阅读说明：本技术 一种车辆及其电机控制方法与装置、计算机可读存储介质 (Vehicle, motor control method and device thereof and computer readable storage medium ) 是由 徐鲁辉 李楠 徐琪 杜智勇 于 2018-12-28 设计创作，主要内容包括：本公开提出了一种车辆及其电机控制方法与装置、计算机可读存储介质,该电机控制方法通过在电机运行时,检测电机的当前扭矩值和当前转速值,并根据电机的当前扭矩值和电机的当前转速值获取目标电压利用率,对母线电压进行采样,以获取母线电压采样值,进而根据母线电压采样值、目标电压利用率、电机的当前扭矩值以及电机的当前转速值控制电机的运行状态,以此实现根据电机的具体运行状况对电机进行控制,从而提高电机的运行效率,解决了现有的电机控制方法存在电机运行效率低的问题。(The motor control method comprises the steps of detecting the current torque value and the current rotating speed value of a motor when the motor runs, obtaining a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor, sampling bus voltage to obtain a bus voltage sampling value, and further controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor, so that the motor is controlled according to the specific running condition of the motor, the running efficiency of the motor is improved, and the problem that the running efficiency of the motor is low in the existing motor control method is solved.)

1. A motor control method, characterized by comprising:

when the motor runs, detecting the current torque value and the current rotating speed value of the motor;

acquiring a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor;

and sampling the bus voltage to obtain a bus voltage sampling value, and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

2. The motor control method of claim 1, wherein the obtaining a target voltage utilization rate based on the current torque value of the motor and the current rotational speed value of the motor comprises:

acquiring a first voltage utilization rate according to the current torque value of the motor, and acquiring a second voltage utilization rate according to the current rotating speed value of the motor;

and acquiring the target voltage utilization rate according to the first voltage utilization rate, the second voltage utilization rate and a preset utilization rate selection rule.

3. The motor control method according to claim 1 or 2, wherein the controlling of the operation state of the motor according to the sampled bus voltage value, the target voltage utilization rate, the current torque value of the motor, and the current rotation speed value of the motor comprises:

acquiring a voltage limiting value according to the product of the bus voltage sampling value and the target voltage utilization rate;

and controlling the running state of the motor according to the voltage limiting value, the current torque value of the motor and the current rotating speed value of the motor.

4. The motor control method of claim 3, wherein the controlling the operation state of the motor according to the voltage clipping value, the current torque value of the motor, and the current rotation speed value of the motor comprises:

and acquiring quadrature axis current and direct axis current according to the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor, and controlling the running state of the motor according to the quadrature axis current and the direct axis current.

5. The motor control method of claim 4, wherein the obtaining quadrature axis current and direct axis current based on the voltage clipping value, the current torque value of the motor, and the current speed value of the motor comprises:

and searching in a pre-stored data table according to the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor so as to obtain the quadrature-axis current and the direct-axis current according to a searching result.

6. A motor control device, characterized by comprising:

the detection module is used for detecting the current torque value and the current rotating speed value of the motor when the motor runs;

the acquisition module is used for acquiring a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor;

and the control module is used for sampling the bus voltage to obtain a bus voltage sampling value and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

7. The motor control device of claim 6, wherein the acquisition module is specifically configured to:

acquiring a first voltage utilization rate according to the current torque value of the motor, and acquiring a second voltage utilization rate according to the current rotating speed value of the motor;

and acquiring the target voltage utilization rate according to the first voltage utilization rate, the second voltage utilization rate and a preset utilization rate selection rule.

8. A motor control apparatus comprising a memory, a processor and a computer program stored in the memory and executable on the processor, characterized in that the processor implements the steps of the motor control method according to any one of claims 1 to 5 when executing the computer program.

9. A vehicle characterized by comprising the motor control apparatus according to any one of claims 6 to 8.

10. A computer-readable storage medium, in which a computer program is stored which, when being executed by a processor, carries out the steps of the motor control method according to any one of claims 1 to 5.

Technical Field

The present disclosure relates to the field of vehicle technologies, and in particular, to a vehicle, a motor control method and apparatus thereof, and a computer-readable storage medium.

Background

In recent years, with the improvement of living standard of people, automobiles become very important transportation tools in life, and with the popularization of automobiles, the control performance of motors becomes important in automobile manufacturing.

The motor controller is used as a key part in an automobile and contains motor control and control data representing the performance of the motor, so that the motor controller plays an important role in controlling the motor. At present, the existing motor control method is mainly that a motor controller adopts a fixed bus voltage utilization rate to control a motor.

However, although this method can effectively control the motor, it does not take into account the operating state of the motor, i.e., the operating consideration in the full speed domain of the motor is insufficient, so that the motor cannot optimally utilize the bus supply voltage in the full speed domain, thereby reducing the operating efficiency of the motor.

In summary, the existing motor control method has the problem of low motor operation efficiency.

Disclosure of Invention

The present disclosure is directed to a vehicle, a motor control method and apparatus thereof, and a computer-readable storage medium, so as to solve a problem of low motor operating efficiency in an existing motor control method.

The present disclosure is achieved in this way, and a first aspect of the present disclosure provides a motor control method including:

when the motor runs, detecting the current torque value and the current rotating speed value of the motor;

acquiring a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor;

and sampling the bus voltage to obtain a bus voltage sampling value, and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

A second aspect of the present disclosure provides a motor control device including:

the detection module is used for detecting the current torque value and the current rotating speed value of the motor when the motor runs;

the acquisition module is used for acquiring a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor;

and the control module is used for sampling the bus voltage to obtain a bus voltage sampling value and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

A third aspect of the present disclosure provides a motor control apparatus comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, the processor implementing the steps of the motor control method according to the first aspect when executing the computer program.

A fourth aspect of the present disclosure provides a vehicle including the motor control device of the second or third aspect.

A fifth aspect of the present disclosure provides a computer-readable storage medium storing a computer program which, when executed by a processor, implements the steps of the motor control method according to the first aspect.

The motor control method comprises the steps of detecting the current torque value and the current rotating speed value of a motor when the motor runs, obtaining a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor, sampling bus voltage to obtain a bus voltage sampling value, and further controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor, so that the motor is controlled according to the specific running condition of the motor, the running efficiency of the motor is improved, and the problem that the running efficiency of the motor is low in the existing motor control method is solved.

Drawings

To more clearly illustrate the technical solutions in the embodiments of the present disclosure, the drawings needed for the embodiments or the prior art descriptions will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present disclosure, and those skilled in the art can also obtain other drawings according to the drawings without inventive labor.

Fig. 1 is a schematic flow chart of a motor control method according to an embodiment of the present disclosure;

FIG. 2 is a schematic diagram illustrating a voltage fluctuation curve and a control current curve in a motor control method according to an embodiment of the present disclosure;

fig. 3 is a schematic structural diagram of a motor control device according to an embodiment of the present disclosure;

fig. 4 is a schematic structural diagram of a motor control device according to another embodiment of the present disclosure.

Detailed Description

In order to make the objects, technical solutions and advantages of the present disclosure more clearly understood, the present disclosure is further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative of the disclosure and are not intended to limit the disclosure.

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are some, not all, embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

It will be understood that the terms "comprises" and/or "comprising," when used in this specification and the appended claims, specify the presence of stated features, integers, steps, operations, elements, and/or components, but do not preclude the presence or addition of one or more other features, integers, steps, operations, elements, components, and/or groups thereof.

It is also to be understood that the terminology used in the description of the invention herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the invention. As used in the specification of the present invention and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise.

It should be further understood that the term "and/or" as used in this specification and the appended claims refers to and includes any and all possible combinations of one or more of the associated listed items.

As used in this specification and the appended claims, the term "if" may be interpreted contextually as "when", "upon" or "in response to a determination" or "in response to a detection". Similarly, the phrase "if it is determined" or "if a [ described condition or event ] is detected" may be interpreted contextually to mean "upon determining" or "in response to determining" or "upon detecting [ described condition or event ]" or "in response to detecting [ described condition or event ]".

In order to explain the technical solution of the present disclosure, the following description is given by way of specific examples.

The embodiment of the present disclosure provides a motor control method, as shown in fig. 1, the motor control method includes:

step S11: when the motor runs, the current torque value and the current rotating speed value of the motor are detected.

In the embodiment of the present disclosure, since the motor is limited to the voltage limit circle when the motor operates in the constant power region, and as can be seen from fig. 1, the voltage fluctuation is closely related to the current, and as can be seen from the voltage equation of the permanent magnet synchronous motor, that is, equations (1) and (2), the voltage fluctuation is also related to the rotation speed, that is, as can be seen from fig. 1 and equations (2)

It can be seen that the higher the rotation speed, the greater the rotation speed, in practiceThe larger the voltage fluctuation in the control process is, so that when the motor is controlled, in order to better utilize the bus voltage of the motor during operation, the current torque value and the current rotating speed value of the motor during operation need to be detected; wherein u is_dIs the direct axis voltage u_qIs quadrature axis voltage, R is motor radius, i_dIs a direct axis current, i_qFor quadrature axis current, L_dFor motor direct-axis inductance, L_dIs motor quadrature axis inductance, w_rFor the motor speed, #_fIs the permanent magnet flux linkage of the motor.

Step S12: and acquiring a target voltage utilization rate according to the current torque value and the current rotating speed value of the motor.

In the embodiment of the present disclosure, since the rotation speed and the current of the motor have a certain influence on the voltage fluctuation, after the current torque value and the current rotation speed value of the motor are obtained, the target voltage utilization rate can be obtained according to the two parameters.

Specifically, as an embodiment of the present disclosure, the step S12 of obtaining the target voltage utilization rate according to the current torque value of the motor and the current rotation speed value of the motor specifically includes:

acquiring a first voltage utilization rate according to the current torque value of the motor, and acquiring a second voltage utilization rate according to the current rotating speed value of the motor;

and acquiring the target voltage utilization rate according to the first voltage utilization rate, the second voltage utilization rate and a preset utilization rate selection rule.

In the embodiment of the disclosure, when the motor controller loads the motor, since the motor operation is limited to the voltage limit circle in the motor constant power operation area, the area of the voltage limit circle is expanded by dynamically adjusting the voltage utilization rate, that is, the disclosure obtains the first voltage utilization rate k1 when the voltage utilization rate changes according to the torque change through an offline test; and obtaining a second voltage utilization rate k2 when the voltage utilization rate is changed according to the rotating speed; after the first voltage utilization rate k1 and the second voltage utilization rate k2 are acquired, the target voltage utilization rate k is obtained according to a preset utilization rate selection rule k ═ max (k1, k 2).

Step S13: and sampling the bus voltage to obtain a bus voltage sampling value, and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

In the embodiment of the present disclosure, after the target voltage utilization rate k is obtained, the present disclosure obtains a bus voltage sampling value by sampling a bus voltage, and then controls the operation state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor, and the current rotation speed value of the motor.

Further, as an embodiment of the present disclosure, the step S13 of controlling the operation state of the motor according to the sampled bus voltage value, the target voltage utilization rate, the current torque value of the motor, and the current rotation speed value of the motor specifically includes:

acquiring a voltage limiting value according to the product of the bus voltage sampling value and the target voltage utilization rate;

and controlling the running state of the motor according to the voltage limiting value, the current torque value of the motor and the current rotating speed value of the motor.

Wherein, in the embodiment of the present disclosure, the present disclosure passes through formula U_dc＝U_dc-sK obtains a voltage limit value, wherein U_dcIs a voltage amplitude limit value, U_dc-sAnd k is a bus voltage sampling value and is a target voltage utilization rate.

In sampling value U according to bus voltage_dc-sObtaining a voltage amplitude limiting value U according to the target voltage utilization rate k_dcThen, the present disclosure may control the operation state of the motor according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor.

Specifically, as an embodiment of the present disclosure, controlling the operation state of the motor according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor specifically includes:

and acquiring quadrature axis current and direct axis current according to the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor, and controlling the running state of the motor according to the quadrature axis current and the direct axis current.

In the embodiment of the present disclosure, it can be known from step S11 that the change of the current has a certain influence on the voltage fluctuation during the operation of the motor, and the motor controller controls the motor according to the direct-axis current and the quadrature-axis current of the motor during the operation of the motor, so that after obtaining the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, the quadrature-axis current and the direct-axis current can be obtained according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, and the operation state of the motor is controlled according to the quadrature-axis current and the direct-axis current.

Specifically, as an embodiment of the present disclosure, obtaining the quadrature axis current and the direct axis current according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor specifically includes:

and searching in a pre-stored data table according to the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor so as to obtain the quadrature-axis current and the direct-axis current according to a searching result.

In the embodiment of the present disclosure, since the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor have the following relationships, specifically referring to formula (3), formula (4), and formula (5):

wherein, U is the maximum that the motor controller can outputVoltage, this voltage being influenced by bus voltage U_dcConstraint of w_rIs the rotational speed at which the motor operates, L_qMotor quadrature axis inductance, L_dDirect axis inductance of the motor, #_fIs a permanent magnet flux linkage of the motor, p is the number of pole pairs of the motor, i_dIs a direct axis current, i_qTherefore, the instruction relation of the motor in the constant power area during the field weakening control is obtained through the relation among the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor, and a corresponding data table is established through an actual bench test, so that the quadrature-axis current and the direct-axis current can be found according to the voltage amplitude limit value, the current torque value of the motor and the current rotating speed value of the motor through the data table.

In this embodiment, according to the present disclosure, when the motor operates, the current torque value and the current rotation speed value of the motor are detected, the target voltage utilization rate is obtained according to the current torque value and the current rotation speed value of the motor, the bus voltage is sampled to obtain a bus voltage sampling value, and then the operation state of the motor is controlled according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotation speed value of the motor, so that the motor is controlled according to the specific operation condition of the motor, the operation efficiency of the motor is improved, the problem of low operation efficiency of the motor in the existing motor control method is solved, the cruising mileage of the vehicle is effectively increased, and the stability of motor control can be effectively ensured.

Fig. 3 shows a schematic structural diagram of a motor control device 3, and the functions of the components in the motor control device 3 correspond to the steps in the motor control method shown in fig. 1. Specifically, the motor control device 3 includes: a detection module 31, an acquisition module 32 and a control module 33.

The detecting module 31 is configured to detect a current torque value and a current rotation speed value of the motor when the motor runs.

And the obtaining module 32 is configured to obtain the target voltage utilization rate according to the current torque value and the current rotation speed value of the motor.

And the control module 33 is configured to sample the bus voltage to obtain a bus voltage sampling value, and control the operation state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor, and the current rotation speed value of the motor.

Further, as an embodiment of the present disclosure, the obtaining module 32 is specifically configured to obtain a first voltage utilization rate according to a current torque value of the motor, and obtain a second voltage utilization rate according to a current rotation speed value of the motor;

and obtaining the target voltage utilization rate according to the first voltage utilization rate, the second voltage utilization rate and a preset utilization rate selection rule.

Further, as an embodiment of the present disclosure, the control module 33 is specifically configured to obtain a voltage limiting value according to a product of the bus voltage sampling value and the target voltage utilization rate;

and controlling the running state of the motor according to the voltage limiting value, the current torque value of the motor and the current rotating speed value of the motor.

Further, as an embodiment of the present disclosure, the control module 33 is further specifically configured to obtain a quadrature axis current and a direct axis current according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, and control the operation state of the motor according to the quadrature axis current and the direct axis current.

Further, as an embodiment of the present disclosure, the control module 33 is further specifically configured to perform a lookup in a pre-stored data table according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, so as to obtain the quadrature-axis current and the direct-axis current according to a lookup result.

In this embodiment, the motor control device 3 detects the current torque value and the current rotation speed value of the motor when the motor operates, and obtains the target voltage utilization rate according to the current torque value and the current rotation speed value of the motor, and samples the bus voltage to obtain the bus voltage sampling value, and then controls the operation state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotation speed value of the motor, so as to control the motor according to the specific operation condition of the motor, thereby improving the operation efficiency of the motor, solving the problem that the existing motor control method has low operation efficiency of the motor, effectively increasing the endurance mileage of the vehicle, and simultaneously effectively ensuring the stability of motor control.

Fig. 4 is a schematic diagram of a motor control device 4 according to a sixth embodiment of the present invention. As shown in fig. 4, the motor control device 4 of this embodiment includes: a processor 40, a memory 41 and a computer program 42, such as a motor control method program, stored in said memory 41 and executable on said processor 40. The processor 40, when executing the computer program 42, implements the steps in the various motor control method embodiments described above, such as steps 11 to 13 shown in fig. 1. Alternatively, the processor 40, when executing the computer program 42, implements the functions of the modules/units in the above-mentioned device embodiments, such as the functions of the modules 31 to 33 shown in fig. 3.

Illustratively, the computer program 42 may be partitioned into one or more modules/units that are stored in the memory 41 and executed by the processor 40 to implement the present invention. The one or more modules/units may be a series of computer program instruction segments capable of performing specific functions, which are used to describe the execution of the computer program 42 in the motor control device 4. For example, the computer program 42 may be divided into a detection module, an acquisition module, and a control module (virtual module in the device), and each module has the following specific functions:

and the detection module is used for detecting the current torque value and the current rotating speed value of the motor when the motor runs.

And the acquisition module is used for acquiring the target voltage utilization rate according to the current torque value and the current rotating speed value of the motor.

And the control module is used for sampling the bus voltage to obtain a bus voltage sampling value and controlling the running state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotating speed value of the motor.

Further, as an embodiment of the present disclosure, the obtaining module is specifically configured to obtain a first voltage utilization rate according to a current torque value of the motor, and obtain a second voltage utilization rate according to a current rotation speed value of the motor;

and obtaining the target voltage utilization rate according to the first voltage utilization rate, the second voltage utilization rate and a preset utilization rate selection rule.

Further, as an embodiment of the present disclosure, the control module is specifically configured to obtain a voltage limiting value according to a product of a bus voltage sampling value and a target voltage utilization rate;

and controlling the running state of the motor according to the voltage limiting value, the current torque value of the motor and the current rotating speed value of the motor.

Further, as an embodiment of the present disclosure, the control module is further specifically configured to obtain a quadrature axis current and a direct axis current according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, and control the operation state of the motor according to the quadrature axis current and the direct axis current.

Further, as an embodiment of the present disclosure, the control module is further specifically configured to perform lookup in a pre-stored data table according to the voltage limiting value, the current torque value of the motor, and the current rotation speed value of the motor, so as to obtain the quadrature-axis current and the direct-axis current according to a lookup result.

The motor control device 4 may be various processors, or may be a module within a processor. The motor control device 4 may include, but is not limited to, a processor 40 and a memory 41. It will be understood by those skilled in the art that fig. 4 is only an example of the motor control apparatus 4, and does not constitute a limitation to the motor control apparatus 4, and may include more or less components than those shown, or combine some components, or different components, for example, the motor control apparatus 4 may further include an input-output device, a network access device, a bus, and the like.

The Processor 40 may be a Micro Control Unit (MCU), a Central Processing Unit (CPU), other general purpose Processor, a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), an off-the-shelf Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic, discrete hardware components, etc. A general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.

The memory 41 may be an internal storage unit of the motor control device 4, such as a hard disk or a memory of the motor control device 4. The memory 41 may also be an external storage device of the motor control apparatus 4, such as a plug-in hard disk, a Smart Media Card (SMC), a Secure Digital (SD) Card, a Flash memory Card (Flash Card), or the like provided on the motor control apparatus 4.

Further, the memory 41 may also include both an internal storage unit and an external storage device of the motor control apparatus 4. The memory 41 is used for storing the computer program and other programs and data required by the motor control device 4. The memory 41 may also be used to temporarily store data that has been output or is to be output.

Fig. 1 is a schematic flow chart of a method according to an embodiment of the present invention. It should be understood that, although the steps in the flowchart of fig. 1 are shown in order as indicated by the arrows, the steps are not necessarily performed in order as indicated by the arrows. The steps are not performed in the exact order shown and may be performed in other orders unless explicitly stated herein. Moreover, at least a portion of the steps in fig. 1 may include multiple sub-steps or multiple stages that are not necessarily performed at the same time, but may be performed at different times, in different orders, and may be performed alternately or at least partially with respect to other steps or other steps.

It will be apparent to those skilled in the art that, for convenience and brevity of description, only the above-mentioned division of the functional units and modules is illustrated, and in practical applications, the above-mentioned function distribution may be performed by different functional units and modules according to needs, that is, the internal structure of the apparatus is divided into different functional units or modules to perform all or part of the above-mentioned functions. Each functional unit and module in the embodiments may be integrated in one processing unit, or each unit may exist alone physically, or two or more units are integrated in one unit, and the integrated unit may be implemented in a form of hardware, or in a form of software functional unit. In addition, specific names of the functional units and modules are only for convenience of distinguishing from each other, and are not used for limiting the protection scope of the present application. The specific working processes of the units and modules in the system may refer to the corresponding processes in the foregoing method embodiments, and are not described herein again.

In the above embodiments, the descriptions of the respective embodiments have respective emphasis, and reference may be made to the related descriptions of other embodiments for parts that are not described or illustrated in a certain embodiment.

Those of ordinary skill in the art will appreciate that the various illustrative elements and algorithm steps described in connection with the embodiments disclosed herein may be implemented as electronic hardware or combinations of computer software and electronic hardware. Whether such functionality is implemented as hardware or software depends upon the particular application and design constraints imposed on the implementation. Skilled artisans may implement the described functionality in varying ways for each particular application, but such implementation decisions should not be interpreted as causing a departure from the scope of the present invention.

In the embodiments provided in the present invention, it should be understood that the disclosed apparatus/terminal device and method may be implemented in other ways. For example, the above-described embodiments of the apparatus/terminal device are merely illustrative, and for example, the division of the modules or units is only one logical division, and there may be other divisions when actually implemented, for example, a plurality of units or components may be combined or integrated into another system, or some features may be omitted, or not executed. In addition, the shown or discussed mutual coupling or direct coupling or communication connection may be an indirect coupling or communication connection through some interfaces, devices or units, and may be in an electrical, mechanical or other form.

The units described as separate parts may or may not be physically separate, and parts displayed as units may or may not be physical units, may be located in one place, or may be distributed on a plurality of network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of the embodiment.

In addition, functional units in the embodiments of the present invention may be integrated into one processing unit, or each unit may exist alone physically, or two or more units are integrated into one unit. The integrated unit can be realized in a form of hardware, and can also be realized in a form of a software functional unit.

The integrated modules/units, if implemented in the form of software functional units and sold or used as separate products, may be stored in a computer readable storage medium. Based on such understanding, all or part of the flow of the method according to the embodiments of the present invention may also be implemented by a computer program, which may be stored in a computer-readable storage medium, and when the computer program is executed by a processor, the steps of the method embodiments may be implemented. . Wherein the computer program comprises computer program code, which may be in the form of source code, object code, an executable file or some intermediate form, etc. The computer-readable medium may include: any entity or device capable of carrying the computer program code, recording medium, usb disk, removable hard disk, magnetic disk, optical disk, computer Memory, Read-Only Memory (ROM), Random Access Memory (RAM), electrical carrier wave signals, telecommunications signals, software distribution medium, and the like. It should be noted that the computer readable medium may contain other components which may be suitably increased or decreased as required by legislation and patent practice in jurisdictions, for example, in some jurisdictions, computer readable media which may not include electrical carrier signals and telecommunications signals in accordance with legislation and patent practice.

Further, the present disclosure also provides a vehicle including the motor control device described above. It should be noted that, since the motor control device provided in the embodiment of the present disclosure is the same as the motor control devices 3 and 4 shown in fig. 3 or fig. 4, reference may be made to the foregoing detailed description about fig. 3 or fig. 4 for a specific operation principle of the motor control device in the vehicle provided in the embodiment of the present disclosure, and details are not repeated here.

In this disclosure, the vehicle provided by the present disclosure detects the current torque value and the current rotation speed value of the motor when the motor operates, and obtains the target voltage utilization rate according to the current torque value and the current rotation speed value of the motor, samples the bus voltage to obtain the bus voltage sampling value, and then controls the operation state of the motor according to the bus voltage sampling value, the target voltage utilization rate, the current torque value of the motor and the current rotation speed value of the motor, so as to realize the control of the motor according to the specific operation condition of the motor, thereby improving the operation efficiency of the motor, effectively increasing the endurance mileage of the vehicle, and simultaneously, effectively ensuring the stability of the motor control.

The above-mentioned embodiments are only used for illustrating the technical solutions of the present invention, and not for limiting the same; although the present invention has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some technical features may be equivalently replaced; such modifications and substitutions do not substantially depart from the spirit and scope of the embodiments of the present invention, and are intended to be included within the scope of the present invention.