CN106183890A - A kind of Intelligent Control System of Electrical Vehicle and pre-method for starting thereof - Google Patents
A kind of Intelligent Control System of Electrical Vehicle and pre-method for starting thereof Download PDFInfo
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- CN106183890A CN106183890A CN201610648100.4A CN201610648100A CN106183890A CN 106183890 A CN106183890 A CN 106183890A CN 201610648100 A CN201610648100 A CN 201610648100A CN 106183890 A CN106183890 A CN 106183890A
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
- B60L15/2072—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed for drive off
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/421—Speed
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
-
- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The present invention proposes a kind of Intelligent Control System of Electrical Vehicle and pre-method for starting thereof.Wherein said method includes step one, collection vehicle status information；Step 2, according to car status information, decide whether to take pre-starting strategy.The present invention is by providing a little moment of torsion demarcated at vehicle start front motor, the gear making vehicle drive system is entirely located in engagement, various starting mode are entered further according to driver intention, the impact reducing vehicle drive system causes shake, mechanical wear can also be reduced simultaneously, reduce and start noise.Without changing existing vehicle structure or increasing the hardware devices such as sensor, it is easy to accomplish.Realized quick, the stable starting of vehicle by this control method, when can also avoid vehicle start, slip car phenomenon simultaneously.
Description
Technical field
The present invention relates to pure electric automobile field, particularly relate to a kind of Intelligent Control System of Electrical Vehicle and the side of starting in advance thereof
Method.
Background technology
Publication No. CN 104071031, invention entitled the suppressing method of shake " a kind of pure electric automobile starting " special
Profit application, it, by suitably increasing the step-length of motor response car load expectation moment, increases speed feedback link to car load simultaneously
Expect that moment is modified.Speed feedback link is made up of 5 parts: motor speed detection, low pass filter, motor speed are micro-
Point, inertial element, output violent change.By speed feedback link, it is estimated that the moment that expectation moment is modified,
Improve drive system and carry out dynamic response process when power transmits, reach the effect of suppression starting shake, and take into account car load
Acceleration.This patent, mainly by improving the performance of motor, reaches to suppress vehicle shake, just for specific electricity
Machine, does not possess versatility to the pure electric vehicle of differently configured motor.
Summary of the invention
Different from conventional truck, between pure electric automobile motor and drive system, the general rigidity using spline form connects
Connect.There is bigger gap between gear, when vehicle start, vehicle could be started after needing gear at a fully engaged, cause starting
Slower；And due to the difference of gear position, be likely to result in beat tooth phenomenon, cause drive system mechanical part abrasion and
Noise can increase.In order to avoid this phenomenon, the present invention proposes the control method that a kind of pure electric automobile is started to walk in advance,
It is an object of the invention to be achieved through the following technical solutions.
The present invention proposes a kind of Intelligent Control System of Electrical Vehicle, wherein said pure electric automobile for have N R D tri-
The pure electric automobile of gear, described system includes:
High pressure power on signal acquisition module, it is used for gathering car load high pressure power on signal；
Parking brake signal acquisition module, it is used for gathering parking brake signal；
GES acquisition module, it is used for gathering GES；
Brake pedal signal acquisition module, it is for gathering the signal of brake pedal；
Throttle signal acquisition module, it is used for gathering throttle signal；
Gear signal acquisition module, it is used for gathering gear signal；
Signal processing module, it is for focusing on the signal of collection；
Conditional judgment module, it is for starting to walk the need of pre-according to input-signal judging；
Start to walk module in advance, sends pre-little moment of torsion letter of starting to walk for the order according to conditional judgment module to electric machine controller
Number；
Wherein, described high pressure power on signal gathers signal, parking brake signal acquisition module, GES acquisition module, braking
Pedal signal acquisition module, throttle signal acquisition module, the corresponding signal of collection is input to signal by gear signal acquisition module
Processing module；
Signal after described signal processing module will process passes to conditional judgment module；
Described conditional judgment module, according to signal, sends the corresponding command to pre-starting module；
The corresponding command is passed to electric machine controller by described pre-starting module.
Wherein said system also includes motor speed signal acquisition module, and it is used for gathering motor speed signal, and will adopt
The signal of collection passes to signal processing module.
The invention allows for the pre-method for starting of a kind of pure electric automobile based on above-mentioned Intelligent Control System of Electrical Vehicle,
Comprising:
Step one, collection vehicle status information；
Step 2, according to car status information, decide whether to take pre-starting strategy.
Wherein, described car status information includes: high pressure power-up state, parking brake state, brake pedal status, throttle
And range state.
Wherein, when detecting that high pressure has powered on, parking brake puts down, speed is 0, brake does not triggers, throttle does not triggers and shelves
When position is non-neutral gear, take pre-starting strategy.
Wherein, described pre-starting strategy is to export corresponding moment of torsion according to gear signal.
Wherein, described according to gear signal export corresponding moment of torsion particularly as follows:
When current gear signal is D shelves, motor one given positive-torque of output；When current gear signal is R shelves, motor is defeated
Go out a given negative torque.
The present invention provide a kind of pure electric automobile low noise, stabilization pre-method for starting for only N R tri-shelves of D
The pure electric automobile of position, wherein N shelves refer to that neutral gear, R shelves refer to that reverse drive gear, D shelves refer to drive shift.The present invention is by electricity before vehicle start
Machine provides a little moment of torsion demarcated, and makes the gear of vehicle drive system be entirely located in engagement, anticipates further according to driver
Figure enters various starting mode, and the impact reducing vehicle drive system causes shake, can also reduce mechanical wear simultaneously, reduces
Start noise.Without changing existing vehicle structure or increasing the hardware devices such as sensor, it is easy to accomplish.
Quick, the stable starting of vehicle is realized, slipping when simultaneously can also avoid vehicle start by this control method
Car phenomenon.
Accompanying drawing explanation
By reading the detailed description of hereafter preferred implementation, various other advantage and benefit common for this area
Technical staff will be clear from understanding.Accompanying drawing is only used for illustrating the purpose of preferred implementation, and is not considered as the present invention
Restriction.And in whole accompanying drawing, it is denoted by the same reference numerals identical parts.In the accompanying drawings:
Accompanying drawing 1 shows the pure electric automobile drive system structure figure according to embodiment of the present invention；
Accompanying drawing 2 shows the Intelligent Control System of Electrical Vehicle schematic diagram according to embodiment of the present invention.
Accompanying drawing 3 shows the flow chart of the pre-method for starting of the pure electric automobile according to embodiment of the present invention.
Detailed description of the invention
It is more fully described the illustrative embodiments of the disclosure below with reference to accompanying drawings.Although accompanying drawing shows these public affairs
The illustrative embodiments opened, it being understood, however, that may be realized in various forms the disclosure and the reality that should not illustrated here
The mode of executing is limited.On the contrary, it is provided that these embodiments are able to be best understood from the disclosure, and can be by these public affairs
What the scope opened was complete conveys to those skilled in the art.
Embodiment one,
It is illustrated in figure 1 the structured flowchart of pure electric automobile drive system.Motor shaft is wherein driven to pass through with input gear
Spline connects, and output flange is connected with the transmission universal drive shaft of universal joint.If there is bigger gap between gear, work as vehicle start
Time, vehicle could be started after needing gear at a fully engaged, cause starting slower；And due to the difference of gear position, may
Cause and beat tooth phenomenon, cause the abrasion of drive system mechanical part and noise to increase.
Main reducing gear is to reduce rotating speed, the critical piece of increase moment of torsion in car transmissions.The vapour longitudinal to electromotor
For car, main reducing gear also utilizes Bevel Gear Transmission to change power direction.Such as, during automobile normal running, turning of electromotor
Speed is generally at about 2000 to 3000r/min, if only reducing by change speed gear box by the highest rotating speed, then change speed gear box
The gear ratio of internal gear then needs very big, and the gear ratio of gear is the biggest, and the radius ratio of two gears is the biggest, in other words, the most just
The size being change speed gear box can be the biggest.It addition, rotating speed declines, and moment of torsion necessarily increases, after the most just increasing change speed gear box and change speed gear box
The transmission load of primary transmission mechanism.So, before the differential mechanism of power driving wheel to the left and right shunting, a main deceleration is set
Device, the moment of torsion that the drive disk assembly before main reducing gear such as change speed gear box, transfer gear, universal driving device etc. can be made to transmit reduces, also
The size of change speed gear box, quality can be made to reduce, handle laborsaving.
Main reducing gear in electric automobile can be according to deceleration form, gear-type and the supporting form of driving and driven gear
Classification.It is broadly divided into according to deceleration form: single-stage speed reducing, double reduction, dual-ratio reduction, single-stage are through, twin-stage is through, main deceleration
With hub reduction etc.；It is broadly divided into according to gear-type: spiral bevel gear formula, hyperboloid tooth are wheeled, cylindrical straight gear is wheeled, helical teeth
Cylinder Gear is wheeled, planetary gear type and worm gear type；Supporting form according to driving and driven gear is divided into: cantilevered, horseback riding type
Deng.
A kind of Intelligent Control System of Electrical Vehicle proposed for the present invention as shown in Figure 2, wherein said pure electric automobile is
Have N R the pure electric automobile of tri-gears of D, described system includes:
High pressure power on signal acquisition module, it is used for gathering car load high pressure power on signal；
Parking brake signal acquisition module, it is used for gathering parking brake signal；
GES acquisition module, it is used for gathering GES；
Brake pedal signal acquisition module, it is for gathering the signal of brake pedal；
Throttle signal acquisition module, it is used for gathering throttle signal；
Gear signal acquisition module, it is used for gathering gear signal；
Signal processing module, it is for focusing on the signal of collection；
Conditional judgment module, it is for starting to walk the need of pre-according to input-signal judging；
Start to walk module in advance, sends pre-little moment of torsion letter of starting to walk for the order according to conditional judgment module to electric machine controller
Number；
Wherein, described high pressure power on signal gathers signal, parking brake signal acquisition module, GES acquisition module, braking
Pedal signal acquisition module, throttle signal acquisition module, the corresponding signal of collection is input to signal by gear signal acquisition module
Processing module；
Signal after described signal processing module will process passes to conditional judgment module；
Described conditional judgment module, according to signal, sends the corresponding command to pre-starting module；
The corresponding command is passed to electric machine controller by described pre-starting module.
Wherein, described system also includes motor speed signal acquisition module, and it is used for gathering motor speed signal, and will adopt
The signal of collection passes to signal processing module.
The invention allows for the pre-method for starting of a kind of pure electric automobile based on above-mentioned Intelligent Control System of Electrical Vehicle,
Comprising:
Step one, collection vehicle status information；
Step 2, according to car status information, decide whether to take pre-starting strategy.
Wherein, described car status information includes: high pressure power-up state, parking brake state, brake pedal status, throttle
And range state.
Wherein, when detecting that high pressure has powered on, parking brake puts down, speed is 0, brake does not triggers, throttle does not triggers and shelves
When position is non-neutral gear, take pre-starting strategy.
Wherein, described pre-starting strategy is to export corresponding moment of torsion according to gear signal.
Wherein, described according to gear signal export corresponding moment of torsion particularly as follows:
When current gear signal is D shelves, motor one given positive-torque of output；When current gear signal is R shelves, motor is defeated
Go out a given negative torque.
Embodiment two,
It is illustrated in figure 3 the pre-method for starting of a kind of pure electric automobile consistent with the embodiment of the present invention.
Described pre-starting refers to that vehicle entire car controller before starting, by judging whether driver has starting to be intended to, is sent out
Go out corresponding instruction, carry out vehicle start and prepare.
The method of the present invention comprises the following steps:
Step 101, collection whole vehicle state information, it is judged that whether pure electric automobile will start to walk.
Judge whether described pure electric automobile will start to walk, comprise the steps:
Step a1, whether high pressure has powered on to judge car load.
Step a3, judge whether parking brake puts down.
Step a5, judge that speed is whether less than or equal to 0.
Step a7, judge brake whether trigger.
Step a9, judge whether throttle triggers.
Step a11, judge whether gear is neutral gear.
Step 103 is if it is, enter pre-starting state.
Step 105, reading throttle signal, when throttle triggers, when not triggering brake, enter normal starting mode.
Described pre-starting state refers to send a demand torque according to current gear information to motor.That is, current gear letter
When number being D shelves, motor one given positive-torque of output；When current gear signal is R shelves, motor one given negative torque of output.
Described given moment of torsion makes the gear of vehicle drive system be in engagement.This moment of torsion according to the parameter of vehicle different and not
With, it is demarcated by experiment is concrete.
Described step 105 particularly as follows: when exporting after corresponding moment of torsion, again judge now whether throttle signal triggers, if
Not do not trigger, then return to the entrance of step 103 and start to walk in advance state；If throttle is triggered, then judge whether brake signal touches
Send out, without triggering, then enter normal starting mode.
In a certain embodiment, entire car controller after detecting that car load high pressure has powered on, if be detected that parking brake is
Put down, speed≤n km/h (n is a sufficiently small value that can demarcate), its optimum minimum speed travelled for car load neutral gear,
Brake signal does not triggers, and driver does not triggers throttle signal.Gear is positioned at non-neutral state, i.e. judges driver according to information
The state that will start to walk, now vehicle enters the state that starts to walk in advance.
In a certain embodiment, pre-method for starting sends a demand torque according to current gear information to motor.
In a certain embodiment, entire car controller reads the gear information of vehicle, if D shelves (drive shift), car load control
Device processed, according to the parameter of different vehicle, provides a moment of torsion that can demarcate；If R shelves (reverse gear), entire car controller is given
One reverse moment of torsion.
In a certain embodiment, the torque criterion that entire car controller is given is that gear of vehicle engages, can root
Draw according to micro-judgment or by experiment.
The pre-starting control method of the present invention made the drive system gear of vehicle be in engagement before vehicle start,
Accelerate starting speed, decrease the mechanical wear that tooth causes of beating owing to being likely to occur, reduce startup noise simultaneously.
Wherein, pre-starting control method judges the direction of rotation of motor by starting gear information, it is to avoid reverse gear starting band
Carry out mechanical shock.
Wherein, to the torque of motor transmission according to type of vehicle, vehicle running environment during starting controls plan method in advance
Difference can be calibrated, pure electric automobile has versatility.
Wherein, starting control method is without being modified vehicle mechanism, motor etc. in advance, and without increasing sensor etc.,
It is easily achieved.
Further, motor provides a less moment of torsion makes gear engage, and the electricity of consumption is low.
The above, the only present invention preferably detailed description of the invention, but protection scope of the present invention is not limited thereto,
Any those familiar with the art in the technical scope that the invention discloses, the change that can readily occur in or replacement,
All should contain within protection scope of the present invention.Therefore, protection scope of the present invention answers the described protection model with claim
Enclose and be as the criterion.
Claims (7)
1. an Intelligent Control System of Electrical Vehicle, wherein said pure electric automobile is the pure electronic vapour with N R tri-gears of D
Car, described system includes:
High pressure power on signal acquisition module, it is used for gathering car load high pressure power on signal；
Parking brake signal acquisition module, it is used for gathering parking brake signal；
GES acquisition module, it is used for gathering GES；
Brake pedal signal acquisition module, it is for gathering the signal of brake pedal；
Throttle signal acquisition module, it is used for gathering throttle signal；
Gear signal acquisition module, it is used for gathering gear signal；
Signal processing module, it is for focusing on the signal of collection；
Conditional judgment module, it is for starting to walk the need of pre-according to input-signal judging；
Start to walk module in advance, sends pre-little torque signal of starting to walk for the order according to conditional judgment module to electric machine controller；
Wherein, described high pressure power on signal gathers signal, parking brake signal acquisition module, GES acquisition module, brake pedal
Signal acquisition module, throttle signal acquisition module, the corresponding signal of collection is input to signal processing by gear signal acquisition module
Module；
Signal after described signal processing module will process passes to conditional judgment module；
Described conditional judgment module, according to signal, sends the corresponding command to pre-starting module；
The corresponding command is passed to electric machine controller by described pre-starting module.
2. Intelligent Control System of Electrical Vehicle as claimed in claim 1, it is characterised in that: described system also includes motor speed signal
Acquisition module, it is used for gathering motor speed signal, and the signal of collection is passed to signal processing module.
3. a pre-method for starting for pure electric automobile based on Intelligent Control System of Electrical Vehicle described in claim 1-2, its bag
Include:
Step one, collection vehicle status information；
Step 2, according to car status information, decide whether to take pre-starting strategy.
4. method as claimed in claim 3, described car status information includes: high pressure power-up state, parking brake state, brake pedal
State, throttle and range state.
5. method as claimed in claim 4, wherein when detecting that high pressure has powered on, parking brake puts down, speed is 0, brake is not touched
Send out, throttle does not triggers and time gear is non-neutral gear, takes pre-starting strategy.
6. method as claimed in claim 3, described pre-starting strategy is to export corresponding moment of torsion according to gear signal.
7. as claimed in claim 6 method, described export corresponding moment of torsion according to gear signal particularly as follows:
When current gear signal is D shelves, motor one given positive-torque of output；When current gear signal is R shelves, motor output one
Individual given negative torque.
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| CN201610648100.4A CN106183890B (en) | 2016-08-09 | 2016-08-09 | The control system and its pre- method for starting that pure electric automobile is started to walk in advance |
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| CN201610648100.4A CN106183890B (en) | 2016-08-09 | 2016-08-09 | The control system and its pre- method for starting that pure electric automobile is started to walk in advance |
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| CN106585612A (en) * | 2016-12-22 | 2017-04-26 | 潍柴动力股份有限公司 | Pure electric car anti-shake control method and device |
| CN106585612B (en) * | 2016-12-22 | 2019-07-05 | 潍柴动力股份有限公司 | A kind of pure electric automobile stabilization control method and device |
| CN107031455A (en) * | 2017-03-28 | 2017-08-11 | 南京奥联新能源有限公司 | Automatic anti-running car method for pure electric vehicle |
| CN107031455B (en) * | 2017-03-28 | 2019-08-23 | 南京奥联新能源有限公司 | Automatic anti-running vehicle method for pure electric vehicle |
| CN107117070A (en) * | 2017-04-21 | 2017-09-01 | 阿尔特汽车技术股份有限公司 | Electric automobile starting pretension force control method |
| CN107512197A (en) * | 2017-08-21 | 2017-12-26 | 合肥翔望智能科技有限公司 | A kind of electric car starting abnormal sound control method |
| CN108973688A (en) * | 2017-08-21 | 2018-12-11 | 漳州龙文区汇洋远软件开发有限公司 | A kind of starting method of electric vehicle starting control module |
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| CN108189706A (en) * | 2017-12-20 | 2018-06-22 | 中国第汽车股份有限公司 | The control method of pure electric vehicle bus crawling starting |
| CN109968996A (en) * | 2017-12-27 | 2019-07-05 | 上海大郡动力控制技术有限公司 | Eliminate the control method of pure electric bus starting resonance shake and abnormal sound |
| CN108437851A (en) * | 2018-04-24 | 2018-08-24 | 上海伊控动力系统有限公司 | Gear for pure electric vehicle switches protecting against shock method |
| CN108437851B (en) * | 2018-04-24 | 2021-08-06 | 上海伊控动力系统有限公司 | Gear switching anti-impact method for pure electric vehicle |
| CN108501769A (en) * | 2018-04-28 | 2018-09-07 | 北京新能源汽车股份有限公司 | A kind of starting control method, device and automobile |
| CN108501769B (en) * | 2018-04-28 | 2020-09-25 | 北京新能源汽车股份有限公司 | Starting control method and device and automobile |
| CN108773296A (en) * | 2018-06-08 | 2018-11-09 | 北京长城华冠汽车科技股份有限公司 | Control method, storage medium and the electric vehicle of violent acceleration pattern |
| CN110588363A (en) * | 2018-06-13 | 2019-12-20 | 蔚来汽车有限公司 | Method and device for restraining starting shake of electric automobile and storage medium |
| CN109591620A (en) * | 2018-11-23 | 2019-04-09 | 深圳腾势新能源汽车有限公司 | Control of Electric Vehicles method and device, electronic equipment and storage medium |
| CN109552069A (en) * | 2018-12-24 | 2019-04-02 | 上海大郡动力控制技术有限公司 | Based on the pure electric automobile jitter suppression method for leaning on tooth strategy and active damping |
| CN111605553A (en) * | 2019-02-26 | 2020-09-01 | 郑州宇通客车股份有限公司 | Torque segmentation gradient filtering control method and device for new energy automobile |
| CN111605553B (en) * | 2019-02-26 | 2021-10-29 | 郑州宇通客车股份有限公司 | Torque segmentation gradient filtering control method and device for new energy automobile |
| CN110422057A (en) * | 2019-06-27 | 2019-11-08 | 东南（福建）汽车工业有限公司 | A kind of pure electric automobile starting anti-vibration control method |
| CN110422057B (en) * | 2019-06-27 | 2022-10-21 | 东南（福建）汽车工业有限公司 | Anti-shaking control method for starting of pure electric vehicle |
| CN111559250A (en) * | 2020-04-20 | 2020-08-21 | 武汉格罗夫氢能汽车有限公司 | Motor rotating speed jitter eliminating method for hydrogen energy automobile driving motor system |
| CN112208513A (en) * | 2020-10-20 | 2021-01-12 | 睿驰电装(大连)电动系统有限公司 | Method and apparatus for eliminating noise generated by driveline lash |
| CN112644297A (en) * | 2021-01-06 | 2021-04-13 | 徐工集团工程机械股份有限公司科技分公司 | Automatic starting control system and control method for pure electric loader |
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