motor coolant temperature, the lower the motor winding protection temperature threshold corresponding to the target limit twist line. This design allows the system to maintain the performance of the motor in a high temperature environment, but with some restrictions on the premise of ensuring safety. Therefore, it can better adapt to different working environments without sacrificing motor performance.
举例来说，图4是根据本发明一个实施例的选取目标限扭曲线的示意图，如图4所示，根据获取的第一电机冷却液温度，电机控制器从预先设定的多个限扭曲线中选择第三目标限扭曲线。根据获取的第二电机冷却液温度，电机控制器从预先设定的多个限扭曲线中选择第四目标限扭曲线。其中，第一电机冷却液温度和第二电机冷却液温度可以是根据车辆冷却系统中的温度传感器测量得到的，代表着当前车辆冷却液的温度情况。For example, FIG4 is a schematic diagram of selecting a target twist limit line according to an embodiment of the present invention. As shown in FIG4, based on the first motor coolant temperature obtained, the motor controller selects a third target twist limit line from a plurality of preset twist limit lines. Based on the second motor coolant temperature obtained, the motor controller selects a fourth target twist limit line from a plurality of preset twist limit lines. The first motor coolant temperature and the second motor coolant temperature can be measured by a temperature sensor in a vehicle cooling system, representing the current vehicle coolant temperature.
其中，第一电机冷却液温度大于第二电机冷却液温度，第一电机冷却液温度较高可能意味着冷却效果不佳，需要选择相应的限扭曲线并限制电机的扭矩输出，以避免电机过热，因此所选取的第三目标限扭曲线对应的电机绕组保护温度较低。而第二电机冷却液温度较低可能意味着冷却效果较好，此时可以放宽限制并允许电机输出更大的扭矩，以提高整车性能，因此所选取的第四目标限扭曲线对应的电机绕组保护温度相对较高。Among them, the first motor coolant temperature is greater than the second motor coolant temperature. The higher first motor coolant temperature may mean poor cooling effect. It is necessary to select the corresponding limit twist line and limit the torque output of the motor to avoid overheating of the motor. Therefore, the motor winding protection temperature corresponding to the selected third target limit twist line is relatively low. The lower second motor coolant temperature may mean better cooling effect. At this time, the restriction can be relaxed and the motor can be allowed to output a larger torque to improve the performance of the vehicle. Therefore, the motor winding protection temperature corresponding to the selected fourth target limit twist line is relatively high.
如图5所示，K2为第四目标限扭曲线，即冷却液温度较低时的限扭曲线，冷却液温度越低制冷效果越好，所以保护温度可设置加高。同理，K1为第三目标限扭曲线，即冷却温度较高时的限扭曲线，冷却液温度偏高，冷却效率低，所以保护温度可设置较低。As shown in Figure 5, K2 is the fourth target limit distortion line, that is, the limit distortion line when the coolant temperature is low. The lower the coolant temperature, the better the cooling effect, so the protection temperature can be set higher. Similarly, K1 is the third target limit distortion line, that is, the limit distortion line when the cooling temperature is high. The coolant temperature is high and the cooling efficiency is low, so the protection temperature can be set lower.
在一些实施例中，电机控制器可以根据不同的工况和车辆运行状态，灵活选择目标限扭曲线，并调整电机的输出扭矩，以适应不同的驾驶条件。例如，当车辆在高温环境或高负载工况下运行时，可以选择第三目标限扭曲线，并限制电机的扭矩输出，以防止电机过热。而在低温环境或低负载工况下，可以选择第四目标限扭曲线，允许电机提供更大的输出扭矩，以提高车辆的性能和续航能力。In some embodiments, the motor controller can flexibly select the target twist limit curve and adjust the motor output torque according to different working conditions and vehicle operating conditions to adapt to different driving conditions. For example, when the vehicle is running in a high temperature environment or high load conditions, the third target twist limit curve can be selected and the motor torque output can be limited to prevent the motor from overheating. In a low temperature environment or low load condition, the fourth target twist limit curve can be selected to allow the motor to provide a greater output torque to improve the performance and endurance of the vehicle.
在一些实施例中，电机控制方法还包括：确定目标限扭曲线发生变化。对目标扭矩值进行滤波处理。将滤波处理之后的扭矩值作为最终的目标扭矩值。In some embodiments, the motor control method further includes: determining that the target twist limit line changes, filtering the target torque value, and using the torque value after filtering as the final target torque value.
具体地，电机控制器通过监测电机绕组温度、冷却液温度等参数的变化情况，确定目标限扭曲线是否需要调整。当电机工作环境或工况发生变化时，可能需要切换到不同的目标限扭曲线，以适应新的工作条件。Specifically, the motor controller determines whether the target twist limit line needs to be adjusted by monitoring the changes in parameters such as the motor winding temperature and the coolant temperature. When the motor working environment or working conditions change, it may be necessary to switch to a different target twist limit line to adapt to the new working conditions.
进一步地，由于电机运行过程中可能存在温度波动和噪音等因素，直接采用实时获取的目标扭矩值可能会出现抖动或不稳定的情况。为了消除这些不稳定性，电机控制器会对目标扭矩值进行滤波处理。滤波技术可以平滑扭矩值的变化，使得目标扭矩值更加平稳和可靠。Furthermore, due to factors such as temperature fluctuations and noise that may exist during the operation of the motor, directly using the target torque value obtained in real time may cause jitter or instability. In order to eliminate these instabilities, the motor controller will filter the target torque value. Filtering technology can smooth the changes in the torque value, making the target torque value more stable and reliable.
进一步地，经过滤波处理后得到的扭矩值被认为是更准确和可靠的目标扭矩值。这个最终的目标扭矩值将被用于控制电机的输出，以确保电机在各种工况下稳定运行，避免因温度波动或噪音干扰导致输出扭矩的不稳定性。Furthermore, the torque value obtained after filtering is considered to be a more accurate and reliable target torque value. This final target torque value will be used to control the output of the motor to ensure stable operation of the motor under various working conditions and avoid instability of the output torque caused by temperature fluctuations or noise interference.
在一些实施例中，对于目标限扭曲线在切换时，为了防止变化较大，可以采取低通滤波器或者其它滤波器对信号做处理。低通滤波器是一种常用的滤波器类型，它可以去除高频噪声，保留低频信号，从而平滑信号的波动。在限制扭矩曲线切换时，通过低通滤波器处理电机扭矩或冷却液温度信号，可以使得限制扭矩的变化更加缓慢，从而避免过度的反应，提高了系统的稳定性和可靠性。如图6所示，A，B可以为电机扭矩值TorA，TorB，也可以是冷却液温度TcA，TcB。这样的处理方式被称为滞回处理方法。滞回是一种控制系统中常用的技术，用于避免信号在切换时出现过度的变化和抖动。In some embodiments, when the target torque limit curve is switched, in order to prevent large changes, a low-pass filter or other filter can be used to process the signal. A low-pass filter is a commonly used type of filter that can remove high-frequency noise and retain low-frequency signals, thereby smoothing signal fluctuations. When the torque limit curve is switched, the motor torque or coolant temperature signal is processed by a low-pass filter, so that the change of the torque limit can be made slower, thereby avoiding excessive reaction and improving the stability and reliability of the system. As shown in Figure 6, A and B can be motor torque values TorA and TorB, or coolant temperatures TcA and TcB. This processing method is called a hysteresis processing method. Hysteresis is a commonly used technology in control systems to avoid excessive changes and jitters in signals when switching.
图7是根据本发明一个实施例的电机控制方法的整体流程图，如图7所示，本发明实施例的电机控制方法的总体流程至少包括步骤S10-S34，具体如下。FIG. 7 is an overall flow chart of a motor control method according to an embodiment of the present invention. As shown in FIG. 7 , the overall flow of the motor control method according to the embodiment of the present invention includes at least steps S10 - S34 , which are specifically as follows.
S10，开始。S10, start.
S11，第一温度传感器对电机绕组温度进行数据采集。S11, a first temperature sensor collects data on the motor winding temperature.
S12，判断温度传感器是否失效，若失效则进入步骤S12，若没有失效则进入步骤S15。S12, determine whether the temperature sensor is invalid, if it is invalid, go to step S12, if it is not invalid, go to step S15.
S13，根据电机冷却液温度的温度变化率和电机输出扭矩选择目标限扭曲线。S13, selecting a target limit twist curve according to the temperature change rate of the motor coolant temperature and the motor output torque.
S14，采用低通滤波器进行滤波处理。S14, using a low-pass filter to perform filtering processing.
S15，根据电机冷却液温度、电机输出扭矩和电机绕组温度选择目标限扭曲线。S15, selecting a target limit twist curve according to the motor coolant temperature, the motor output torque and the motor winding temperature.
S16，采用低通滤波器进行滤波处理。S16, uses a low-pass filter to perform filtering processing.
S17，允许电机输出扭矩。S17, allows the motor to output torque.
S18，结束。S18, end.
综上所述，本发明的电机控制方法通过充分利用电机系统内多个传感器的数据，以及智能的数据计算和分析判断，实现了更全面、智能化的电机保护和控制策略。通过根据实际情况调整目标限扭曲线，最大程度保证电机的可靠输出扭矩，从而实现了在安全范围内充分发挥电机的性能，防止电机因过热而受损，同时，可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。In summary, the motor control method of the present invention realizes a more comprehensive and intelligent motor protection and control strategy by making full use of the data of multiple sensors in the motor system, as well as intelligent data calculation and analysis and judgment. By adjusting the target limit twist line according to the actual situation, the reliable output torque of the motor is guaranteed to the greatest extent, thereby achieving full performance of the motor within a safe range and preventing the motor from being damaged due to overheating. At the same time, it can ensure that the vehicle can still maintain stable power output under abnormal conditions, thereby improving the safety and reliability of the entire vehicle.
基于上面实施例的电机控制方法，下面参考图8描述本发明实施例的电机控制装置。Based on the motor control method of the above embodiment, the motor control device of the embodiment of the present invention is described below with reference to FIG. 8 .
图8是根据本发明一个实施例的电机控制装置的框图，如图8所示，电机控制装置2包括：第一温度传感器21、第二温度传感器22和控制器23。FIG8 is a block diagram of a motor control device according to an embodiment of the present invention. As shown in FIG8 , the motor control device 2 includes: a first temperature sensor 21 , a second temperature sensor 22 and a controller 23 .
其中，第一温度传感器21用于检测电机绕组温度并输出电机绕组温度检测值，该温度传感器通常会直接安装在电机的绕组或者附近，以实时监测电机绕组的温度变化。The first temperature sensor 21 is used to detect the motor winding temperature and output the motor winding temperature detection value. The temperature sensor is usually directly installed on or near the motor winding to monitor the temperature change of the motor winding in real time.
第二温度传感器22用于检测电机的冷却液温度，该温度传感器通常会安装在电机冷却系统的冷却液管路或冷却液箱内，以实时监测电机冷却液的温度变化。在实施例中，第二温度传感器22(即冷却液温度传感器)可以使用温敏电阻进行测量。温敏电阻是一种电阻值随温度变化而变化的元件，它的电阻值随着温度的升高或降低而相应地改变。通过测量温敏电阻的电阻值，就可以得到对应的冷却液温度。这样的传感器广泛应用于车辆的冷却系统中，为电机保护和控制提供了重要的温度信息。通过对冷却液温度的实时测量，电机控制器可以根据具体的工况调整限制扭矩的曲线，确保电机始终在安全的温度范围内运行。The second temperature sensor 22 is used to detect the coolant temperature of the motor. The temperature sensor is usually installed in the coolant pipeline or coolant tank of the motor cooling system to monitor the temperature change of the motor coolant in real time. In an embodiment, the second temperature sensor 22 (i.e., the coolant temperature sensor) can be measured using a thermistor. A thermistor is a component whose resistance value changes with temperature, and its resistance value changes accordingly as the temperature rises or decreases. By measuring the resistance value of the thermistor, the corresponding coolant temperature can be obtained. Such sensors are widely used in the cooling system of vehicles and provide important temperature information for motor protection and control. By real-time measurement of the coolant temperature, the motor controller can adjust the torque limit curve according to the specific working conditions to ensure that the motor always runs within a safe temperature range.
控制器23是整个电机控制装置2的核心部件，其功能包括数据采集、信号处理、控制算法运算等。控制器23与第一温度传感器21和第二温度传感器22连接，根据从第一温度传感器21和第二温度传感器22获取到的电机绕组温度检测值和电机冷却液温度，执行上面实施例所述的电机控制方法，对电机的输出进行动态调整，以确保电机在不同工况下的安全、稳定和高效运行。The controller 23 is the core component of the entire motor control device 2, and its functions include data acquisition, signal processing, control algorithm operation, etc. The controller 23 is connected to the first temperature sensor 21 and the second temperature sensor 22, and executes the motor control method described in the above embodiment according to the motor winding temperature detection value and the motor coolant temperature obtained from the first temperature sensor 21 and the second temperature sensor 22, and dynamically adjusts the output of the motor to ensure the safe, stable and efficient operation of the motor under different working conditions.
在一些实施例中，控制器23可以采用单片机、微处理器、数字信号处理器(DSP，Digital Signal Processor)或者更高级的嵌入式系统来实现。控制器23中可以存储预设的电机控制算法和逻辑，根据实际需求选择合适的控制策略，如根据电机绕组温度和冷却液温度调整目标扭矩值，选择合适的限扭曲线进行输出限制，进行滤波处理等。另外，控制器23可以与车辆的整车控制系统进行通信，实现与整车其他系统的协调控制，从而进一步优化整车性能和安全性。In some embodiments, the controller 23 can be implemented by a single chip microcomputer, a microprocessor, a digital signal processor (DSP) or a more advanced embedded system. The controller 23 can store preset motor control algorithms and logics, and select appropriate control strategies according to actual needs, such as adjusting the target torque value according to the motor winding temperature and the coolant temperature, selecting appropriate limit torsion lines for output limitation, and performing filtering processing. In addition, the controller 23 can communicate with the vehicle's vehicle control system to achieve coordinated control with other vehicle systems, thereby further optimizing the performance and safety of the vehicle.
根据本发明实施例的电机控制装置2，控制器23接收来自第一温度传感器21和第二温度传感器22检测的温度数据，通过执行上面实施例所述的电极控制方法，综合考虑电机绕组温度和电机冷却液温度等两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor control device 2 of the embodiment of the present invention, the controller 23 receives the temperature data detected by the first temperature sensor 21 and the second temperature sensor 22, and by executing the electrode control method described in the above embodiment, comprehensively considering two variables such as the motor winding temperature and the motor coolant temperature, it can more accurately reflect the actual working state of the motor, and then obtain more reasonable target torque limit information, improve the accuracy of torque limit control, and ensure that the vehicle can still maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
基于上面实施例的电机控制方法，下面参考图9描述本发明实施例的电机控制器。Based on the motor control method of the above embodiment, the motor controller of the embodiment of the present invention is described below with reference to FIG. 9 .
图9是根据本发明一个实施例的电机控制器的框图，如图9所示，电机控制器3包括：处理器31和存储器32。FIG. 9 is a block diagram of a motor controller according to an embodiment of the present invention. As shown in FIG. 9 , the motor controller 3 includes: a processor 31 and a memory 32 .
其中，存储器32与处理器31通信连接，存储器32中存储有可被处理器31执行的计算机程序，这些程序可能包括电机控制算法、限扭曲线数据、滤波算法等。存储器32还可能包含其他配置参数和校准数据，用于调整和优化电机控制系统的性能。在实施例中，存储器32可以是固态存储器(例如闪存)或者随机存储器(RAM)，用于存储程序和中间计算结果。The memory 32 is in communication with the processor 31, and the memory 32 stores computer programs that can be executed by the processor 31, which may include motor control algorithms, twist limit line data, filtering algorithms, etc. The memory 32 may also contain other configuration parameters and calibration data for adjusting and optimizing the performance of the motor control system. In an embodiment, the memory 32 may be a solid-state memory (such as flash memory) or a random access memory (RAM) for storing programs and intermediate calculation results.
处理器31是电机控制器3的核心组件，负责处理和执行各种指令，以及对数据进行计算和控制。处理器31执行计算机程序时实现上面实施例所述的电机控制方法。处理器31可以是通用处理器，也可以是专用的数字信号处理器(DSP)或其他适用的处理器。它负责接收来自传感器的输入数据，执行控制算法，计算目标扭矩值，并调整电机的输出扭矩，以确保电机在各种工况下的安全和高效运行。The processor 31 is the core component of the motor controller 3, which is responsible for processing and executing various instructions, as well as calculating and controlling data. When the processor 31 executes the computer program, the motor control method described in the above embodiment is implemented. The processor 31 can be a general-purpose processor, or a dedicated digital signal processor (DSP) or other applicable processor. It is responsible for receiving input data from sensors, executing control algorithms, calculating target torque values, and adjusting the output torque of the motor to ensure safe and efficient operation of the motor under various working conditions.
根据本发明实施例的电机控制器3，处理器31通过执行上面实施例所述的电机控制方法，通过综合考虑电机绕组温度和电机冷却液温度等两个变量，能够更准确地反映电机的实际工作状态，进而可以获得更合理的目标限扭信息，根据目标限扭信息可以动态调整电机的输出扭矩，使得电机的输出扭矩达到预定的目标扭矩值，从而提高限扭控制的准确性，并且可以保障车辆在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the motor controller 3 of the embodiment of the present invention, the processor 31 executes the motor control method described in the above embodiment and comprehensively considers two variables such as the motor winding temperature and the motor coolant temperature, so as to more accurately reflect the actual working state of the motor, and thus obtain more reasonable target torque limit information. The output torque of the motor can be dynamically adjusted according to the target torque limit information so that the output torque of the motor reaches a predetermined target torque value, thereby improving the accuracy of the torque limit control, and ensuring that the vehicle can maintain stable power output under abnormal conditions, thereby improving the safety and reliability of the entire vehicle.
下面参考图10描述本发明实施例的车辆。The vehicle according to the embodiment of the present invention will be described below with reference to FIG. 10 .
图10是根据本发明一个实施例的车辆的框图，如图10所示，车辆100包括：电机1、电机控制装置2和电机控制器3。FIG. 10 is a block diagram of a vehicle according to an embodiment of the present invention. As shown in FIG10 , a vehicle 100 includes: a motor 1 , a motor control device 2 , and a motor controller 3 .
其中，电机1可以作为车辆100的动力来源，电机1负责将电能转化为机械能，驱动车辆100运动。电机1可以是新能源车辆中常见的电动机，如永磁同步电机、感应电机等。The motor 1 can be used as a power source for the vehicle 100, and the motor 1 is responsible for converting electrical energy into mechanical energy to drive the vehicle 100. The motor 1 can be a common electric motor in new energy vehicles, such as a permanent magnet synchronous motor, an induction motor, and the like.
电机控制装置2或电机控制器3可以综合考虑电机绕组温度、电机冷却液温度等两个变量，计算得出目标扭矩值，并通过控制算法动态调整电机1的输出扭矩。电机控制装置2或电机控制器3通过接收来自第一温度传感器21和第二温度传感器22的温度数据，执行上面实施例所述的电机控制方法，从而保证电机1在不同工况下的安全、稳定和高效运行。The motor control device 2 or the motor controller 3 can comprehensively consider two variables such as the motor winding temperature and the motor coolant temperature, calculate the target torque value, and dynamically adjust the output torque of the motor 1 through the control algorithm. The motor control device 2 or the motor controller 3 receives the temperature data from the first temperature sensor 21 and the second temperature sensor 22, and executes the motor control method described in the above embodiment, thereby ensuring the safe, stable and efficient operation of the motor 1 under different working conditions.
在一些实施例中，在车辆100中，电机1与电机控制装置2或者所述电机控制器3连接，形成电动驱动系统。电机控制装置2或电机控制器3通过与电机1的通信，实现对电机1的控制和调节，以适应不同驾驶条件和动力需求。车辆100的电动驱动系统还可以与车辆100的整车控制系统进行数据交换和协调控制，以优化车辆100的性能和驾驶体验。In some embodiments, in the vehicle 100, the motor 1 is connected to the motor control device 2 or the motor controller 3 to form an electric drive system. The motor control device 2 or the motor controller 3 controls and adjusts the motor 1 through communication with the motor 1 to adapt to different driving conditions and power requirements. The electric drive system of the vehicle 100 can also exchange data and coordinate control with the vehicle control system of the vehicle 100 to optimize the performance and driving experience of the vehicle 100.
根据本发明实施例的车辆100，通过搭载电机控制装置2或电机控制器3，以及合理地连接到电机1，可以实现电机1的智能化控制。通过综合考虑电机绕组温度和电机冷却液温度等两个变量，可以获得更合理的目标限扭信息，并根据目标限扭信息可以动态调整电机1的输出扭矩，可以提高限扭控制的准确性，并且可以保障车辆100在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the vehicle 100 of the embodiment of the present invention, by carrying the motor control device 2 or the motor controller 3 and being reasonably connected to the motor 1, the intelligent control of the motor 1 can be realized. By comprehensively considering two variables such as the motor winding temperature and the motor coolant temperature, more reasonable target torque limit information can be obtained, and the output torque of the motor 1 can be dynamically adjusted according to the target torque limit information, which can improve the accuracy of the torque limit control, and can ensure that the vehicle 100 can still maintain stable power output under abnormal conditions, thereby improving the safety and reliability of the whole vehicle.
在本发明的一些实施例中，还提出一种计算机可读存储介质，其上存储有计算机程序，计算机程序被执行时实现上面任一项实施例的电机控制方法。In some embodiments of the present invention, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed, the motor control method of any of the above embodiments is implemented.
根据本发明实施例提出的计算机可读存储介质，其上存储有计算机程序，计算机程序被处理器31执行时，可以实现上面实施例的电机控制方法，通过综合考虑电机绕组温度和电机冷却液温度等两个变量，可以获得更合理的目标限扭信息，根据目标限扭信息可以动态调整电机1的输出扭矩，使得电机1的输出扭矩达到预定的目标扭矩值，从而可以提高限扭控制的准确性，并且可以保障车辆100在异常情况下仍能保持稳定的动力输出，提高了整车的安全性和可靠性。According to the computer-readable storage medium proposed in the embodiment of the present invention, a computer program is stored thereon. When the computer program is executed by the processor 31, the motor control method of the above embodiment can be implemented. By comprehensively considering two variables such as the motor winding temperature and the motor coolant temperature, more reasonable target torque limit information can be obtained. According to the target torque limit information, the output torque of the motor 1 can be dynamically adjusted so that the output torque of the motor 1 reaches a predetermined target torque value, thereby improving the accuracy of the torque limit control, and ensuring that the vehicle 100 can still maintain stable power output under abnormal circumstances, thereby improving the safety and reliability of the entire vehicle.
本发明实施例的计算机可读存储介质的可以包括，但不限于相变内存(PRAM)、静态随机存取存储器(SRAM)、动态随机存取存储器(DRAM)、其他类型的随机存取存储器(RAM)、只读存储器(ROM)、电可擦除可编程只读存储器(EEPROM)、快闪记忆体或其他光学、磁性存储介质，在此不再一一赘述。The computer-readable storage medium of the embodiments of the present invention may include, but is not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other optical or magnetic storage media, which are not listed here one by one.
在本说明书的描述中，参考术语“一个实施例”、“一些实施例”、“示意性实施例”、“示例”、“具体示例”、或“一些示例”等的描述意指结合该实施例或示例描述的具体特征、结构、材料或者特点包含于本发明的至少一个实施例或示例中。在本说明书中，对上述术语的示意性表述不一定指的是相同的实施例或示例。In the description of this specification, the description with reference to the terms "one embodiment", "some embodiments", "illustrative embodiments", "examples", "specific examples", or "some examples" means that the specific features, structures, materials, or characteristics described in conjunction with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic representation of the above terms does not necessarily refer to the same embodiment or example.
尽管已经示出和描述了本发明的实施例，本领域的普通技术人员可以理解：在不脱离本发明的原理和宗旨的情况下可以对这些实施例进行多种变化、修改、替换和变型，本发明的范围由权利要求及其等同物限定。Although the embodiments of the present invention have been shown and described, it will be appreciated by those skilled in the art that various changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the present invention, and that the scope of the present invention is defined by the claims and their equivalents.
| Application Number | Priority Date | Filing Date | Title |
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| CN202311614464.7ACN118219859A (en) | 2023-11-28 | 2023-11-28 | Motor control method and device, motor controller, vehicle and storage medium |
| Application Number | Priority Date | Filing Date | Title |
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| CN202311614464.7ACN118219859A (en) | 2023-11-28 | 2023-11-28 | Motor control method and device, motor controller, vehicle and storage medium |
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| CN118219859Atrue CN118219859A (en) | 2024-06-21 |
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| CN202311614464.7APendingCN118219859A (en) | 2023-11-28 | 2023-11-28 | Motor control method and device, motor controller, vehicle and storage medium |
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| CN119472459A (en)* | 2025-01-08 | 2025-02-18 | 德瑞精工（深圳）有限公司 | A control method for a linear motor with operation monitoring and alarm function |
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| CN119472459A (en)* | 2025-01-08 | 2025-02-18 | 德瑞精工（深圳）有限公司 | A control method for a linear motor with operation monitoring and alarm function |
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