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CN-117622370-B - Vehicle, control method and device thereof, and readable storage medium

CN117622370BCN 117622370 BCN117622370 BCN 117622370BCN-117622370-B

Abstract

The invention provides a vehicle, a control method, a device and a readable storage medium thereof, wherein the control method comprises the steps of obtaining treading data of a pedal under the condition that the current state of the vehicle meets the condition of starting at a belt speed; the method comprises the steps of determining a target rotating speed of a motor according to stepping data, adjusting the running rotating speed of the motor under control of a speed ring, and switching a control mode of the motor from the speed ring to a current ring based on the running rotating speed and the target rotating speed meeting a first condition.

Inventors

  • ZHANG KAI
  • WANG ZHIYU
  • XU PEILIN

Assignees

  • 美的威灵电机技术（上海）有限公司

Dates

Publication Date
20260512
Application Date
20220815

Claims (14)

  1. 1. A control method of a vehicle, characterized in that the vehicle includes a transmission portion, and a mechanical drive portion and an electric drive portion connected to the transmission portion, the mechanical drive portion and the electric drive portion being capable of supplying power to the transmission portion, the mechanical drive portion including a pedal, the electric drive portion including a motor, the control method comprising: acquiring tread data of the pedal under the condition that the current state of the vehicle meets a belt speed starting condition; determining a target rotating speed of the motor according to the trampling data; adjusting the running rotating speed of the motor under the control of a speed ring; Switching a control mode of the motor from the speed loop to a current loop based on the running speed and the target speed satisfying a first condition; The adjusting the running rotating speed of the motor specifically comprises the following steps: initializing a stage target rotational speed of the motor; periodically updating the running rotation speed; Based on the running rotating speed being smaller than the target rotating speed, adjusting the target rotating speed preset rotating speed value in the stage until the running rotating speed and the target rotating speed meet a first condition; and based on the running rotating speed being larger than the target rotating speed, reducing the preset rotating speed value of the target rotating speed in the stage until the running rotating speed and the target rotating speed meet a first condition.
  2. 2. The method for controlling a vehicle according to claim 1, wherein, The belt speed starting condition includes that at least one of a torque value and the tread data provided by the mechanical driving portion to the transmission portion satisfies a corresponding condition among second conditions and a running speed of the vehicle is greater than zero.
  3. 3. The control method of the vehicle according to claim 2, characterized in that the conditions in the second condition include: The torque value is greater than a preset torque threshold value, and The tread data is derived from at least two pulses.
  4. 4. The control method of the vehicle according to claim 1, wherein the tread data includes a pedal rotation speed, and the determining a target rotation speed of the motor from the tread data includes: acquiring a proportionality coefficient of the pedal rotating speed and the target rotating speed; and determining the target rotating speed according to the proportionality coefficient and the pedal rotating speed.
  5. 5. The control method of the vehicle according to any one of claims 1 to 4, characterized in that the first condition includes: The absolute difference between the running rotating speed and the target rotating speed is smaller than a preset rotating speed value and lasts for a preset duration.
  6. 6. The control method of the vehicle according to claim 5, characterized in that the preset time period is greater than or equal to 200 milliseconds.
  7. 7. The control method of a vehicle according to any one of claims 1 to 4, characterized in that the rotation speed of the motor is controlled by a proportional-integral controller under the control of the speed loop, the output current value controls the rotation speed of the motor, and the control manner of the motor is switched from the speed loop to the current loop, specifically comprising: acquiring the control mode switching moment, and outputting a rotating speed value by the proportional-integral controller; Determining a target current value according to the rotating speed value; taking the target current value as an initial value of current loop control; And controlling the motor according to the processing results of the target current value and the initial value.
  8. 8. The control method of the vehicle according to claim 7, characterized in that the target current value, the initial value, and the processing result follow the following formulas: I=I 1 ×λ+I 2 ×(1-λ); Wherein I is the processing result, I 1 is the target current value, I 2 is the initial value, λ is a weight value, and the weight value is increased from 0 to 1 over time.
  9. 9. The control method of the vehicle according to claim 7, characterized in that the target current value is determined based on a torque value of the mechanical drive section and the tread data.
  10. 10. A control device of a vehicle, characterized in that the vehicle includes a transmission portion, and a mechanical drive portion and an electric drive portion connected to the transmission portion, the mechanical drive portion and the electric drive portion being capable of supplying power to the transmission portion, the mechanical drive portion including a pedal, the electric drive portion including a motor, the control device comprising: An acquisition unit configured to acquire tread data of the pedal in a case where a current state of the vehicle satisfies a belt speed start condition; a determining unit for determining a target rotation speed of the motor according to the tread data; the adjusting unit is used for adjusting the running rotating speed of the motor under the control of the speed ring; a switching unit, configured to switch a control mode of the motor from the speed loop to a current loop based on the running rotation speed and the target rotation speed satisfying a first condition; The adjusting unit is specifically configured to initialize a stage target rotation speed of the motor, periodically update the operation rotation speed, adjust up the stage target rotation speed preset rotation speed value based on the operation rotation speed being smaller than the target rotation speed until the operation rotation speed and the target rotation speed meet a first condition, and adjust down the stage target rotation speed preset rotation speed value based on the operation rotation speed being larger than the target rotation speed until the operation rotation speed and the target rotation speed meet a first condition.
  11. 11. A control device for a vehicle, comprising: A controller and a memory, wherein the memory has stored therein a program or instructions which when executed by the controller performs the steps of the method according to any of claims 1 to 9.
  12. 12. A readable storage medium, characterized in that it stores thereon a program or instructions which, when executed by a processor, implement the steps of the method according to any of claims 1 to 9.
  13. 13. A vehicle, characterized by comprising: a control device for a vehicle according to claim 10 or 11, and/or The readable storage medium of claim 12.
  14. 14. The vehicle of claim 13, wherein the vehicle is an electric bicycle.

Description

Vehicle, control method and device thereof, and readable storage medium Technical Field The present invention relates to the field of control technologies, and in particular, to a vehicle, a control method and apparatus thereof, and a readable storage medium. Background The current electric bicycle is based on current ring control, and the motor inertia that uses on it is too little, and the motor accelerates soon, takes place strong striking when the meshing gear when participating in helping hand and leads to, seriously influences riding experience. Disclosure of Invention The present invention aims to solve at least one of the technical problems existing in the prior art or related art. To this end, a first aspect of the present invention is to provide a control method of a vehicle. A second aspect of the present invention is to provide one of control devices of a vehicle. A third aspect of the present invention provides a second control device for a vehicle. A fourth aspect of the present invention is to provide a readable storage medium. A fifth aspect of the present invention is to provide a vehicle. In view of this, according to a first aspect of the present invention, there is provided a control method of a vehicle including a power transmitting portion, and a mechanical driving portion and an electric driving portion connected to the power transmitting portion, the mechanical driving portion and the electric driving portion being capable of supplying power to the power transmitting portion, the mechanical driving portion including a pedal, the electric driving portion including a motor, the control method including acquiring pedal stepping data in a case where a current state of the vehicle satisfies a belt speed start condition, determining a target rotational speed of the motor based on the stepping data, adjusting an operation rotational speed of the motor under control based on a speed loop, switching a control manner of the motor from the speed loop to a current loop based on the operation rotational speed and the target rotational speed satisfying a first condition. According to the technical scheme, the control method of the vehicle is provided, and the electric driving part can be controlled to provide power for the transmission part at a reasonable time by running the control method, so that the impact force generated when the electric driving part and the transmission part mesh with the gear is reduced when the electric driving part and the transmission part participate in assistance, the impact property of the impact is reduced, and the use experience of the vehicle is improved. In addition, the control method of the vehicle provided by the application has the following additional technical characteristics. In the technical scheme, the belt speed starting condition comprises that at least one of the torque value and the stepping data provided by the mechanical driving part to the transmission part meets the corresponding condition in the second condition, and the running speed of the vehicle is greater than zero. In the technical scheme, the judging condition of the belt speed starting is specifically limited, wherein the belt speed starting, as the name implies, is that under the condition that the vehicle has a certain running speed, the mechanical driving part participates in the power assisting starting, in the process, at least one of the limited torque value and the tread data is required to meet the corresponding condition in the second condition so as to remove the vehicle in the sliding state, and the accuracy of the intervention power assisting of the electric driving part is further improved. In any of the above solutions, the conditions in the second condition include that the torque value is greater than a preset torque threshold value, and that the source of trample data is at least two pulses. In this technical solution, the specific conditions included in the second condition are specifically defined, where the detection of the riding intent of the user is achieved by defining that the torque value is greater than the preset torque threshold, that is, by determining, by the torque value, whether the user has an intention to power the transmission portion by using the mechanical driving portion, and similarly, since the user uses the pedal to power the mechanical driving portion, if it is detected that the tread data is at least derived from two pulses, the user is considered to have an intention to power the transmission portion by using the mechanical driving portion. By the limitation, an accurate judgment basis is provided for whether the electric driving part participates in providing power for the transmission part, and the accuracy of the control is ensured. In the above technical solution, in general, there are two pedals, specifically, two pedals are connected to the toothed disc through a crank, and when each pedal is stepped on, a pulse is generated, and if two