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CN-121989711-A - Control method and device for torque vector of vehicle driving motor, vehicle and medium

CN121989711ACN 121989711 ACN121989711 ACN 121989711ACN-121989711-A

Abstract

The application relates to the technical field of automobile power control, in particular to a control method, a device, a vehicle and a medium for torque vectors of driving motors of a vehicle, wherein the method comprises the steps of utilizing the load capacity of at least one driving motor in a target vehicle and the actual running state of the vehicle to distribute the torque of the at least one driving motor so as to obtain the target torque before arbitration; and carrying out boundary limit working condition torque limitation on the smoothed target torque through a preset torque limiting function and a change rate limiting function to obtain the final target torque of the driving motor, and controlling the driving motor to run by the torque. Therefore, the problems that the motor torque control technology in the related technology cannot be adapted to the complex operation working condition of a new energy automobile, the power responsiveness and the running stability of the automobile are poor, the development period is long, the driving experience and the test reliability of the whole automobile are reduced and the like are solved.

Inventors

  • WEI TIANQI

Assignees

  • 奇瑞智能汽车科技(合肥)有限公司

Dates

Publication Date
20260508
Application Date
20260331

Claims (10)

  1. 1. A control method of a torque vector of a driving motor of a vehicle, comprising the steps of: Utilizing the load capacity of at least one driving motor in a target vehicle and the actual running state of the target vehicle to distribute torque of the at least one driving motor so as to obtain target torque before arbitration of the at least one driving motor; processing the target torque before arbitration of the at least one driving motor based on a target double-parameter self-adaptive torque smoothing algorithm to obtain a smoothed target torque; And carrying out target boundary limit working condition torque limitation on the smoothed target torque by using a preset torque limiting function and a change rate limiting function to obtain the final target torque of the at least one driving motor, so as to control the at least one driving motor to run by using the final target torque.
  2. 2. The method of claim 1, wherein said torque sharing of at least one drive motor in a target vehicle using a load capacity of said at least one drive motor and an actual operating state of said target vehicle comprises: acquiring the load capacity of at least one driving motor in the target vehicle and the actual running state of the target vehicle; And distributing the total driving torque demand and the yaw moment demand of the whole vehicle to the at least one driving motor based on the load capacity of the at least one driving motor and the actual running state of the target vehicle so as to obtain the target torque before arbitration of the at least one driving motor.
  3. 3. The method of claim 1, wherein the processing the pre-arbitration target torque for the at least one drive motor based on a target dual parameter adaptive torque smoothing algorithm to obtain a smoothed target torque comprises: collecting torque tracking errors between the target torque before arbitration of the at least one driving motor and the target torque after the previous period of smoothing; dynamically adjusting a smoothing factor according to the amplitude and the change rate of the torque tracking error; and carrying out iterative smoothing calculation on the target torque before arbitration based on the smoothing factor to obtain the smoothed target torque.
  4. 4. The method of claim 2, wherein the formula for torque distribution to the at least one drive motor is expressed as: Wherein, the Is an electric motor Arbitrating the pre-target torque; Is the total drive torque request; requesting for an original yaw moment; gain is distributed for yaw moment; Is a transverse force arm of the motor; n is the number of motors; as a sign function.
  5. 5. The method of claim 1, wherein the torque clipping function is expressed as: Wherein, the Is the final target torque; is a control function; the real-time torque upper limit of the ith driving motor at the k moment is set; the real-time torque lower limit of the ith driving motor at the k moment is set; The rate of change clipping function is expressed as: , Wherein, the The maximum torque change rate is substituted; the absolute value of the torque variation of the ith driving motor at the moment from k to k+1; The target torque of the i-th driving motor after the smoothing at the moment k+1; Is the smoothed target torque; Is a control period; The torque change rate of the ith driving motor at the moment k+1; the torque change rate of the ith driving motor at the moment k is obtained.
  6. 6. A control device for a torque vector of a vehicle drive motor, comprising: The system comprises an acquisition module, a control module and a control module, wherein the acquisition module is used for distributing torque of at least one driving motor in a target vehicle by utilizing the load capacity of the at least one driving motor and the actual running state of the target vehicle so as to obtain the target torque before arbitration of the at least one driving motor; the processing module is used for processing the target torque before arbitration of the at least one driving motor based on a target double-parameter self-adaptive torque smoothing algorithm so as to obtain a smoothed target torque; and the control module is used for limiting the target boundary limit working condition torque of the smoothed target torque by utilizing a preset torque limiting function and a change rate limiting function to obtain the final target torque of the at least one driving motor so as to control the at least one driving motor to run by utilizing the final target torque.
  7. 7. The apparatus of claim 6, wherein the acquisition module comprises: An acquisition unit configured to acquire a load capacity of at least one drive motor in the target vehicle and an actual running state of the target vehicle; And the distribution unit is used for distributing the total driving torque requirement and the yaw moment requirement of the whole vehicle to the at least one driving motor based on the load capacity of the at least one driving motor and the actual running state of the target vehicle so as to obtain the target torque before arbitration of the at least one driving motor.
  8. 8. A vehicle comprising a memory, a processor and a computer program stored on the memory and executable on the processor, the processor executing the program to implement the method of controlling a vehicle drive motor torque vector as claimed in any one of claims 1 to 5.
  9. 9. A computer-readable storage medium having stored thereon a computer program, characterized in that the program is executed by a processor for realizing the control method of a vehicle drive motor torque vector according to any one of claims 1-5.
  10. 10. A computer program product comprising a computer program, characterized in that the computer program is executed by a processor for implementing a control method of a torque vector of a vehicle drive motor according to any one of claims 1-5.

Description

Control method and device for torque vector of vehicle driving motor, vehicle and medium Technical Field The application relates to the technical field of automobile power control, in particular to a control method and device for a torque vector of a vehicle driving motor, a vehicle and a medium. Background Along with the rapid development of hybrid electric vehicles and the continuous improvement of living standards of residents, the market conservation amount of new energy vehicles continuously rises, and vehicle power sources are gradually changed from traditional engine driving to pure driving motor driving and motor and engine combined driving modes. Compared with an engine, the driving motor has the advantages of high torque precision, low response speed and delay, high control flexibility, excellent energy efficiency and power density and the like, and becomes the core configuration of a power system of a new energy automobile. In the related technology, the torque control technology of the driving motor is continuously developed and upgraded along with the expansion of the application scale of the motor, and the control is developed from the basic target torque and braking torque limiting control combined with a braking system to the feedforward control of steering wheel angle prediction, so that the independent control modes of the double motors, the three motors and even the four motors are also realized. Meanwhile, the torque control technology is gradually expanded from basic second-order filtering to torque static distribution, braking split shaft intervention and driving mode differentiated control, then to multi-motor independent control and torque limiting control, the control framework also finishes upgrading from multi-controller cooperative control to central domain controller integrated control, and the related technology is still in a continuous optimization and exploration stage. However, the motor torque control technology in the related art still has a plurality of defects, steady-state jitter and rapid acceleration response delay problems are easy to occur when the torque is smooth by adopting fixed parameters, a plurality of working conditions are required to be calibrated in a large quantity, the torque distribution is mainly based on fixed proportion, the calibration workload is large, the consistency risk exists, the whole vehicle torque limitation caused by wheel slip is easy to occur, the boundary torque control only depends on simple torque limitation, the limiting measure is single, and the motor overload protection is easy to trigger. These problems can not adapt to the complex operation conditions of the new energy automobile, so that the dynamic response and the running stability of the automobile are poor, the development period is greatly increased, and the driving experience and the test reliability of the whole automobile are reduced, so that the problem is to be solved. Disclosure of Invention The application provides a control method, a device, a vehicle and a medium for a torque vector of a vehicle driving motor, which are used for solving the problems that the motor torque control technology in the related technology cannot adapt to the complex operation working condition of a new energy automobile, so that the vehicle has poor power responsiveness and running stability, a long development period, the driving experience and test reliability of the whole vehicle are reduced, and the like. An embodiment of a first aspect of the present application provides a method for controlling a torque vector of a driving motor of a vehicle, including the steps of distributing torque of at least one driving motor in a target vehicle by using a load capacity of the at least one driving motor and an actual running state of the target vehicle to obtain a target torque before arbitration of the at least one driving motor, processing the target torque before arbitration of the at least one driving motor based on a target dual-parameter adaptive torque smoothing algorithm to obtain a smoothed target torque, and performing target boundary limit condition torque limitation on the smoothed target torque by using a preset torque limiting function and a change rate limiting function to obtain a final target torque of the at least one driving motor, so as to control the running of the at least one driving motor by using the final target torque. Optionally, in one embodiment of the present application, the torque distribution of at least one driving motor in the target vehicle by using the load capacity of the at least one driving motor and the actual running state of the target vehicle includes obtaining the load capacity of the at least one driving motor in the target vehicle and the actual running state of the target vehicle, and distributing the total driving torque requirement and the yaw moment requirement of the whole vehicle to the at least one driving motor based on the load capacit