CN117755033A

CN117755033A - Active power anti-disturbance control method, device electronic equipment and vehicle

Info

Publication number: CN117755033A
Application number: CN202311726675.XA
Authority: CN
Inventors: 豆开放; 丁树伟; 李俊伟; 贾跃; 王大壮; 郑文博; 禹真; 陈志刚; 侯杰; 王仕伟
Original assignee: FAW Group Corp
Current assignee: FAW Group Corp
Priority date: 2023-12-14
Filing date: 2023-12-14
Publication date: 2024-03-26

Abstract

The application discloses an active power anti-disturbance control method, an electronic device and a vehicle, wherein the method comprises the following steps: calculating the difference between the output force value output by the active vibration damper and the target force value as an error force value; determining a value range of the compensation torque value according to the error force value; and outputting corresponding compensation torque according to the value range, wherein the compensation torque is used for compensating disturbance generated by the actuating force. According to the active vibration absorber control method, disturbance-resistant control on actuating force can be increased on the basis of existing active vibration absorber control, namely disturbance generated by actuating force is compensated according to compensation torque, actuating force fluctuation output by the active vibration absorber is smaller, high-frequency vibration is restrained, vehicle control performance is improved, riding comfort can be further improved, and the active vibration absorber control method can be widely applied to the technical field of vehicle control.

Description

Active power anti-disturbance control method, device electronic equipment and vehicle

Technical Field

The invention relates to the technical field of vehicle control, in particular to an active power anti-disturbance control method, an active power anti-disturbance control device, electronic equipment and a vehicle.

Background

The rigidity and damping characteristics of the suspension system of the active suspension can be dynamically and adaptively adjusted according to the running conditions of the automobile (such as the motion state of the automobile, the road surface condition and the like), so that the suspension system is always in the optimal vibration reduction state. The active suspension has various advantages, such as being capable of controlling the height of the vehicle, improving the passing performance, and considering the smoothness and the operation stability of the vehicle.

The active suspension can actively control damping and rigidity at the same time, and the active shock absorber is a shock absorber system capable of actively adjusting a damping mode through a central control panel or a knob. Vibration is generated when the active suspension works, and due to the natural frequency of a vehicle system, for example, the pressure on two sides of the electric hydraulic pump is fluctuated due to the opening and closing of a valve system, the actuating force output by the active shock absorber on the active suspension can vibrate with high frequency and small amplitude, so that the vehicle control is influenced.

Disclosure of Invention

In view of the above, the present application provides an active force anti-disturbance control method, an apparatus electronic device, and a vehicle, so as to suppress an active force output by an active damper, thereby reducing an influence of high-frequency small-amplitude vibration on a vehicle steering.

One aspect of the present application provides an active power anti-disturbance control method, including:

calculating the difference between the output force value output by the active vibration damper and the target force value as an error force value;

determining a value range of a compensation torque value according to the error force value;

and outputting corresponding compensation torque according to the value range, wherein the compensation torque is used for compensating disturbance generated by the actuating force.

Optionally, before the calculating the difference between the output force value of the active shock absorber output and the target force value as the error force value, the method further comprises:

Filtering the output force value to obtain a filtered force value;

the calculating the difference between the output force value output by the active shock absorber and the target force value is used as an error force value, and the calculating comprises the following steps:

and calculating a difference value between the filtering force value and the target force value as the error force value.

Optionally, the determining the value range of the compensation torque value according to the error force value includes:

if the error force value is in the preset force value range, determining the value range of the compensation torque value as the preset torque value range;

if the error force value is out of the preset force value range, determining the value range of the compensation torque value according to the difference value between the error force value and the upper limit value of the preset force value range, or determining the value range of the compensation torque value according to the difference value between the error force value and the lower limit value of the preset force value range.

Optionally, if the error force value is outside the preset force value range, determining the value range of the compensation torque value according to a difference between the error force value and an upper limit value of the preset force value range, or determining the value range of the compensation torque value according to a difference between the error force value and a lower limit value of the preset force value range, including:

If the difference between the error force value and the upper limit value of the preset force value range is smaller than a preset value or the difference between the error force value and the lower limit value of the preset force value range is smaller than the preset value, determining the value range of the compensation torque value as the preset torque value range;

and if the difference between the error force value and the upper limit value of the preset force value range is larger than the preset value or the difference between the error force value and the lower limit value of the preset force value range is larger than the preset value, determining the value range of the compensation torque value as 0.

Optionally, the outputting the corresponding compensation torque according to the value range includes:

determining a request torque value corresponding to PID control;

and outputting the corresponding compensation torque according to the request torque value and the value range of the compensation torque value.

Optionally, the determining the request torque value corresponding to the PID control includes:

determining the request torque value corresponding to PID control according to a preset calculation formula;

the preset calculation formula is as follows:

Tcmd＝Kp*Erro+Ki*Erro*1/s+Kd*Erro*s；

wherein Tcmd represents the requested torque value, erro represents the error force value, s represents a Law variable, kp is a proportional element coefficient, ki is an integral element coefficient, kd is a differential element coefficient, 1/s is to integrate Erro, and s is to differentiate Erro.

Optionally, the outputting the corresponding compensation torque according to the value range of the request torque value and the compensation torque value includes:

if the value range of the compensation torque value is 0, outputting the compensation torque corresponding to the request torque value to be 0;

outputting the compensation torque corresponding to the request torque value if the value range of the compensation torque value is a preset torque value range and the request torque value is in the preset torque value range;

and if the value range of the compensation torque value is the preset torque value range and the request torque value is out of the preset torque value range, outputting the compensation torque corresponding to the upper limit value or the lower limit value of the preset torque value range.

Another aspect of the present application also provides an active-force anti-disturbance control device, including:

the first unit is used for calculating the difference between the output force value output by the active shock absorber and the target force value as an error force value;

the second unit is used for determining the value range of the compensation torque value according to the error force value;

and the third unit is used for outputting corresponding compensation torque according to the value range, and the compensation torque is used for compensating disturbance generated by the actuating force.

Another aspect of the present application also provides an electronic device, including a processor and a memory;

the memory is used for storing programs;

the processor executes the program to realize the active power anti-disturbance control method.

Another aspect of the present application also provides a vehicle comprising an active-power anti-disturbance control device as described above, or an electronic apparatus as described above

Another aspect of the present application also provides a computer-readable storage medium storing a program for execution by a processor to implement one of the foregoing active-force anti-disturbance control methods.

The application also discloses a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read from a computer-readable storage medium by a processor of an electronic device, and executed by the processor, to cause the electronic device to perform one of the foregoing active disturbance rejection control methods.

The application at least comprises the following beneficial effects:

calculating the difference between the output force value output by the active vibration damper and the target force value as an error force value; determining a value range of the compensation torque value according to the error force value; and outputting corresponding compensation torque according to the value range, wherein the compensation torque is used for compensating disturbance generated by the actuating force. According to the active vibration absorber control method, disturbance resistance control on actuating force can be increased on the basis of existing active vibration absorber control, namely disturbance generated by the actuating force is compensated according to compensation torque, actuating force fluctuation output by the active vibration absorber is smaller, high-frequency vibration is restrained, vehicle control performance is improved, and riding comfort can be further improved.

Drawings

In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the description of the embodiments will be briefly introduced below, and it is obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.

FIG. 1 is a schematic flow chart of an active disturbance rejection control method according to an embodiment of the present application;

FIG. 2 is an exemplary block diagram of an active shock absorber provided in an embodiment of the present application;

FIG. 3 is a waveform comparison chart of a target force value and an output force value according to an embodiment of the present application;

FIG. 4 is a schematic waveform diagram of an output force value after anti-disturbance processing according to an embodiment of the present disclosure;

FIG. 5 is a block diagram illustrating an exemplary flow of anti-disturbance control according to an embodiment of the present application;

FIG. 6 is an exemplary flow diagram of another anti-disturbance control provided by an embodiment of the present application;

FIG. 7 is a block diagram of an active disturbance rejection control device according to an embodiment of the present application;

fig. 8 is a block diagram of an electronic device according to an embodiment of the present application.

Detailed Description

In order to make the objects, technical solutions and advantages of the present application more apparent, the present application will be further described in detail with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the present application.

It should be noted that although functional block division is performed in a device diagram and a logic sequence is shown in a flowchart, in some cases, the steps shown or described may be performed in a different order than the block division in the device, or in the flowchart.

The terms first, second and the like in the description and in the claims and in the above-described figures, are used for distinguishing between similar elements and not necessarily for describing a particular sequential or chronological order. Moreover, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising one … …" does not exclude the presence of other like elements in a process, method, article, or apparatus that comprises the element.

Unless defined otherwise, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of the present application only and is not intended to be limiting of the present application.

In view of this, the embodiments of the present application provide an active power anti-disturbance control method, an apparatus electronic device, and a vehicle, so as to suppress the active power output by an active shock absorber, thereby reducing the influence of high-frequency small-amplitude vibration on the vehicle handling.

In order to restrain the actuating force output by the active vibration absorber, so that the influence of high-frequency small-amplitude vibration on vehicle control is reduced, an actuating force anti-disturbance control method is provided in the embodiment of the application, and the difference between the output force value output by the active vibration absorber and the target force value is calculated to be used as an error force value; determining a value range of the compensation torque value according to the error force value; and outputting corresponding compensation torque according to the value range, wherein the compensation torque is used for compensating disturbance generated by the actuating force. According to the active vibration absorber control method, disturbance resistance control on actuating force can be increased on the basis of existing active vibration absorber control, namely disturbance generated by the actuating force is compensated according to compensation torque, actuating force fluctuation output by the active vibration absorber is smaller, high-frequency vibration is restrained, vehicle control performance is improved, and riding comfort can be further improved. The method for controlling the dynamic anti-disturbance according to the embodiment of the application can be applied to the user terminal, or can be applied to the server, or can be applied to an implementation environment formed by the user terminal and the server. In addition, the active power disturbance rejection control method may be software running in the user terminal or the server, such as an application program having an active power disturbance rejection control function. The user terminal may be, but is not limited to, a smart phone, a tablet computer, a notebook computer, a desktop computer, a smart speaker, a smart watch, etc. The server can be an independent physical server, a server cluster or a distributed system formed by a plurality of physical servers, and can also be a cloud server for providing cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDNs, basic cloud computing services such as big data and artificial intelligent platforms and the like.

Referring to fig. 1, an embodiment of the present application provides an active power disturbance rejection control method, which includes steps S100 to S120, specifically as follows:

s100: and calculating the difference between the output force value output by the active shock absorber and the target force value as an error force value.

Specifically, when the upper computer sends a command to the active damper to enable the active damper to output a set target force value, the active damper responds to the command and outputs a corresponding force value, and the force value output by the active damper is taken as an output force value. Since the output force value is not necessarily equal to the target force value, the present embodiment may calculate the difference between the output force value and the target force value as the error force value, and alternatively, the error force value may be the difference obtained by subtracting the target force value from the output force value.

In view of the fact that other disturbance values may exist in the output force value, as a further embodiment, before the step of calculating, as an error force value, a difference between the output force value output by the active shock absorber and the target force value, the present application may further include: and filtering the output force value to obtain a filtered force value.

Further, S100, the step of calculating, as an error force value, a difference between the output force value output by the active damper and the target force value may be specifically:

Optionally, the present embodiment may filter the output force value according to the following calculation formula:

F＝α*Fback(t)+(1-α)*Fback(t-1)；

wherein alpha is a filter coefficient, fback (t) is an output force value of the period, fback (t-1) is an output force value of the previous period, and F is a filter force value.

It should be noted that, in this embodiment, the active shock absorber may output a corresponding force value in each response command period, that is, each period corresponds to an output force value, so Fback (t-1) is the output force value of the previous response command period.

S110: and determining the value range of the compensation torque value according to the error force value.

Specifically, the larger the error force value is, the larger the difference between the force value output by the active damper and the target force value is, and in this embodiment, the error force value needs to be reduced as much as possible, so that the output force value is tracked to the target force value and output.

In contrast, according to different error conditions, the embodiment can set the compensation torque value corresponding to the value range.

Further, S110 may include S111 to S112:

s111: if the error force value is in the preset force value range, determining the value range of the compensation torque value as the preset torque value range;

S112: if the error force value is out of the preset force value range, determining the value range of the compensation torque value according to the difference value between the error force value and the upper limit value of the preset force value range, or determining the value range of the compensation torque value according to the difference value between the error force value and the lower limit value of the preset force value range.

Specifically, the preset force value range may be freely set, and as an alternative implementation manner, the preset force value range may be-300N to 300N, where N is newton.

The preset torque value range may be freely set, and as an alternative embodiment, the preset torque value range may be-1 Nm to 1Nm, and Nm may be torque.

For convenience of description of the present embodiment, S111 and S112 will be described taking the force value range and the torque range shown above as examples.

Specifically, if the error force value is within-300N to 300N, the present embodiment may determine the value range of the compensation torque value to be-1 Nm to 1Nm; if the error force value is outside-300N, i.e. the error force value is smaller than-300N or larger than 300N, the embodiment can determine the value range of the compensation torque value according to the difference between the error force value and the upper and lower limit values of the force value range.

Thus, further, S112 may include S1121 to S1122:

s1121: if the difference between the error force value and the upper limit value of the preset force value range is smaller than a preset value or the difference between the error force value and the lower limit value of the preset force value range is smaller than the preset value, determining the value range of the compensation torque value as the preset torque value range;

s1122: and if the difference between the error force value and the upper limit value of the preset force value range is larger than the preset value or the difference between the error force value and the lower limit value of the preset force value range is larger than the preset value, determining the value range of the compensation torque value as 0.

In particular, the preset value may be a fixed value, for example 50N, 100N or 200N.

If the difference between the error force value and the upper limit value of the force value range is smaller than the preset value, namely the error force value < (the upper limit value+the preset value), if the difference between the error force value and the lower limit value of the force value range is smaller than the preset value, namely the error force value > (the lower limit value-the preset value); if the difference between the error force value and the upper limit value of the force value range is greater than the preset value, i.e. error force value > (the upper limit value + the preset value), if the difference between the error force value and the lower limit value of the force value range is greater than the preset value, i.e. error force value < (the lower limit value-the preset value).

For convenience of description of the present embodiment, S1121 and S1122 will be described by taking the range of force values from-300N to 300N and the preset value of 50N as examples.

If the difference between the error force value and the upper limit value of the preset force value range is smaller than the preset value (namely 300N < error force value < 350N), or the difference between the error force value and the lower limit value of the preset force value range is smaller than the preset value (-350N < error force value < -300N), determining the value range of the compensation torque value as the preset torque value range; the preset torque value range may be-1 Nm to 1Nm, for example.

If the difference between the error force value and the upper limit value of the preset force value range is larger than the preset value (namely, the error force value is larger than 350N), or the difference between the error force value and the lower limit value of the preset force value range is larger than the preset value (namely, the error force value is < -350N), the value range of the compensation torque value is determined to be 0Nm.

S120: and outputting corresponding compensation torque according to the value range, wherein the compensation torque is used for compensating disturbance generated by the actuating force.

Specifically, the present embodiment may determine a compensation torque value for output as a target torque value within a range of values of the compensation torque value, and output a compensation torque corresponding to the target torque value to reduce disturbance generated by the actuation force.

Further, S120 may include S121 to S122:

s121: and determining a request torque value corresponding to the PID control.

As an alternative implementation manner, the embodiment may use the compensation torque output by the PID control, so the embodiment may determine the request torque value corresponding to the PID control first, and then compare the actually obtained request torque value with the value range of the compensation torque value to control the compensation torque output.

Further, S121 may be more specifically:

the preset calculation formula is as follows:

Tcmd＝Kp*Erro+Ki*Erro*1/s+Kd*Erro*s；

S122: and outputting the corresponding compensation torque according to the request torque value and the value range of the compensation torque value.

Specifically, the embodiment may compare the value ranges of the requested torque value and the compensation torque value of the PID control, determine a final compensation torque value according to the comparison result, and then output the compensation torque corresponding to the final compensation torque value.

Further, S122 may include S1221 to S1223:

s1221: and if the value range of the compensation torque value is 0, outputting the compensation torque corresponding to the request torque value to be 0.

Specifically, if the value range of the compensation torque value is 0, the PID control is not adopted to output the compensation torque, that is, the compensation torque corresponding to the output request torque value is 0.

S1222: and if the value range of the compensation torque value is a preset torque value range and the request torque value is in the preset torque value range, outputting the compensation torque corresponding to the request torque value.

Specifically, if the requested torque value of the PID control is within the preset torque value range, the requested torque value may be considered to meet the control requirement, and further, the compensation torque corresponding to the requested torque value may be output.

S1223: and if the value range of the compensation torque value is the preset torque value range and the request torque value is out of the preset torque value range, outputting the compensation torque corresponding to the upper limit value or the lower limit value of the preset torque value range.

Specifically, the present embodiment further includes a saturation control scheme, that is, when the requested torque value exceeds the preset torque value range, the present embodiment may output only the compensation torque corresponding to the upper limit value or the lower limit value of the preset torque value range. Specifically, if the requested torque value is greater than the upper limit value of the preset torque value range, the compensation torque corresponding to the upper limit value is output, and if the requested torque value is less than the lower limit value of the preset torque value range, the compensation torque corresponding to the lower limit value is output.

In order to facilitate a clearer understanding of the present application, the present application will be described below in terms of one complete alternative example.

The present embodiment can suppress fluctuation of the output actuating force of the active damper from a control angle, fig. 2 shows a structural diagram of an active damper, and the active damper of fig. 2 may include an accumulator structure, an electric hydraulic pump structure, a pressure sensor, a throttle valve, and an actuator.

The active suspension vibrates during operation, and the pressure on both sides of the electric hydraulic pump fluctuates due to the natural frequency of the vehicle system, such as the opening and closing of the valve system, so that the actuating force output by the active shock absorber can vibrate with high frequency and small amplitude, as shown in fig. 3. When the upper computer sends a command of a target force value to the active shock absorber, the active shock absorber responds to the command and outputs a force value, and the output force value fluctuates due to the disturbance of a mechanical structure or hydraulic pressure, so that the output fluctuation curve needs to be adjusted, and the fluctuation of the curve is changed from the one shown in fig. 3 to the one shown in fig. 4, even if the fluctuation is obviously smaller.

The difference value between the actually output force value after filtering and the target force value can be monitored in real time, and when certain requirements are met, extra compensation torque is applied to the motor on the basis of original control through PID adjustment. Wherein the control block diagram of the disturbance rejection can be referred to in fig. 5.

Specifically, the present embodiment may include S1 to S6:

s1, as shown in FIG. 5, the force value output by the active shock absorber can be used as a feedback force value (Fback), the feedback force value needs to be filtered to obtain F, and the filtering calculation formula is as follows:

F＝α*Fback(t)+(1-α)*Fback(t-1)；

wherein F is the feedback force value after filtering, alpha is the filtering coefficient, fback (t) is the feedback force value of the period, fback (t-1) is the feedback force value of the previous period, and F is the feedback force value after filtering. It should be noted that, in this embodiment, the active shock absorber may output a corresponding force value in each response command period, that is, each period corresponds to an output force value, so Fback (t-1) is the output force value of the previous response command period.

S2, performing difference between F and Fcmd to obtain an error force value:

Erro＝F-Fcmd；

wherein Fcmd is a target force value and Erro is an error force value.

S3, judging whether the difference value between F and Fcmd is within the range of +/-300N, and if so, judging that the threshold value of the anti-disturbance control is met, and performing the anti-disturbance control.

S4, outputting an anti-disturbance compensation torque value within a range of +/-1 Nm when the Erro is within a range of +/-300N. Considering the smoothness of the control, the present embodiment can increase the hysteresis value of 50N, i.e., when the err goes from within ±300N to within 300< err <350 or-350N < err < -300N, then the previous torque compensation value range (±1Nm or 0 Nm) is maintained; when Erro is I Erro I >350N, the torque control compensation value is 0, namely no torque compensation is performed; when Erro enters 300< Erro <350 or-350N < Erro < -300N from I Erro >350N, the torque control compensation value is 0, namely no torque compensation is performed; where |Erro | represents the absolute value of the error force value.

S5, referring to FIG. 6, in the actual control process, determining sampling time, monitoring whether the output force value follows the target force value according to the adopted time, if not, judging a threshold value of the difference value according to the difference value of the filtered output force value and the target force value, and if the difference value does not meet the requirement of the threshold value, outputting the compensation torque as 0; if the difference meets the requirement of the threshold value, outputting a determined maximum torsion limit value (namely, the upper limit value or the lower limit value of the compensation torque value range), performing PID control, and outputting a request torque value Tcmd according to the PID control and combining the maximum torsion limit value. Namely:

Tcmd＝Kp*Erro+Ki*Erro*1/s+Kd*Erro*s；

wherein Tcmd represents a requested torque value, erro represents an error force value, s represents a Lawster variable, kp is a proportional element coefficient, ki is an integral element coefficient, kd is a differential element coefficient, 1/s is to integrate the Erro, and s is to differentiate the Erro.

S6, comparing the output request torque value Tcmd with the value range of the compensation torque value in S4. If the value range of the compensation torque value in S4 is 0, tcmd is output as 0; outputting an actual value of Tcmd if the value of the compensation torque value in S4 is in the range of-1 Nm to 1Nm and Tcmd meets-1 Nm < Tcmd <1Nm at the same time; otherwise, saturation processing is performed, that is, 1Nm is output if Tcmd exceeds 1Nm, and-1 Nm is output if Tcmd is smaller than-1 Nm.

According to the embodiment, an anti-disturbance control scheme can be added on the basis of the existing active vibration damper control, so that the fluctuation of the actuating force output by the active vibration damper is smaller, the comfort is improved, and the high-frequency vibration is isolated.

Referring to fig. 7, an embodiment of the present invention provides an active disturbance rejection control apparatus, including:

The specific implementation of the active-force anti-disturbance control device is basically the same as the specific embodiment of the active-force anti-disturbance control method, and will not be described herein.

The embodiment of the application also provides electronic equipment, which comprises a memory and a processor, wherein the memory stores a computer program, and the processor realizes the active disturbance rejection control method when executing the computer program. Specifically, the electronic device may be a user terminal or a server. In this embodiment, taking a computer device as an example, the computer device is a user terminal, the specific steps are as follows:

As shown in fig. 8, the computer device 800 may include RF (Radio Frequency) circuitry 810, memory 820 including one or more computer-readable storage media, an input unit 830, a display unit 840, a sensor 850, an audio circuit 860, a short-range wireless transmission module 870, a processor 880 including one or more processing cores, and a power supply 890. It will be appreciated by those skilled in the art that the device structure shown in fig. 8 is not limiting of the electronic device and may include more or fewer components than shown, or may combine certain components, or may be arranged in a different arrangement of components.

The RF circuit 810 may be used for receiving and transmitting signals during a message or a call, and in particular, after receiving downlink information of a base station, the downlink information is processed by one or more processors 880; in addition, data relating to uplink is transmitted to the base station. Typically, RF circuitry 810 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier ), a duplexer, and the like. In addition, the RF circuitry 810 may also communicate with networks and other devices via wireless communications. The wireless communication may use any communication standard or protocol including, but not limited to, GSM (Global System of Mobile communication, global system for mobile communications), GPRS (General Packet Radio Service ), CDMA (Code Division Multiple Access, code division multiple access), WCDMA (Wideband Code Division Multiple Access ), LTE (Long Term Evolution, long term evolution), email, SMS (Short Messaging Service, short message service), and the like.

Memory 820 may be used to store software programs and modules. The processor 880 executes various functional applications and data processing by executing software programs and modules stored in the memory 820. The memory 820 may mainly include a storage program area that may store an operating system, application programs required for at least one function (such as a sound playing function, an image playing function, etc.), and a storage data area; the storage data area may store data created according to the use of the device 800 (such as audio data, phonebooks, etc.), and the like. In addition, memory 820 may include high-speed random access memory, and may also include non-volatile memory, such as at least one magnetic disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 820 may also include a memory controller to provide access to the memory 820 by the processor 880 and the input unit 830. While fig. 8 shows RF circuitry 810, it is to be understood that it is not a necessary component of device 800 and may be omitted entirely as desired without changing the essence of the invention.

The input unit 830 may be used to receive input numeric or character information and to generate keyboard, mouse, joystick, optical or trackball signal inputs related to user settings and function control. In particular, the input unit 830 may include a touch-sensitive surface 831 as well as other input devices 832. The touch-sensitive surface 831, also referred to as a touch screen or touch pad, may collect touch operations thereon or thereabout by a user (e.g., operations of the user on the touch-sensitive surface 831 or thereabout by using any suitable object or accessory such as a finger, stylus, etc.), and actuate the corresponding connection device according to a predetermined program. Alternatively, touch-sensitive surface 831 can include both a touch detection device and a touch controller. The touch detection device detects the touch azimuth of a user, detects a signal brought by touch operation and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device and converts it into touch point coordinates, which are then sent to the processor 880 and can receive commands from the processor 880 and execute them. In addition, the touch-sensitive surface 831 can be implemented using a variety of types, such as resistive, capacitive, infrared, and surface acoustic waves. In addition to the touch-sensitive surface 831, the input unit 830 may also include other input devices 832. In particular, other input devices 832 may include, but are not limited to, one or more of a physical keyboard, function keys (e.g., volume control keys, switch keys, etc.), a trackball, mouse, joystick, etc.

The display unit 840 may be used to display information entered by a user or information provided to a user and various graphical user interfaces of the control 800, which may be composed of graphics, text, icons, video and any combination thereof. The display unit 840 may include a display panel 841, and optionally, the display panel 841 may be configured in the form of an LCD (Liquid Crystal Display ), an OLED (Organic Light-Emitting Diode), or the like. Further, touch-sensitive surface 831 can overlie display panel 841, and when touch-sensitive surface 831 detects a touch operation thereon or thereabout, it is communicated to processor 880 for determining the type of touch event, whereupon processor 880 provides a corresponding visual output on display panel 841 based on the type of touch event. Although in fig. 8, touch-sensitive surface 831 and display panel 841 are implemented as two separate components for input and output functions, in some embodiments touch-sensitive surface 831 may be integrated with display panel 841 to implement input and output functions.

The computer device 800 may also include at least one sensor 850, such as a light sensor, a motion sensor, and other sensors. In particular, the light sensor may include an ambient light sensor that may adjust the brightness of the display panel 841 according to the brightness of ambient light, and a proximity sensor that may turn off the display panel 841 and/or the backlight when the device 800 is moved to the ear. As one of the motion sensors, the gravity acceleration sensor can detect the acceleration in all directions (generally three axes), and can detect the gravity and the direction when the mobile phone is stationary, and can be used for applications of recognizing the gesture of the mobile phone (such as horizontal and vertical screen switching, related games, magnetometer gesture calibration), vibration recognition related functions (such as pedometer and knocking), and the like; other sensors such as gyroscopes, barometers, hygrometers, thermometers, infrared sensors, etc. that may also be configured with the device 800 are not described in detail herein.

Audio circuitry 860, speaker 861, microphone 862 may provide an audio interface between a user and device 800. The audio circuit 860 may transmit the received electrical signal converted from audio data to the speaker 861, and the electrical signal is converted into a sound signal by the speaker 861 to be output; on the other hand, the microphone 862 converts the collected sound signals into electrical signals, which are received by the audio circuit 860 and converted into audio data, which are processed by the audio data output processor 880 and transmitted to another control device via the RF circuit 810, or which are output to the memory 820 for further processing. Audio circuitry 860 may also include an ear bud jack to provide communication of peripheral headphones with device 800.

The short-range wireless transmission module 870 may be a WIFI (wireless fidelity ) module, a bluetooth module, an infrared module, or the like. The device 800 may communicate information with a wireless transmission module provided on the combat device via a short-range wireless transmission module 870.

The processor 880 is a control center of the device 800, connects various parts of the entire control device using various interfaces and lines, and performs various functions of the device 800 and processes data by running or executing software programs and/or modules stored in the memory 820, and calling data stored in the memory 820, thereby performing overall monitoring of the control device. Optionally, processor 880 may include one or more processing cores; alternatively, the processor 880 may integrate an application processor that primarily handles operating systems, user interfaces, applications, etc., with a modem processor that primarily handles wireless communications. It will be appreciated that the modem processor described above may not be integrated into the processor 850.

The device 800 also includes a power supply 890 (e.g., a battery) for powering the various components, which may be logically connected to the processor 880 by a power management system, as well as performing functions such as managing charging, discharging, and power consumption by the power management system. Power supply 890 may also include one or more of any components of a dc or ac power supply, a recharging system, a power failure detection circuit, a power converter or inverter, a power status indicator, etc.

Although not shown, the device 800 may also include a camera, a bluetooth module, etc., and will not be described in detail herein. The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the active power anti-disturbance control method when being executed by a processor.

The embodiment of the application also provides a vehicle, which comprises the actuating power anti-disturbance control device or the electronic equipment. Specifically, the vehicle may be a private car, such as a sedan, SUV, MPV, or pick-up, or the like. The vehicle may also be an operator vehicle such as a minibus, bus, minivan or large trailer, etc. The vehicle can be an oil vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, the vehicle can be a hybrid vehicle or a pure electric vehicle.

The embodiment of the application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program realizes the active power anti-disturbance control method when being executed by a processor.

The memory, as a non-transitory computer readable storage medium, may be used to store non-transitory software programs as well as non-transitory computer executable programs. In addition, the memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one magnetic disk storage device, flash memory device, or other non-transitory solid state storage device. In some embodiments, the memory optionally includes memory remotely located relative to the processor, the remote memory being connectable to the processor through a network. Examples of such networks include, but are not limited to, the internet, intranets, local area networks, mobile communication networks, and combinations thereof.

The present application also discloses a computer program product or a computer program comprising computer instructions stored in a computer readable storage medium. The computer instructions may be read by a processor of an electronic device from a computer-readable storage medium and executed by the processor to cause the electronic device to perform the method shown in fig. 1.

In some alternative embodiments, the functions/acts noted in the block diagrams may occur out of the order noted in the operational illustrations. For example, two blocks shown in succession may in fact be executed substantially concurrently or the blocks may sometimes be executed in the reverse order, depending upon the functionality/acts involved. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example in order to provide a more thorough understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed, and in which sub-operations described as part of a larger operation are performed independently.

Furthermore, while the present application is described in the context of functional modules, it should be appreciated that, unless otherwise indicated, one or more of the described functions and/or features may be integrated in a single physical device and/or software module or one or more functions and/or features may be implemented in separate physical devices or software modules. It will also be appreciated that a detailed discussion of the actual implementation of each module is not necessary to an understanding of the present application. Rather, the actual implementation of the various functional modules in the apparatus disclosed herein will be apparent to those skilled in the art from consideration of their attributes, functions and internal relationships. Thus, those of ordinary skill in the art will be able to implement the present application as set forth in the claims without undue experimentation. It is also to be understood that the specific concepts disclosed are merely illustrative and are not intended to be limiting upon the scope of the application, which is to be defined by the appended claims and their full scope of equivalents.

The functions, if implemented in the form of software functional units and sold or used as a stand-alone product, may be stored in a computer-readable storage medium. Based on such understanding, the technical solution of the present application may be embodied essentially or in a part contributing to the prior art or in a part of the technical solution, in the form of a software product stored in a storage medium, comprising several instructions for causing an electronic device (which may be a personal computer, a server, or a network device, etc.) to perform all or part of the steps of the method described in the embodiments of the present application. And the aforementioned storage medium includes: a U-disk, a removable hard disk, a Read-Only Memory (ROM), a random access Memory (RAM, random Access Memory), a magnetic disk, or an optical disk, or other various media capable of storing program codes.

Logic and/or steps represented in the flowcharts or otherwise described herein, e.g., a ordered listing of executable instructions for implementing logical functions, can be embodied in any computer-readable medium for use by or in connection with an instruction execution system, apparatus, or device, such as a computer-based system, processor-containing system, or other system that can fetch the instructions from the instruction execution system, apparatus, or device and execute the instructions. For the purposes of this description, a "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transport the program for use by or in connection with the instruction execution system, apparatus, or device.

More specific examples (a non-exhaustive list) of the computer-readable medium would include the following: an electrical connection (electronic device) having one or more wires, a portable computer diskette (magnetic device), a Random Access Memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber device, and a portable compact disc read-only memory (CDROM). In addition, the computer readable medium may even be paper or other suitable medium on which the program is printed, as the program may be electronically captured, via, for instance, optical scanning of the paper or other medium, then compiled, interpreted or otherwise processed in a suitable manner, if necessary, and then stored in a computer memory.

It is to be understood that portions of the present application may be implemented in hardware, software, firmware, or a combination thereof. In the above-described embodiments, the various steps or methods may be implemented in software or firmware stored in a memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, may be implemented using any one or combination of the following techniques, as is well known in the art: discrete logic circuits having logic gates for implementing logic functions on data signals, application specific integrated circuits having suitable combinational logic gates, programmable Gate Arrays (PGAs), field Programmable Gate Arrays (FPGAs), and the like.

In the description of the present specification, a description referring to terms "one embodiment," "some embodiments," "examples," "specific examples," or "some examples," etc., means that a particular feature, structure, material, or characteristic described in connection with the embodiment or example is included in at least one embodiment or example of the present application. In this specification, schematic representations of the above terms do not necessarily refer to the same embodiments or examples. Furthermore, the particular features, structures, materials, or characteristics described may be combined in any suitable manner in any one or more embodiments or examples.

While embodiments of the present application have been shown and described, it will be understood by those of ordinary skill in the art that: many changes, modifications, substitutions and variations may be made to the embodiments without departing from the principles and spirit of the application, the scope of which is defined by the claims and their equivalents.

While the preferred embodiment of the present invention has been described in detail, the present invention is not limited to the embodiment, and those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of the present invention, and the equivalent modifications or substitutions are included in the scope of the present invention as defined in the appended claims.

Claims

1. An active disturbance rejection control method, comprising:

2. The method of claim 1, wherein prior to said calculating the difference between the output force value of the active damper output and the target force value as the error force value, the method further comprises:

filtering the output force value to obtain a filtered force value;

3. The method of claim 1, wherein determining a range of compensation torque values based on the error force value comprises:

4. A method of active-disturbance-rejection control according to claim 3, wherein determining a range of compensation torque values based on a difference between the error force value and an upper limit of the range of force values or based on a difference between the error force value and a lower limit of the range of force values if the error force value is outside of the range of force values comprises:

5. A method of active disturbance rejection control according to any one of claims 1 to 4, wherein the outputting of the corresponding compensation torque according to the range of values comprises:

determining a request torque value corresponding to PID control;

6. The method of claim 5, wherein determining the requested torque value for the PID control comprises:

the preset calculation formula is as follows:

Tcmd＝Kp*Erro+Ki*Erro*1/s+Kd*Erro*s；

7. The method of claim 5, wherein outputting the corresponding compensation torque according to the requested torque value and the compensation torque value range comprises:

8. An active disturbance rejection control device, comprising:

9. An electronic device comprising a processor and a memory;

the memory is used for storing programs;

execution of the program by the processor implements an active disturbance rejection control method as claimed in any one of claims 1 to 7.

10. A vehicle comprising an active disturbance rejection control apparatus as claimed in claim 8 or an electronic device as claimed in claim 9.