CN106585609A - Torque filtering method of electric vehicle - Google Patents

Abstract

The invention discloses a torque filtering method of an electric automobile. The method comprises the following steps of collecting the current torque of an engine of the electric automobile and the current torque of a motor of the electric automobile, and performing calculation to obtain the total demand torque of the electric automobile, the objective torque of the engine, and the objective torque of the motor; judging the change trend of the torque of the engine, the change trend of the torque of the motor, and the change trend of the total demand torque; obtaining the change quantity of the total demand torque in a unit time, and calculating the change quantity of the torque of the engine in the unit time, and the change quantity of the torque of the motor in the unit time; and according to the current torque and the objective torque of the engine, and the change quantity of the torque of the engine in the unit time, performing filtering treatment on the engine, and according to the current torque and the objective torque of the motor, and the change quantity of the torque of the motor in the unit time, performing filtering treatment on the motor. According to the torque filtering method disclosed by the invention, the situation that too large fluctuation of the torque of the engine and too large fluctuation of the torque of the motor damage parts and components can be avoided, and the comfortability of a complete vehicle is improved.

Description

The moment of torsion filtering method of electric automobile

Technical field

The invention belongs to technical field of vehicle, more particularly to a kind of moment of torsion filtering method of electric automobile.

Background technology

The moment of torsion of motor, electromotor for vehicle is filtered, and the method for general employing is：The filter of motor is calculated respectively The filter factor of wave system number and electromotor, is then compared the filter factor for drawing needs, then is entered with the filter factor for needing Row Filtering Processing.It is also proposed that a kind of control method of moment of torsion filtering, formula used is in correlation technique： T=rate*t+Tq-old, wherein, current torques of the T for electric automobile, rate is slope, and t is time threshold, Tq-old For the moment of torsion at a upper moment.

As can be seen that the filtering method of correlation technique does not account for the rate of change of car load moment of torsion, only to single power source Filtering, the easy excessive comfortableness that parts are caused damage, car load is affected so that electromotor and Motor torque fluctuate.

The content of the invention

It is contemplated that at least solving one of technical problem in correlation technique to a certain extent.For this purpose, the present invention needs to carry Go out a kind of moment of torsion filtering method of electric automobile, the filtering method can avoid electromotor and Motor torque fluctuation excessive to zero Part causes damage, and improves the comfortableness of car load.

To solve the above problems, the present invention proposes a kind of moment of torsion filtering method of electric automobile, and the method is comprised the following steps： The current torque and the current torque of motor of the electromotor of collection electric automobile, calculates the aggregate demand torsion for obtaining the electric automobile Square, and the target torque of the target torque and the motor of the electromotor；Judge the electromotor change in torque trend, The variation tendency of the change in torque trend of the motor and the aggregate demand moment of torsion；Obtain the described total need within the unit interval Seek change in torque amount, and according to the aggregate demand change in torque amount within the unit interval, the change in torque trend of the electromotor, The variation tendency of the change in torque trend of the motor and the aggregate demand moment of torsion calculates the electromotor respectively in the unit interval Change in torque amount of the interior change in torque amount and the motor within the unit interval；And the current torque according to the electromotor, The change in torque amount of the target torque and the electromotor within the unit interval is filtered process to the electromotor, and Change in torque amount of the current torque and target torque, the motor according to the motor within the unit interval is entered to the motor Row Filtering Processing.

The moment of torsion filtering method of electric automobile of the invention, according to the aggregate demand change in torque amount within the unit interval, starts The variation tendency of the change in torque trend of machine, the change in torque trend of motor and aggregate demand moment of torsion calculates electromotor respectively in list Change in torque amount of the change in torque amount and motor in the time of position within the unit interval, and the current torque according to electromotor, mesh The mark change in torque amount of moment of torsion and electromotor within the unit interval is filtered process to electromotor, and according to the current of motor The change in torque amount of moment of torsion and target torque motor within the unit interval is filtered process to motor, i.e., for multiple power sources Be filtered, consider aggregate demand torque ripple it is unsuitable it is excessive on the premise of, process is filtered to electromotor and motor respectively, Both electromotor and the excessive comfortableness for causing damage to parts, electric automobile whole being improved again of Motor torque fluctuation be avoided that.

Further, change in torque amount of the aggregate demand moment of torsion within the unit interval is obtained, and according to the aggregate demand moment of torsion Change in torque amount, the change in torque trend of the electromotor, the change in torque trend of the motor within the unit interval and The variation tendency of the aggregate demand moment of torsion calculates change in torque amount and the motor of the electromotor within the unit interval respectively and exists Change in torque amount in unit interval, specifically includes：Tabled look-up original with first according to the variable quantity of speed and the aggregate demand moment of torsion Then table look-up and obtain aggregate demand moment of torsion permission variation delta T in the unit interval；When the variation tendency of the aggregate demand moment of torsion is rising And the change in torque trend of the electromotor be rise and the motor change in torque trend for rise when, if the motor Moment of torsion without zero demand is crossed, then tabled look-up with the second principle of tabling look-up according to the demand torque variable quantity of the speed and the electromotor Torque conversion amount Δ Teng of the electromotor within the unit interval is obtained, wherein, Δ Teng<ΔT；Calculate the motor Change in torque amount within the unit interval is Δ Tmot=Δ T- Δ Teng；If the moment of torsion of the motor had zero demand, Tabled look-up the change in torque amount that obtains the motor within the unit interval with the 3rd principle of tabling look-up according to the current torque of the motor Δ Tmot, wherein, Δ Tmot<ΔT；Tabled look-up original with the 4th according to the demand torque variable quantity of the speed and the electromotor Then table look-up acquisition electromotor maximum permissible torque variation delta Teng' within the unit interval；And the calculating electromotor exists Change in torque amount in unit interval is Δ Teng=min (Δ Teng', Δ T- Δ Tmot).

Further, said method also includes：When the variation tendency of the aggregate demand moment of torsion is decline and the torsion of the electromotor Square variation tendency be decline and the motor change in torque trend for decline when, if the moment of torsion of the motor without cross zero demand, The acquisition electromotor is tabled look-up in unit with the 5th principle of tabling look-up according to the speed and the engine demand change in torque amount then Change in torque amount Δ Teng in time, wherein, Δ Teng>ΔT；Calculate change in torque of the motor within the unit interval Measure as Δ Tmot=Δ T- Δ Teng；

If the moment of torsion of the motor had zero demand, table look-up and obtain with the 6th principle of tabling look-up according to the current torque of the motor The motor is obtained in unit interval internal torque variation delta Tmot, wherein, Δ Tmot>ΔT；According to the speed and described Engine demand change in torque amount is become with the 7th principle acquisition electromotor maximum permissible torque within the unit interval of tabling look-up of tabling look-up Change amount Δ Teng'；And change in torque amount of the calculating electromotor within the unit interval is Δ Teng=max (Δ Teng', Δ T- Δ Tmot).

Or, said method also includes：When the change in torque that the aggregate demand change in torque trend is rising and the electromotor Trend be rise and the motor change in torque trend for decline when, if the moment of torsion of the motor without cross zero demand, root The acquisition electromotor is tabled look-up in the unit interval with the 8th principle of tabling look-up according to the speed and the engine demand change in torque amount Interior change in torque amount Δ Teng；Calculating change in torque amount of the motor within the unit interval is Δ Tmot=min (0, Δ T- Δ Teng)；

If the moment of torsion of the motor had zero demand, table look-up and obtain with the 9th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows variation delta Tmot' within the unit interval；According to the speed and the engine demand change in torque amount Tabled look-up acquisition electromotor maximum permissible torque variation delta Teng' within the unit interval with the tenth principle of tabling look-up；Calculate described Change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') of the electromotor within the unit interval；If met ΔTeng+ΔTmot'<0, then change in torque amount Δ Tmot=min (0, Δ T- Δ Teng) of the motor within the unit interval； And if meet Δ Teng+ Δ Tmot'>0, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

Or, said method also includes：When the change in torque that the aggregate demand change in torque trend is rising and the electromotor Trend be decline and the motor change in torque trend for rise when, if the moment of torsion of the motor without cross zero demand, root The acquisition electromotor is tabled look-up in unit with the 11st principle of tabling look-up according to the speed and the engine demand change in torque amount Interior change in torque amount Δ Teng；Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；

If the moment of torsion of the motor had zero demand, tabled look-up with the 12nd principle of tabling look-up according to the current torque of the motor Obtain variation delta Tmot' under the motor was allowed within the unit interval；Become according to the speed and the transmitter demand torque Change amount is tabled look-up acquisition electromotor maximum allowable variation delta Teng' within the unit interval with the 13rd principle of tabling look-up；Calculate institute State change in torque amount Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ Teng') of the electromotor within the unit interval；If ΔTeng+ΔTmot'>Δ T, then change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；If ΔTeng+ΔTmot'<Δ T, then change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit interval.

Or, said method also includes：When the variation tendency that the aggregate demand change in torque trend is decline and the electromotor Change in torque trend for rising and the motor is decline, if the moment of torsion of the motor is without zero demand is crossed, according to described Speed and the engine demand change in torque amount table look-up the acquisition electromotor within the unit interval with the 14th principle of tabling look-up Change in torque amount Δ Teng；Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；

If the moment of torsion of the motor had zero demand, tabled look-up with the 15th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows change in torque amount Δ Tmot' within the unit interval；According to the speed and the engine demand moment of torsion Variable quantity is tabled look-up acquisition electromotor maximum permissible torque variation delta Teng' within the unit interval with the 16th principle of tabling look-up； Calculate change in torque amount Δ Teng=min (max (0, Δ T- Δ Tmot'), Δ Teng') of the electromotor within the unit interval；Such as Fruit Δ Teng+ Δ Tmot'<Δ T, then change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；With And if Δ Teng+ Δ Tmot'>Δ T, then change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit interval.

Or, said method also includes：When the change in torque that the aggregate demand change in torque trend is decline and the electromotor Trend be decline and the motor change in torque trend for rise when, if the moment of torsion of the motor without cross zero demand, root The acquisition electromotor is tabled look-up in unit with the 17th principle of tabling look-up according to the speed and the engine demand change in torque amount Interior change in torque amount Δ Teng；Calculate change in torque amount of the motor within the unit interval Δ Tmot=max (0, Δ T- Δ Teng)；

If the moment of torsion of the motor had zero demand, tabled look-up with the 18th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows change in torque amount Δ Tmot' within the unit interval；According to the speed and the engine demand moment of torsion Variable quantity is tabled look-up acquisition electromotor maximum permissible torque variation delta Teng' within the unit interval with the 19th principle of tabling look-up； Calculate change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ Tmot') of the electromotor within the unit interval；If met ΔTeng+ΔTmot'>0, then change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；And such as Fruit meets Δ Teng+ Δ Tmot'<0, then change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit interval.

Specifically, process is filtered to the electromotor and the motor respectively using variable quantity limit value filtering method；Or Process is filtered to the electromotor and the motor respectively using one order inertia filtering method.

Further, process is filtered respectively using variable quantity limit value filtering method to the electromotor and the motor concrete Including：Process is filtered to the electromotor according to below equation：

Wherein, moments of torsion of the Yeng (k) for the kth moment filtered electromotor, X0 (k) electromotors described in the kth moment Current torque, Δ Teng is change in torque amount of the electromotor within the unit interval, and Xeng (k) is the mesh of the electromotor Mark moment of torsion；And

Process is filtered to the motor according to below equation：

Wherein, moments of torsion of the Ymot (k) for the kth moment filtered motor, X1 (k) described in the kth moment motor work as Front moment of torsion, Δ Tmot are change in torque amount of the motor within the unit interval, and Xmot (k) is the target torque of the motor.

Further, the concrete bag of process is filtered respectively using one order inertia filtering method to the electromotor and the motor Include：Process is filtered to the electromotor respectively according to below equation：

Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein,

Wherein, moments of torsion of the Yeng (k) for the kth moment filtered electromotor, Xeng (k) is the target of the electromotor Moment of torsion, moments of torsion of the Yeng (k-1) for -1 moment of the kth filtered electromotor, a are filter factor, and Δ Teng is described Change in torque amount of the electromotor within the unit interval；And

Process is filtered to the motor by below equation：

Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein,

Wherein, moments of torsion of the Ymot (k) for the kth moment filtered motor, Xmot (k) is the target torque of the motor, Moments of torsion of the Ymot (k-1) for -1 moment of the kth filtered motor, b is filter factor, and Δ Tmot exists for the motor Change in torque amount in unit interval.

Description of the drawings

Fig. 1 is the flow chart of the moment of torsion filtering method of electric automobile according to an embodiment of the invention；And

Fig. 2 is the flow chart of the moment of torsion filtering method of electric automobile according to another embodiment of the invention.

Specific embodiment

Embodiments of the invention are described below in detail, the example of the embodiment is shown in the drawings, wherein identical from start to finish Or similar label represents same or similar element or the element with same or like function.Retouch below with reference to accompanying drawing The embodiment stated is exemplary, it is intended to for explaining the present invention, and be not considered as limiting the invention.

The moment of torsion filtering method of the electric automobile for proposing according to embodiments of the present invention is described with reference to the accompanying drawings.

Fig. 1 is the flow chart of the moment of torsion filtering method of the electric automobile according to one embodiment of the present of invention, such as Fig. 1 institutes Show, the moment of torsion filtering method is comprised the following steps：

S1, gathers the current torque and the current torque of motor of the electromotor of electric automobile, calculates and obtain the electric automobile Aggregate demand moment of torsion, and the target torque of the target torque and motor of electromotor.

Wherein, aggregate demand moment of torsion can be understood as the demand torque (i.e. car load final goal torque) of driver, and the torque can be with Calculated according to information such as pedal state, speed, transmitter rotating speed, motor speeds and obtained.According to the battery SOC of electric automobile The information such as state, engine speed, motor speed are allocated to aggregate demand moment of torsion, obtain the target torque and electricity of electromotor The target torque of machine.Ensure that the target torque of electromotor is aggregate demand moment of torsion with the target torque sum of motor.

S2, judges the variation tendency of the change in torque trend of electromotor, the change in torque trend of motor and aggregate demand moment of torsion.

For example, when engine target moment of torsion-electromotor current torque>When 0, judge that engine torque is in rising trend, conversely, Then judge that electromotor is on a declining curve.Similarly, when motor target torque-motor current torque>0, then judge that Motor torque is in Ascendant trend, on the contrary then judge that Motor torque is on a declining curve；When aggregate demand moment of torsion-transmitter current torque-motor is currently turned round Square>When 0, then judge that aggregate demand moment of torsion is in rising trend, otherwise then judge that aggregate demand moment of torsion is on a declining curve.

S3, obtains the aggregate demand change in torque amount within the unit interval, and according to the aggregate demand change in torque within the unit interval The variation tendency of amount, the change in torque trend of electromotor, the change in torque trend of motor and aggregate demand moment of torsion is calculated respectively to be sent out Change in torque amount of the motivation in the change in torque amount and motor in the unit interval within the unit interval.

Wherein, aggregate demand change in torque amount=aggregate demand moment of torsion-electromotor current torque-motor current torque, for example, electromotor Current torque is 100Nm, and motor current torque is 500Nm, and aggregate demand moment of torsion is 2000Nm, then the current total torque of car load is 800Nm, aggregate demand change in torque amount are 1200Nm, and the aggregate demand moment of torsion of car load increases to 2000Nm from 800Nm, but 2000Nm can not directly be reached in a cycle, need the process through a change, otherwise car load torque ripple to cross conference Affect driving.

In one embodiment of the invention, tabled look-up acquisition with the first principle of tabling look-up according to the variable quantity of speed and aggregate demand moment of torsion In unit interval, aggregate demand moment of torsion allows variation delta T, wherein, in the unit interval, aggregate demand moment of torsion allows variable quantity to be appreciated that Be vehicle in the state of certain, the car load change in torque allowed in the unit interval, car load torque ripple within this range will not Driving is affected, specifically, the form can include speed, the variable quantity of aggregate demand moment of torsion and aggregate demand is turned round in the unit interval Square allows the corresponding relation of variable quantity, and first tables look-up principle can be for for example：When speed is low high with speed, Δ T is less, in car When speed is moderate, Δ T is larger；When aggregate demand change in torque amount is larger, Δ T is larger, when aggregate demand change in torque amount is less Δ T compared with It is little.

Wherein, for example risen or fallen according to the change in torque trend of electromotor, and the change in torque trend of motor is needed with total Ask the variation tendency of moment of torsion to be classified as various situations, electromotor is calculated in the unit interval using different algorithms for different situations Interior change in torque amount, and change in torque amount of the motor within the unit interval.For example, first calculate aggregate demand moment of torsion in unit Interior variable quantity, then engine torque variable quantity is calculated, then aggregate demand change in torque amount with engine torque variable quantity is For Motor torque variable quantity, it can be considered to arrive the change in torque amount of electric automobile whole and parts.

For change in torque of the electromotor under different situations in the change in torque amount and motor in the unit interval within the unit interval The calculating process of amount will be described in detail in specific embodiment below.

S4, change in torque amount of the current torque, target torque and electromotor according to electromotor within the unit interval is to electromotor It is filtered process, and the change in torque amount pair of current torque and target torque according to motor, motor within the unit interval Motor is filtered process.

In one embodiment of the invention, for the Filtering Processing of the electromotor and motor of electric automobile can adopt variable quantity The method of limit value filtering, specifically, is filtered process according to below equation to electromotor：

Wherein, moments of torsion of the Yeng (k) for kth moment filtered electromotor, current torsions of the X0 (k) for kth moment electromotor Square, Δ Teng be change in torque amount of the electromotor within the unit interval, target torques of the Xeng (k) for electromotor.

Process is filtered according to below equation to motor：

Wherein, moments of torsion of the Ymot (k) for kth moment filtered motor, current torques of the X1 (k) for kth moment motor, Δ Tmot be change in torque amount of the motor within the unit interval, target torques of the Xmot (k) for motor.

Or, in another embodiment of the present invention, respectively electromotor and motor are carried out using one order inertia filtering method Filtering Processing, specifically, is filtered process respectively according to below equation to electromotor：

Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein,

Wherein, moments of torsion of the Yeng (k) for kth moment filtered electromotor, target torques of the Xeng (k) for electromotor, Yeng (k-1) filters the moment of torsion of rear engine for -1 moment of kth, and a is filter factor, and Δ Teng is electromotor in the unit interval Interior change in torque amount；And

Process is filtered to the motor by below equation：

Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein,

Wherein, moments of torsion of the Ymot (k) for kth moment filtered motor, target torques of the Xmot (k) for motor, Moments of torsion of the Ymot (k-1) for -1 moment of kth filtered motor, b are filter factor, and Δ Tmot is motor in the unit interval Interior change in torque amount.

As can be seen that the moment of torsion filtering method of the electric automobile of the embodiment of the present invention, according to the aggregate demand moment of torsion within the unit interval The variation tendency of variable quantity, the change in torque trend of electromotor, the change in torque trend of motor and aggregate demand moment of torsion is counted respectively Change in torque amount of the electromotor in the change in torque amount and motor in the unit interval within the unit interval is calculated, and according to electromotor The change in torque amount of current torque, target torque and electromotor within the unit interval is filtered process, Yi Jigen to electromotor Process, i.e. pin are filtered to motor according to the change in torque amount of the current torque and target torque motor of motor within the unit interval Multiple power sources are filtered, consider aggregate demand torque ripple it is unsuitable it is excessive on the premise of, respectively to electromotor and motor Process is filtered, electromotor has both been avoided that and Motor torque fluctuation is excessive that parts are caused damage, and electronic vapour can have been improved The comfortableness of car car load.

Change in torque amount and motor in different embodiments to electromotor in varied situations within the unit interval exists below The calculating process of the change in torque amount in the unit interval is described in detail.

Embodiment 1, when the variation tendency of aggregate demand moment of torsion be rise and electromotor change in torque trend be rise and motor It is when change in torque trend is to rise, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, tabled look-up principle with second according to the demand torque variable quantity of speed and electromotor Table look-up acquisition torque conversion amount Δ Teng of the electromotor within the unit interval, wherein, Δ Teng<Δ T, specifically, second looks into Table principle can be for for example：When speed is low high with speed, Δ Teng is less, and when speed is moderate, Δ Teng is larger, electromotor When demand torque variable quantity is big, Δ Teng is larger, and when engine demand change in torque amount is less, Δ Teng is less.Further, It is Δ Tmot=Δ T- Δ Teng to calculate change in torque amount of the motor within the unit interval.

As specific embodiment, as shown in table 1, in the case of engine demand change in torque amount identical, speed is less than 50 And speed is more than the electromotor after 100 and is less than moment of torsion of the speed between 50 to 100 in the change in torque amount in the unit interval Variable quantity.In the case of speed identical, engine demand change in torque amount is bigger, then the transmitter moment of torsion within the unit interval Variable quantity is bigger.

Table 1

If the moment of torsion of motor had zero demand, existed with the 3rd principle acquisition motor of tabling look-up of tabling look-up according to the current torque of motor Change in torque amount Δ Tmot in unit interval, wherein, Δ Tmot<Δ T, specifically, the 3rd tables look-up principle can be for for example： Motor current torque zero torque point of distance is nearer, and Δ Tmot is less, and zero torque point of current torque distance of motor is more remote, Δ Tmot It is bigger.Acquisition electromotor is tabled look-up within the unit interval with the 4th principle of tabling look-up according to the demand torque variable quantity of speed and electromotor Maximum permissible torque variation delta Teng', wherein, the 4th tables look-up principle can be for for example：Δ Teng' when speed is low high with speed Less, when speed is moderate, Δ Teng' is larger, and when engine demand change in torque amount is big, Δ Teng' is larger, engine demand moment of torsion Hour Δ Teng' is less for variable quantity.Further, calculating change in torque amount of the electromotor within the unit interval is Δ Teng=min (Δ Teng', Δ T- Δ Tmot).

Embodiment 2, when the variation tendency of aggregate demand moment of torsion be decline and electromotor change in torque trend be decline and motor It is when change in torque trend is to decline, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, looked into the 5th principle of tabling look-up according to speed and engine demand change in torque amount Table obtains change in torque amount Δ Teng of the electromotor within the unit interval, wherein, Δ Teng>Δ T, specifically, the 5th tables look-up Principle can be for for example：When speed is low and speed is high, the absolute value of Δ Teng is less, when speed is moderate the absolute value of Δ Teng compared with Greatly, when engine torque variable quantity is big, the absolute value of Δ Teng is larger, and engine demand change in torque amount hour Δ Teng's is exhausted It is less to being worth.Further, it is Δ Tmot=Δ T- Δ Teng to calculate change in torque amount of the motor within the unit interval.

If the moment of torsion of motor had zero demand, existed with the 6th principle acquisition motor of tabling look-up of tabling look-up according to the current torque of motor Unit interval internal torque variation delta Tmot, wherein, Δ Tmot>Δ T, specifically, the 6th tables look-up principle can be for for example： Zero torque point of current torque distance of motor is nearer, and the absolute value of Δ Tmot is less, zero torque point of current torque distance of motor More remote, the absolute value of Δ Tmot is bigger.As specific embodiment, as shown in table 2, the current torque of motor is near 0 point The absolute value of corresponding Δ Tmot is more little to change slower.

Table 2

The current torque of motor	-200	-50	-20	0	20	50	200
								ΔTmot	-300	-300	-10	-2	-10	-300	-300

It is maximum within the unit interval with the 7th principle acquisition electromotor of tabling look-up of tabling look-up according to speed and engine demand change in torque amount Change in torque amount Δ Teng' is allowed, wherein, the 7th tables look-up principle can be for for example：When speed is low and speed is high, Δ Teng''s is exhausted To be worth it is less, when speed is moderate, the absolute value of Δ Teng' is larger, when engine demand change in torque amount is big Δ Teng' absolute values compared with Greatly, the absolute value of engine demand change in torque amount hour Δ Teng' is less, further, calculates electromotor in the unit interval Interior change in torque amount is Δ Teng=max (Δ Teng', Δ T- Δ Tmot).

Embodiment 3, when aggregate demand change in torque trend be rise and electromotor change in torque trend be rise and motor torsion It is when square variation tendency is to decline, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, looked into the 8th principle of tabling look-up according to speed and engine demand change in torque amount Table obtains change in torque amount Δ Teng of the electromotor within the unit interval, and specifically, the 8th tables look-up principle can be for for example：Car Speed is low less with the absolute value of speed Δ Teng when high, and when speed is moderate, the absolute value of Δ Teng is less, engine demand moment of torsion When variable quantity is big, the absolute value of Δ Teng is larger, and the absolute value of the demand torque variable quantity hour Δ Teng of electromotor is less.Enter One step ground, it is Δ Tmot=min (0, Δ T- Δ Teng) to calculate change in torque amount of the motor within the unit interval.

If the moment of torsion of motor had zero demand, existed with the 9th principle acquisition motor of tabling look-up of tabling look-up according to the current torque of motor Variation delta Tmot' is allowed in unit interval, wherein, the 9th tables look-up principle can be for for example：The current torque distance zero of motor Torque point is more remote, and the absolute value of Δ Tmot' is less, and zero torque point of current torque distance of motor is more remote, the absolute value of Δ Tmot' It is bigger.According to speed and engine demand change in torque amount with the tenth table look-up principle table look-up acquisition electromotor within the unit interval most It is big to allow change in torque amount Δ Teng', wherein, the tenth tables look-up principle can be for for example：Δ Teng' when speed is low and speed is high Absolute value is less, and when speed is moderate, the absolute value of Δ Teng' is larger, and when engine demand change in torque amount is big, Δ Teng''s is absolute Value is larger, and when engine demand change in torque amount is less, the absolute value of Δ Teng' is less.Further, electromotor is calculated in list Change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') in the time of position.Wherein, if met ΔTeng+ΔTmot'<0, illustrate that motor decrease speed is too fast, then change in torque amount of the motor within the unit interval Δ Tmot=min (0, Δ T- Δ Teng)；If meeting Δ Teng+ Δ Tmot'>0, then moment of torsion of the motor within the unit interval Variation delta Tmot=Δ Tmot'.

Embodiment 4, when aggregate demand change in torque trend be rise and electromotor change in torque trend be decline and motor torsion It is when square variation tendency is to rise, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, tabled look-up principle with the 11st according to speed and engine demand change in torque amount Table look-up acquisition change in torque amount Δ Teng of the electromotor within the unit interval, wherein, the 11st tables look-up principle can be for for example： When speed is low high with speed, the absolute value of Δ Teng is less, and when speed is moderate, the absolute value of Δ Teng is larger, and electromotor is needed When asking change in torque amount big, the absolute value of Δ Teng is larger, engine demand change in torque amount is little be Δ Teng absolute value it is less. Further, calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval.

If the moment of torsion of motor had zero demand, tabled look-up acquisition motor with the 12nd principle of tabling look-up according to the current torque of motor Variation delta Tmot' under allowing within the unit interval, wherein, the 12nd tables look-up principle can be for for example：The current torque of motor Zero torque point of distance is nearer, and the absolute value of Δ Tmot' is less, and zero torque point of current torque distance of motor is more remote, Δ Tmot''s Absolute value is bigger.Acquisition electromotor is tabled look-up in unit with the 13rd principle of tabling look-up according to speed and transmitter demand torque variable quantity Maximum allowable variation delta Teng' in time, wherein, the 13rd tables look-up principle can be for for example：When speed is low high with speed The absolute value of Δ Teng' is less, and when speed is moderate, the absolute value of Δ Teng' is larger, when engine demand change in torque amount is big The absolute value of Δ Teng' is larger, and the absolute value of engine demand change in torque amount hour Δ Teng' is less.Further, calculate Change in torque amount Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ Teng') of the electromotor within the unit interval.Wherein, if ΔTeng+ΔTmot'>Δ T, illustrates that Motor torque rises too fast, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng, if Δ Teng+ Δ Tmot'<Δ T, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

Embodiment 5, when aggregate demand change in torque trend be decline and electromotor variation tendency be rise and motor moment of torsion become Change trend is to decline, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, tabled look-up principle with the 14th according to speed and engine demand change in torque amount Table look-up acquisition change in torque amount Δ Teng of the electromotor within the unit interval, wherein, the 14th tables look-up principle can be for for example： When speed is low high with speed, the absolute value of Δ Teng is less, and when speed is moderate, the absolute value of Δ Teng is larger；Electromotor is needed When asking change in torque amount big, the absolute value of Δ Teng is larger, and the absolute value of engine demand change in torque amount hour Δ Teng is less. Further, calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval.

If the moment of torsion of motor had zero demand, tabled look-up acquisition motor with the 15th principle of tabling look-up according to the current torque of motor Change in torque amount Δ Tmot' is allowed within the unit interval, wherein, the 15th tables look-up principle can be for for example：The current torsion of motor Zero torque point of square distance is nearer, and the absolute value of Δ Tmot' is less, and motor current torque zero torque point of distance is more remote, Δ Tmot''s Absolute value is bigger.Acquisition electromotor is tabled look-up in unit with the 16th principle of tabling look-up according to speed and engine demand change in torque amount Maximum permissible torque variation delta Teng' in time, wherein, the 16th tables look-up principle can be for for example：Speed is low and speed When high, the absolute value of Δ Teng' is little, and when speed is moderate, the absolute value of Δ Teng' is larger；When engine demand change in torque amount is big The absolute value of Δ Teng' is larger, and the absolute value of engine demand change in torque amount hour Δ Teng' is less.Further, calculate Change in torque amount Δ Teng=min (max (0, Δ T- Δ Tmot'), Δ Teng') of the electromotor within the unit interval.Wherein, if ΔTeng+ΔTmot'<Δ T, illustrates that Motor torque declines too fast, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng；If Δ Teng+ Δ Tmot'>Δ T, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

Embodiment 6, when aggregate demand change in torque trend be decline and electromotor change in torque trend be decline and motor torsion It is when square variation tendency is to rise, as follows for the computational methods of Δ Teng and Δ Tmot：

If the moment of torsion of motor is without crossing zero demand, tabled look-up principle with the 17th according to speed and engine demand change in torque amount Table look-up acquisition change in torque amount Δ Teng of the electromotor within the unit interval, wherein, the 17th tables look-up principle can be for for example： When speed is low high with speed, the absolute value of Δ Teng is less, and when speed is moderate, the absolute value of Δ Teng is larger, and electromotor is needed When asking change in torque amount big, the absolute value of Δ Teng is larger, and the absolute value of engine demand change in torque amount hour Δ Teng is less. Further, calculate change in torque amount Δ Tmot=max (0, Δ T- Δ Teng) of the motor within the unit interval.

If the moment of torsion of motor had zero demand, tabled look-up acquisition motor with the 18th principle of tabling look-up according to the current torque of motor Change in torque amount Δ Tmot' is allowed within the unit interval, wherein, the 18th tables look-up principle can be for for example：The current torsion of motor The absolute value of the nearlyer Δ Tmot' of zero torque point of square distance is less, and zero torque point of current torque distance of motor is more remote, Δ Tmot''s Absolute value is bigger.Acquisition electromotor is tabled look-up in unit with the 19th principle of tabling look-up according to speed and engine demand change in torque amount Maximum permissible torque variation delta Teng' in time, wherein, the 19th tables look-up principle can be for for example：Speed is low and speed When high, the absolute value of Δ Teng' is less, and when speed is moderate, the absolute value of Δ Teng' is bigger, in engine demand change in torque amount When big, the absolute value of Δ Teng' is bigger, less in the absolute value of engine demand change in torque amount hour Δ Teng'.Further, Calculate change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ Tmot') of the electromotor within the unit interval.Wherein, if full Sufficient Δ Teng+ Δ Tmot'>0, illustrate that Motor torque declines too fast, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng, if meeting Δ Teng+ Δ Tmot'<0, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

Based on six kinds in above-mentioned six embodiments to Δ Teng and the computational methods of Δ Tmot, in practice, as shown in Fig. 2 It is the flow chart that moment of torsion filtering is carried out to motor and electromotor of a specific embodiment according to the present invention, as shown in Fig. 2 Filtering includes：

S10, calculates Δ Teng and Δ Tmot.

Specifically, as shown in Fig. 2 being turned round according to engine demand change in torque amount, motor demand torque variable quantity, aggregate demand Square variable quantity, the current torque of motor and speed, for different aggregate demand change in torque trend, different engine torques The method that the change in torque trend of variation tendency and motor can be corresponded in above-described embodiment respectively calculates Δ Teng and Δ Tmot, For example, the Δ Teng and Δ Tmot for obtaining for the situation in above-mentioned six kinds of embodiments is respectively；Δ TAeng and Δ TAmot, Δ TBeng and Δ TBmot, Δ TCeng and Δ TCmot, Δ TDeng and Δ TDmot, Δ TEeng and Δ TEmot, Δ TFeng With Δ TFmot.

S20, is arbitrated.

Δ TAeng in above-mentioned six kinds of embodiments, Δ TBeng, Δ TCeng, Δ TDeng, Δ TEeng and Δ TFeng are entered Row arbitration, obtains the Δ Teng of correspondence present case；And to the Δ TAmot in above-mentioned six kinds of embodiments, Δ TBmot, Δ TCmot, Δ TDmot, Δ TEmot and Δ TFmot are arbitrated, and obtain the Δ Tmot of correspondence present case.

S30, carries out moment of torsion filtering to electromotor and motor according to Δ TFmot and Δ Tmot respectively, and exports filtered starting Machine torque command and Motor torque instruction, to control corresponding execution unit action.

The moment of torsion filtering method of the electric automobile of the embodiment of the present invention, can carry out rate ripple to single execution unit, reach protection The purpose of parts, while also ensure that the change in torque amount of car load will not be too fast, reaches the purpose for improving car load driving.

In the description of this specification, in flow chart or here any process described otherwise above or method description can be by Be interpreted as, expression include it is one or more for realizing specific logical function or process the step of executable instruction code Module, fragment or part, and the scope of the preferred embodiment of the present invention includes other realization, wherein can not press Order that is shown or discussing, including according to involved function by it is basic simultaneously in the way of or in the opposite order, perform Function, this should be understood by embodiments of the invention person of ordinary skill in the field.

Expression or here logic described otherwise above and/or step, for example, are considered for reality in flow charts The order list of the executable instruction of existing logic function, may be embodied in any computer-readable medium, for instruction Execution system, device or equipment (as computer based system, the system including processor or other can perform from instruction The system of system, device or equipment instruction fetch execute instruction) use, or with reference to these instruction execution systems, device or set It is standby and use.For the purpose of this specification, " computer-readable medium " can any can be included, store, communicating, propagating Or transmission procedure is used for instruction execution system, device or equipment or with reference to these instruction execution systems, device or equipment Device.The more specifically example (non-exhaustive list) of computer-readable medium is including following：With one or more cloth The electrical connection section (electronic installation) of line, portable computer diskette box (magnetic device), random access memory (RAM) are read-only Memorizer (ROM), erasable edit read-only storage (EPROM or flash memory), fiber device, and it is portable Compact disc read-only memory (CDROM).In addition, computer-readable medium can even is that the paper that can print described program thereon Or other suitable media, because edlin, solution can then be entered for example by carrying out optical scanning to paper or other media Translate or be processed to electronically obtain described program with other suitable methods if necessary, be then stored in computer In memorizer.

It should be appreciated that each several part of the present invention can be realized with hardware, software, firmware or combinations thereof.In above-mentioned reality Apply in mode, software that multiple steps or method can be performed in memory and by suitable instruction execution system with storage or Firmware is realizing.For example, if realized with hardware, and in another embodiment, can be with well known in the art Any one of row technology or their combination are realizing：With for the logic gates of logic function is realized to data signal Discrete logic, the special IC with suitable combinational logic gate circuit, programmable gate array (PGA) are existing Field programmable gate array (FPGA) etc..

Those skilled in the art be appreciated that to realize all or part of step that above-described embodiment method is carried is can The hardware of correlation is instructed to complete with by program, described program can be stored in a kind of computer-readable recording medium, The program upon execution, including one or a combination set of the step of embodiment of the method.

Additionally, term " first ", " second " are only used for describing purpose, and it is not intended that indicating or implying relative importance Or the implicit quantity for indicating indicated technical characteristic.Thus, define " first ", the feature of " second " can be expressed Or implicitly include at least one this feature.In describing the invention, " multiple " are meant that at least two, such as two It is individual, three etc., unless otherwise expressly limited specifically.

In the description of this specification, reference term " one embodiment ", " some embodiments ", " example ", " specifically show Example ", or " some examples " etc. description mean specific features with reference to the embodiment or example description, structure, material or Feature is contained at least one embodiment or example of the present invention.In this manual, the schematic representation to above-mentioned term Identical embodiment or example are directed to necessarily.And, the specific features of description, structure, material or feature can be with Combined in any one or more embodiments or example in an appropriate manner.Additionally, in the case of not conflicting, ability The feature of the different embodiments or example described in this specification and different embodiments or example can be entered by the technical staff in domain Row is combined and is combined.

Although embodiments of the invention have been shown and described above, it is to be understood that above-described embodiment be it is exemplary, It is not considered as limiting the invention, one of ordinary skill in the art within the scope of the invention can be to above-described embodiment It is changed, changes, replacing and modification.

Claims (10)

1. the moment of torsion filtering method of a kind of electric automobile, it is characterised in that comprise the following steps：

The current torque and the current torque of motor of the electromotor of collection electric automobile, calculates the total need for obtaining the electric automobile Ask moment of torsion, and the target torque of the target torque and the motor of the electromotor；

Judge the change of the change in torque trend of the electromotor, the change in torque trend of the motor and the aggregate demand moment of torsion Change trend；

The aggregate demand change in torque amount within the unit interval is obtained, and is become according to the aggregate demand moment of torsion within the unit interval The change of change amount, the change in torque trend of the electromotor, the change in torque trend of the motor and the aggregate demand moment of torsion Trend calculates change in torque of the electromotor in the change in torque amount and the motor in the unit interval within the unit interval respectively Amount；And

Change in torque amount of the current torque, the target torque and the electromotor according to the electromotor within the unit interval Process, and current torque and target torque according to the motor, the motor are filtered to the electromotor in unit Change in torque amount in time is filtered process to the motor.

2. the moment of torsion filtering method of electric automobile as claimed in claim 1, it is characterised in that obtain the aggregate demand moment of torsion Change in torque amount within the unit interval, and the change in torque amount according to the aggregate demand moment of torsion within the unit interval, described The variation tendency of the change in torque trend of motivation, the change in torque trend of the motor and the aggregate demand moment of torsion is calculated respectively Change in torque amount of the electromotor in the change in torque amount and the motor in the unit interval within the unit interval, specifically includes：

Tabled look-up aggregate demand moment of torsion in the acquisition unit interval with the first principle of tabling look-up according to the variable quantity of speed and the aggregate demand moment of torsion Allow variation delta T；

When the variation tendency of the aggregate demand moment of torsion be rise and the electromotor change in torque trend for rise and the motor Change in torque trend to rise when, if the moment of torsion of the motor is without zero demand is crossed, according to the speed and described start The demand torque variable quantity of machine is tabled look-up the torque conversion amount that obtains the electromotor within the unit interval with the second principle of tabling look-up Δ Teng, wherein, Δ Teng<ΔT；

Change in torque amount of the motor within the unit interval is calculated for Δ Tmot=Δ T- Δ Teng；

If the moment of torsion of the motor had zero demand, table look-up and obtain with the 3rd principle of tabling look-up according to the current torque of the motor Change in torque amount Δ Tmot of the motor within the unit interval is obtained, wherein, Δ Tmot<ΔT；

Existed with the 4th principle acquisition electromotor of tabling look-up of tabling look-up according to the demand torque variable quantity of the speed and the electromotor Maximum permissible torque variation delta Teng' in unit interval；And

Change in torque amount of the electromotor within the unit interval is calculated for Δ Teng=min (Δ Teng', Δ T- Δ Tmot).

3. the moment of torsion filtering method of electric automobile as claimed in claim 2, it is characterised in that also include：

When the variation tendency of the aggregate demand moment of torsion be decline and the electromotor change in torque trend for decline and the motor Change in torque trend to decline when, if the moment of torsion of the motor is without zero demand is crossed, according to the speed and described start Machine demand torque variable quantity is tabled look-up the change in torque amount that obtains the electromotor within the unit interval with the 5th principle of tabling look-up Δ Teng, wherein, Δ Teng>ΔT；

Change in torque amount of the motor within the unit interval is calculated for Δ Tmot=Δ T- Δ Teng；

If the moment of torsion of the motor had zero demand, table look-up and obtain with the 6th principle of tabling look-up according to the current torque of the motor The motor is obtained in unit interval internal torque variation delta Tmot, wherein, Δ Tmot>ΔT；

The acquisition electromotor is tabled look-up in list with the 7th principle of tabling look-up according to the speed and the engine demand change in torque amount Maximum permissible torque variation delta Teng' in the time of position；And

Change in torque amount of the electromotor within the unit interval is calculated for Δ Teng=max (Δ Teng', Δ T- Δ Tmot).

4. the moment of torsion filtering method of electric automobile as claimed in claim 3, it is characterised in that also include：

When the aggregate demand change in torque trend be rise and the electromotor change in torque trend be rise and the motor When change in torque trend is to decline, if the moment of torsion of the motor is without zero demand is crossed, according to the speed and the electromotor Demand torque variable quantity is tabled look-up the change in torque amount Δ Teng that obtains the electromotor within the unit interval with the 8th principle of tabling look-up；

Change in torque amount of the motor within the unit interval is calculated for Δ Tmot=min (0, Δ T- Δ Teng)；

If the moment of torsion of the motor had zero demand, table look-up and obtain with the 9th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows variation delta Tmot' within the unit interval；

The acquisition electromotor is tabled look-up in list with the tenth principle of tabling look-up according to the speed and the engine demand change in torque amount Maximum permissible torque variation delta Teng' in the time of position；

Calculate change in torque amount Δ Teng=min (Δ Teng', Δ T- Δ Tmot') of the electromotor within the unit interval；

If meeting Δ Teng+ Δ Tmot'<0, then change in torque amount of the motor within the unit interval Δ Tmot=min (0, Δ T- Δ Teng)；And

If meeting Δ Teng+ Δ Tmot'>0, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

5. the moment of torsion filtering method of electric automobile as claimed in claim 4, it is characterised in that also include：

When the aggregate demand change in torque trend be rise and the electromotor change in torque trend be decline and the motor When change in torque trend is to rise, if the moment of torsion of the motor is without zero demand is crossed, according to the speed and the electromotor Demand torque variable quantity is tabled look-up the change in torque amount that obtains the electromotor within the unit interval with the 11st principle of tabling look-up ΔTeng；

Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；

If the moment of torsion of the motor had zero demand, tabled look-up with the 12nd principle of tabling look-up according to the current torque of the motor Obtain variation delta Tmot' under the motor was allowed within the unit interval；

Existed with the 13rd principle acquisition electromotor of tabling look-up of tabling look-up according to the speed and the transmitter demand torque variable quantity Maximum allowable variation delta Teng' in unit interval；

Calculate change in torque amount of the electromotor within the unit interval Δ Teng=max (min (0, Δ T- Δ Tmot'), Δ Teng')；

If Δ Teng+ Δ Tmot'>Δ T, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng；

If Δ Teng+ Δ Tmot'<Δ T, then change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit interval.

6. the moment of torsion filtering method of electric automobile as claimed in claim 5, it is characterised in that also include：

When the aggregate demand change in torque trend be decline and the electromotor variation tendency be rise and the motor moment of torsion Variation tendency is to decline, if the moment of torsion of the motor is turned round according to the speed and the engine demand without zero demand is crossed Square variable quantity is tabled look-up the change in torque amount Δ Teng that obtains the electromotor within the unit interval with the 14th principle of tabling look-up；

Calculate change in torque amount Δ Tmot=Δ T- Δ Teng of the motor within the unit interval；

If the moment of torsion of the motor had zero demand, tabled look-up with the 15th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows change in torque amount Δ Tmot' within the unit interval；

Existed with the 16th principle acquisition electromotor of tabling look-up of tabling look-up according to the speed and the engine demand change in torque amount Maximum permissible torque variation delta Teng' in unit interval；

Calculate change in torque amount of the electromotor within the unit interval Δ Teng=min (max (0, Δ T- Δ Tmot'), Δ Teng')；

If Δ Teng+ Δ Tmot'<Δ T, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng；And

If Δ Teng+ Δ Tmot'>Δ T, then change in torque amount Δ Tmot=Δ Tmot' of the motor within the unit interval.

7. the moment of torsion filtering method of electric automobile as claimed in claim 6, it is characterised in that also include：

When the aggregate demand change in torque trend be decline and the electromotor change in torque trend be decline and the motor When change in torque trend is to rise, if the moment of torsion of the motor is without zero demand is crossed, according to the speed and the electromotor Demand torque variable quantity is tabled look-up the change in torque amount that obtains the electromotor within the unit interval with the 17th principle of tabling look-up ΔTeng；

Calculate change in torque amount Δ Tmot=max (0, Δ T- Δ Teng) of the motor within the unit interval；

If the moment of torsion of the motor had zero demand, tabled look-up with the 18th principle of tabling look-up according to the current torque of the motor Obtaining the motor allows change in torque amount Δ Tmot' within the unit interval；

Existed with the 19th principle acquisition electromotor of tabling look-up of tabling look-up according to the speed and the engine demand change in torque amount Maximum permissible torque variation delta Teng' in unit interval；

Calculate change in torque amount Δ Teng=max (Δ Teng', Δ T- Δ Tmot') of the electromotor within the unit interval；

If meeting Δ Teng+ Δ Tmot'>0, then change in torque amount of the motor within the unit interval Δ Tmot=Δ T- Δ Teng；And

If meeting Δ Teng+ Δ Tmot'<0, then change in torque amount of the motor within the unit interval Δ Tmot=Δ Tmot'.

8. the moment of torsion filtering method of electric automobile as claimed in claim 1, it is characterised in that

Process is filtered to the electromotor and the motor respectively using variable quantity limit value filtering method；Or

Process is filtered to the electromotor and the motor respectively using one order inertia filtering method.

9. the moment of torsion filtering method of electric automobile as claimed in claim 8, it is characterised in that filtered using variable quantity limit value Method is filtered process to the electromotor and the motor respectively and specifically includes：

Process is filtered to the electromotor according to below equation：

$Yeng\left(k\right)=\left\{\begin{array}{cc}X0\left(k\right)+\left|\mathrm{\&Delta;}Teng\right|& Xeng\left(k\right)\&GreaterEqual;X0\left(k\right)+\left|\mathrm{\&Delta;}Teng\right|\\ Xeng\left(k\right)& X0\left(k\right)-\left|\mathrm{\&Delta;}Teng\right|\&le;Xeng\left(k\right)<X0\left(k\right)+\left|\mathrm{\&Delta;}Teng\right|\\ X0\left(k\right)-\left|\mathrm{\&Delta;}Teng\right|& Xeng\left(k\right)<X0\left(k\right)-\left|\mathrm{\&Delta;}Teng\right|\end{array}\right.,$

Wherein, moments of torsion of the Yeng (k) for the kth moment filtered electromotor, X0 (k) electromotors described in the kth moment Current torque, Δ Teng is change in torque amount of the electromotor within the unit interval, and Xeng (k) is the mesh of the electromotor Mark moment of torsion；And

Process is filtered to the motor according to below equation：

$Ymot\left(k\right)=\left\{\begin{array}{cc}X1\left(k\right)+\left|\mathrm{\&Delta;}Tmot\right|& Xmot\left(k\right)\&GreaterEqual;X1\left(k\right)+\left|\mathrm{\&Delta;}Tmot\right|\\ Xmot\left(k\right)& X1\left(k\right)-\left|\mathrm{\&Delta;}Tmot\right|\&le;Xmot\left(k\right)<X1\left(k\right)+\left|\mathrm{\&Delta;}Tmot\right|\\ X1\left(k\right)-\left|\mathrm{\&Delta;}Tmot\right|& Xmot\left(k\right)<X1\left(k\right)-\left|\mathrm{\&Delta;}Tmot\right|\end{array}\right.$

Wherein, moments of torsion of the Ymot (k) for the kth moment filtered motor, X1 (k) described in the kth moment motor work as Front moment of torsion, Δ Tmot are change in torque amount of the motor within the unit interval, and Xmot (k) is the target torque of the motor.

10. the moment of torsion filtering method of electric automobile as claimed in claim 8, it is characterised in that filtered using one order inertia Method is filtered process to the electromotor and the motor respectively and specifically includes：

Process is filtered to the electromotor respectively according to below equation：

Yeng (k)=aXeng (k)+(1-a) Yeng (k-1), wherein,

Wherein, moments of torsion of the Yeng (k) for the kth moment filtered electromotor, Xeng (k) is the target of the electromotor Moment of torsion, moments of torsion of the Yeng (k-1) for -1 moment of the kth filtered electromotor, a are filter factor, and Δ Teng is described Change in torque amount of the electromotor within the unit interval；And

Process is filtered to the motor by below equation：

Ymot (k)=bXmot (k)+(1-b) Ymot (k-1), wherein,

Wherein, moments of torsion of the Ymot (k) for the kth moment filtered motor, Xmot (k) is the target torque of the motor, Moments of torsion of the Ymot (k-1) for -1 moment of the kth filtered motor, b is filter factor, and Δ Tmot exists for the motor Change in torque amount in unit interval.