The invention discloses a vehicle hill-holding motor control method and device, a storage medium and a motor controller. The control method comprises the following steps that whether an accelerator and a brake of a vehicle are in a released state or not is judged; calculating a ramp gliding moment according to a vehicle dynamics formula; taking the ramp gliding torque as a control feedforward component of a PID controller to obtain a feedback variable; and the sum of the ramp gliding torque and the feedback variable serves as the actual output torque of a motor for controlling the vehicle to park on the slope, and vehicle parking control is achieved. According to the technical scheme, the method has the main advantages that the continuous angle deviation is adopted as the slope holding triggering condition, and rapidness and accuracy are achieved; the slope parking response is fast, the backward sliding speed is low, and the distance is short; the ramp gliding torque is used as a control feed-forward component of the PID controller, and a small control parameter gain can be used to prevent the vehicle from shaking.

    本发明揭示了一种车辆驻坡电机控制方法、装置、存储介质及电机控制器,控制方法包括如下步骤:判断所述车辆的油门和刹车是否均处于松开状态;根据车辆动力学公式计算出坡道下滑力矩;将所述坡道下滑力矩作为PID控制器的控制前馈分量,得到反馈变量;将坡道下滑力矩和反馈变量之和作为控制所述车辆驻坡的电机实际输出扭矩,实现车辆驻坡控制。本发明技术方案的优点主要体现在:采用连续角度偏差作为驻坡触发条件,更为快速、更为准确;驻坡的快速响应,后溜速度小且距离短;采用坡道下滑力矩作为PID控制器的控制前馈分量,可以使用较小的控制参数增益,防止车辆抖动。


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    Title :

    Vehicle slope parking motor control method and device, storage medium and motor controller


    Additional title:

    车辆驻坡电机控制方法、装置、存储介质及电机控制器


    Contributors:
    ZHU LIDONG (author) / XU JINCHENG (author) / CHEN FENG (author) / SHAN HAI (author)

    Publication date :

    2022-12-16


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Chinese


    Classification :

    IPC:    B60L PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES , Antrieb von elektrisch angetriebenen Fahrzeugen



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