CN107487231A - The method and apparatus of wagon control - Google Patents

The method and apparatus of wagon control Download PDF

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Publication number
CN107487231A
CN107487231A CN201611208832.8A CN201611208832A CN107487231A CN 107487231 A CN107487231 A CN 107487231A CN 201611208832 A CN201611208832 A CN 201611208832A CN 107487231 A CN107487231 A CN 107487231A
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motor
output torque
rotating speed
changing value
torque changing
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CN201611208832.8A
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CN107487231B (en
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孙阳阳
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Borgward Automotive China Co Ltd
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Borgward Automotive China Co Ltd
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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
    • B60L15/28—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 without contact making and breaking, e.g. using a transductor
    • 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

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  • Engineering & Computer Science (AREA)
  • Power Engineering (AREA)
  • Transportation (AREA)
  • Mechanical Engineering (AREA)
  • Electric Propulsion And Braking For Vehicles (AREA)

Abstract

This disclosure relates to a kind of method and apparatus of wagon control, multiple first rotating speeds of collection vehicle motor in preset time period；Obtain multiple first output torques of motor in preset time period；Determine vehicle whether in starting dither state according to multiple first rotating speeds and multiple first output torques；When it is determined that vehicle is in starting dither state, the current rotating speed of motor is gathered, and the second rotating speed of motor is determined according to current rotating speed and predetermined acceleration；First output torque changing value of the motor in controlling cycle is obtained, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Controlled motor is run according to the second rotating speed and the second output torque changing value, so, can effectively suppress the rotating speed of vehicular electric machine and the shake of output torque, so as to improve the usage experience of user.

Description

The method and apparatus of wagon control
Technical field
This disclosure relates to control field, in particular it relates to a kind of method and apparatus of wagon control.
Background technology
In electric car ground zero, because motor output torque has change on a large scale, so as to cause motor speed In the presence of large-scale change, in turn result in electric car and jitter phenomenon occur so that shake sense in the process of moving be present in user, this Sample, reduce the experience effect of user.
At present, when it is determined that electric car is in starting dither state, by smoothing processing algorithm, (such as more sub-samplings ask flat , LPF or output violent change etc. are handled) rotating speed is smoothed, but can only be weakened using smoothing processing algorithm The shake of rotating speed, the shake of the rotating speed can not be eliminated so that user still suffers from discomfort in the process of moving.
The content of the invention
To solve problems of the prior art, present disclose provides a kind of method and apparatus of wagon control.
According to the first aspect of the embodiment of the present disclosure, there is provided a kind of method of wagon control, methods described include：Default Multiple first rotating speeds of collection vehicle motor in period；Obtain multiple first outputs of the motor in the preset time period Moment of torsion；Determine the vehicle whether in starting shake shape according to multiple first rotating speeds and multiple first output torques State；When it is determined that the vehicle is in starting dither state, the current rotating speed of the motor is gathered, and according to the current rotating speed The second rotating speed of the motor is determined with predetermined acceleration；Obtain first output torque change of the motor in controlling cycle Value, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Control the motor Run according to second rotating speed and the second output torque changing value.
Alternatively, it is described whether to determine the vehicle according to multiple first rotating speeds and multiple first output torques Include in starting dither state：It is determined that multiple first rotating speeds hopping amplitude be more than or equal to the first hop value and When the hopping amplitude of the multiple first output torque is more than or equal to the second hop value, determine that the vehicle is trembled in starting Dynamic state.
Alternatively, it is described to determine that the second rotating speed of the motor includes according to the current rotating speed and predetermined acceleration：It is logical Cross the second rotating speed that below equation determines the motor：
W=a*t+w0(0≤t≤t1)
Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent motor works as forward Speed.
Alternatively, it is described that second output torque changing value is obtained according to the first output torque changing value and parameter preset Including：The product for calculating the parameter preset and the first output torque changing value obtains the second output torque change Value.
Alternatively, the control motor includes according to the second output torque changing value operation：By the motor The first output torque changing value in controlling cycle is adjusted to the second output torque changing value.
According to the second aspect of the embodiment of the present disclosure, there is provided a kind of device of wagon control, described device include：First adopts Collect module, multiple first rotating speeds for the collection vehicle motor in preset time period；First acquisition module, it is described for obtaining Multiple first output torques of the motor in preset time period；First determining module, for according to multiple first rotating speeds Determine the vehicle whether in starting dither state with multiple first output torques；Second acquisition module, for true When the fixed vehicle is in starting dither state, the current rotating speed of the motor is gathered；Second determining module, for according to Current rotating speed and predetermined acceleration determine the second rotating speed of the motor；Second acquisition module, controlled for obtaining the motor The first output torque changing value in cycle processed；3rd acquisition module, for according to the first output torque changing value and in advance Setting parameter obtains the second output torque changing value；Control module, for controlling the motor according to second rotating speed and described Second output torque changing value is run.
Alternatively, first determining module, for it is determined that the hopping amplitude of multiple first rotating speeds be more than or When being more than or equal to the second hop value equal to the hopping amplitude of the first hop value and the multiple first output torque, institute is determined State vehicle and be in starting dither state.
Alternatively, second determining module, for determining the second rotating speed of the motor by below equation：
W=a*t+w0(0≤t≤t1)
Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent motor works as forward Speed.
Alternatively, the 3rd acquisition module, for calculating the parameter preset and the first output torque changing value Product obtain the second output torque changing value.
Alternatively, the control module, for first output torque changing value of the motor in controlling cycle to be adjusted Whole is the second output torque changing value.
Pass through above-mentioned technical proposal, multiple first rotating speeds of collection vehicle motor in preset time period；It is default to obtain this Multiple first output torques of the motor in period；The vehicle is determined according to multiple first rotating speeds and multiple first output torques Whether in starting dither state；When it is determined that the vehicle is in starting dither state, the current rotating speed of the motor, and root are gathered The second rotating speed of the motor is determined according to rotating speed before deserving and predetermined acceleration；Obtain first output of the motor in controlling cycle Change in torque value, and the second output torque changing value is obtained according to the first output torque changing value and parameter preset；Control should Motor is run according to second rotating speed and the second output torque changing value, so so that the rotating speed of motor can accelerate to increase with even It is long, and cause the output torque of motor that large-scale saltus step is not present, so as to effectively suppress turning for the vehicular electric machine The shake of speed and output torque, and then cause user that shake sense is not present in the process of moving, improve the usage experience of user.
Other feature and advantage of the disclosure will be described in detail in subsequent specific embodiment part.
Brief description of the drawings
Accompanying drawing is for providing further understanding of the disclosure, and a part for constitution instruction, with following tool Body embodiment is used to explain the disclosure together, but does not form the limitation to the disclosure.In the accompanying drawings：
Fig. 1 is a kind of flow chart of the method for wagon control according to an exemplary embodiment；
Fig. 2 is the flow chart of the method for another wagon control according to an exemplary embodiment；
Fig. 3 is a kind of block diagram of the device of wagon control according to an exemplary embodiment.
Embodiment
The embodiment of the disclosure is described in detail below in conjunction with accompanying drawing.It should be appreciated that this place is retouched The embodiment stated is merely to illustrate and explained the disclosure, is not limited to the disclosure.
The disclosure can apply to the scene of vehicle start, under the scene, during due to vehicle start the output of motor turn round There is change on a large scale in square, so as to cause the rotating speed of motor in turn result in vehicle there is also large-scale change and shake Phenomenon so that user has shake sense in the process of moving, is averaging in the prior art by using more sub-samplings, low pass filtered The methods of ripple, output violent change processing, is smoothed to the rotating speed of motor, but because the method for smoothing processing can only weaken The shake of rotating speed, the shake of the rotating speed can not be eliminated so that user still suffers from discomfort in the process of moving.
In order to solve the above problems, the disclosure proposes a kind of method and apparatus of wagon control, and this method is included in default Multiple first rotating speeds of collection vehicle motor in period；Multiple first outputs for obtaining the motor in the preset time period are turned round Square；Determine the vehicle whether in starting dither state according to multiple first rotating speeds and multiple first output torques；It is determined that should When vehicle is in starting dither state, the current rotating speed of the motor is gathered, and according to rotating speed and predetermined acceleration determination before deserving Second rotating speed of the motor；First output torque changing value of the motor in controlling cycle is obtained, and according to first output Change in torque value and parameter preset obtain the second output torque changing value；The motor is controlled according to second rotating speed and this is second defeated Go out the operation of change in torque value, so so that the rotating speed of motor can be with even accelerated growth, and the output torque of motor is not deposited In large-scale saltus step, so as to effectively suppress the shake of the rotating speed of the vehicular electric machine and output torque, and then to use Shake sense is not present in family in the process of moving, improves the usage experience of user.
The disclosure is illustrated with reference to specific embodiment.
Fig. 1 is a kind of flow chart of the method for wagon control according to an exemplary embodiment, as shown in figure 1, should Method comprises the following steps.
S101, multiple first rotating speeds of collection vehicle motor in preset time period.
Wherein it is possible to get multiple first turns of the vehicular electric machine by the rotary transformer being arranged on the motor Speed, it is, of course, also possible to using other method, encoder detector is such as utilized to gather multiple first rotating speeds of the motor, the disclosure This is not construed as limiting.
S102, obtain multiple first output torques of the motor preset time period Nei.
Wherein it is possible to the current value of motor is collected by the current sensor in electric machine controller, and according to the electric current Value, the default radius of gyration, default constant of the machine and default motor magnetic flux obtain multiple first output torques of the motor, on State example to be merely illustrative, the disclosure is not construed as limiting this.
S103, determine the vehicle whether in starting shake shape according to multiple first rotating speeds and multiple first output torques State.
Wherein, the starting dither state is vehicle in starting, due to multiple first output torques and multiple first rotating speeds Upper and lower saltus step (i.e. multiple first output torques and multiple first rotating speeds all have increase and the process reduced) all be present, cause car Shake state.
S104, when it is determined that the vehicle is in starting dither state, the current rotating speed of the motor is gathered, and it is current according to this Rotating speed and predetermined acceleration determine the second rotating speed of the motor.
S105, first output torque changing value of the motor in controlling cycle is obtained, and according to first output torque Changing value and parameter preset obtain the second output torque changing value.
Wherein, the parameter preset can be the empirical value determined according to the acceleration of the vehicle.
S106, the motor is controlled to be run according to second rotating speed and the second output torque changing value.
Using the above method so that the rotating speed of motor can be with even accelerated growth, and causes the output torque of motor not deposit In large-scale saltus step, so as to effectively suppress the shake of the rotating speed of the vehicular electric machine and output torque, and then to use Shake sense is not present in family in the process of moving, improves the usage experience of user.
Fig. 2 is a kind of flow chart of the method for wagon control according to an exemplary embodiment, as shown in Fig. 2 should Method comprises the following steps.
S201, multiple first rotating speeds of collection vehicle motor in preset time period.
Wherein it is possible to multiple first rotating speeds of the vehicular electric machine are got by the rotary transformer being arranged on motor, It is, of course, also possible to using other method, multiple first rotating speeds of the motor are such as gathered using encoder detector, the disclosure is to this It is not construed as limiting.
In this step, multiple turns of the vehicular electric machine can be gathered according to default collection period in preset time period Speed, for example, the default collection period can be 1 second, so, the rotary transformer can gather the vehicular electric machine every 1 second First rotating speed, it is of course also possible in preset time period the random acquisition vehicular electric machine multiple first rotating speeds, the disclosure is to this It is not construed as limiting.
S202, obtain multiple first output torques of the motor preset time period Nei.
Wherein it is possible to the current value of vehicular electric machine is collected by the current sensor in electric machine controller, and according to this It is multiple first defeated to obtain the vehicular electric machine for current value, the default radius of gyration, default constant of the machine and default motor magnetic flux Go out torque.Likewise it is possible to multiple current values of the vehicular electric machine, root are gathered according to default collection period in the preset time Multiple first output torques are obtained according to multiple current values, naturally it is also possible to random acquisition vehicular electric machine in the preset time period Multiple current values, obtain multiple first output torques according to multiple current values, above-mentioned example is merely illustrative, the disclosure pair This is not construed as limiting.
S203, determine the vehicle whether in starting shake shape according to multiple first rotating speeds and multiple first output torques State.
In a kind of possible implementation, it may be determined that whether the hopping amplitude of multiple first rotating speeds is more than or equal to Whether the hopping amplitude of the first hop value and multiple first output torques is more than or equal to the second hop value, and it is determined that multiple The hopping amplitude of first rotating speed be more than or equal to first hop value and multiple first output torques hopping amplitude be more than or When person is equal to second hop value, determine that the vehicle is in starting dither state；It is determined that the hopping amplitude of multiple first rotating speeds When being less than second hop value less than the hopping amplitude of first hop value or multiple first output torques, determine at the vehicle In normal condition.
Wherein, all there is upper and lower saltus step in multiple first output torques and multiple first rotating speeds, i.e., multiple first output torques Increase and the process reduced all be present with multiple first rotating speeds, for example, the of the vehicular electric machine gathered in preset time period One output torque is followed successively by 29Nm, 20Nm, 35Nm, and because 29Nm is more than 20Nm, 20Nm is less than 35Nm, because This, it may be determined that there is saltus step up and down in this 3 first output torques, and the hopping amplitude of this 3 the first output torques is 9Nm, 15Nm；And for example, the first rotating speed of the vehicular electric machine gathered in preset time period is followed successively by 50 turns/s, 60 turns/ S, 40 turns/s, because 50 turns/s is less than 60 turns/s, 60 turns/s is more than 40 turns/s, hence, it can be determined that this 3 first rotating speeds are present Upper and lower saltus step, and the hopping amplitude of this 3 the first rotating speeds is 10 turns/s, and 20 turns/s, above-mentioned example is merely illustrative, this public affairs Open and this is not construed as limiting.
When it is determined that the vehicle is in starting dither state, step S204 is performed；
When it is determined that the vehicle is in normal condition, return to step S201.
S204, gather the current rotating speed of the motor.
In this step, when electric machine controller determines that the vehicle is in starting dither state, adopted using rotary transformer Collect the current rotating speed of the vehicular electric machine, above-mentioned example is merely illustrative, and the disclosure is not construed as limiting to this.
S205, the second rotating speed of the motor is determined according to rotating speed and predetermined acceleration before deserving.
In this step, the second rotating speed of the motor can be determined by below equation：
W=a*t+w0(0≤t≤t1)
Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent motor works as forward Speed.
S206, obtain first output torque changing value of the motor in controlling cycle.
Illustratively, the initial value for obtaining output torque in the controlling cycle is to be exported in 20Nm, and the controlling cycle The end value of moment of torsion is 35Nm, then the output torque rises to 35Nm by 20Nm in the controlling cycle, then can be true The fixed first output torque changing value is 15Nm, and above-mentioned example is merely illustrative, and the disclosure is not construed as limiting to this.
S207, the product for calculating parameter preset and the first output torque changing value obtain second output torque change Value.
Wherein, the parameter preset can be the empirical value determined according to the acceleration of the vehicle.Continue with above-mentioned example Exemplified by, it is determined that the first output torque changing value is 15Nm, and when to determine the parameter preset be 2.5, then this is second defeated It is 37.5Nm to go out change in torque value.
S208, the motor is controlled to be run according to second rotating speed and the second output torque changing value.
Wherein, when the motor is direct current generator, can be adjusted by electric machine controller the motor supply voltage or Loop resistance, so as to control the motor to be run according to second rotating speed；When the motor is alternating current generator, can be become by adjusting Frequency device changes frequency, but when frequency reduces the motor can be made to be in overvoltage (i.e. overexcitation), so may be such that electricity Machine is burned, and therefore, can adjust voltage and frequency simultaneously to control the motor to be run according to second rotating speed, above-mentioned example is only It is for example, the disclosure is not construed as limiting to this.
It should be noted that after by controlling the motor to be run according to second rotating speed, the rotating speed of the motor can be suppressed Shake, and the violent shake of output torque is weakened, still, in order to further suppress the shake of output torque, a kind of possible Implementation in, by first output torque changing value of the motor in controlling cycle be adjusted to second output torque change Value so that shake is not present in the output torque of the motor.
Using the above method so that the rotating speed of motor can be with even accelerated growth, and causes the output torque of motor not deposit In large-scale saltus step, so as to effectively suppress the shake of the rotating speed of the vehicular electric machine and output torque, and then to use Shake sense is not present in family in the process of moving, improves the usage experience of user.
Fig. 3 is a kind of block diagram of the device of wagon control according to an exemplary embodiment, as shown in figure 3, the dress Put including the first acquisition module 301, the first acquisition module 302, the first determining module 303, the second acquisition module 304, second is true Cover half block 305, the second acquisition module 306, the 3rd acquisition module 307 and control module 308.
First acquisition module 301, multiple first rotating speeds for the collection vehicle motor in preset time period；
First acquisition module 302, for obtaining multiple first output torques of the motor in the preset time period；
First determining module 303, for determining that the vehicle is according to multiple first rotating speeds and multiple first output torques It is no to be in starting dither state；
Second acquisition module 304, for when it is determined that the vehicle is in starting dither state, gathering the current of the motor Rotating speed；
Second determining module 305, rotating speed and predetermined acceleration determine the second rotating speed of the motor before deserving for basis；
Second acquisition module 306, for obtaining first output torque changing value of the motor in controlling cycle；
3rd acquisition module 307, for obtaining the second output according to the first output torque changing value and parameter preset Change in torque value；
The control module 308, for controlling the motor to be run according to second rotating speed and the second output torque changing value.
Alternatively, first determining module 303, for it is determined that the hopping amplitude of multiple first rotating speeds is more than or waited When the hopping amplitude of the first hop value and the plurality of first output torque is more than or equal to the second hop value, the vehicle is determined In starting dither state.
Alternatively, second determining module 305, for determining the second rotating speed of the motor by below equation：
W=a*t+w0(0≤t≤t1)
Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent motor works as forward Speed.
Alternatively, the 3rd acquisition module 307, for calculating multiplying for the parameter preset and the first output torque changing value Product obtains the second output torque changing value.
Alternatively, control module 308, for first output torque changing value of the motor in controlling cycle to be adjusted For the second output torque changing value.
Using said apparatus so that the rotating speed of motor can be with even accelerated growth, and causes the output torque of motor not deposit In large-scale saltus step, so as to effectively suppress the shake of the rotating speed of the vehicular electric machine and output torque, and then to use Shake sense is not present in family in the process of moving, improves the usage experience of user.
The preferred embodiment of the disclosure is described in detail above in association with accompanying drawing, still, the disclosure is not limited to above-mentioned reality The detail in mode is applied, in the range of the technology design of the disclosure, a variety of letters can be carried out to the technical scheme of the disclosure Monotropic type, these simple variants belong to the protection domain of the disclosure.
It is further to note that each particular technique feature described in above-mentioned embodiment, in not lance In the case of shield, can be combined by any suitable means, in order to avoid unnecessary repetition, the disclosure to it is various can The combination of energy no longer separately illustrates.
In addition, it can also be combined between a variety of embodiments of the disclosure, as long as it is without prejudice to originally Disclosed thought, it should equally be considered as disclosure disclosure of that.

Claims (10)

  1. A kind of 1. method of wagon control, it is characterised in that methods described includes：
    Multiple first rotating speeds of collection vehicle motor in preset time period；
    Obtain multiple first output torques of the motor in the preset time period；
    Determine the vehicle whether in starting shake shape according to multiple first rotating speeds and multiple first output torques State；
    When it is determined that the vehicle is in starting dither state, the current rotating speed of the motor is gathered, and work as forward according to described Speed and predetermined acceleration determine the second rotating speed of the motor；
    First output torque changing value of the motor in controlling cycle is obtained, and according to the first output torque changing value The second output torque changing value is obtained with parameter preset；
    The motor is controlled to be run according to second rotating speed and the second output torque changing value.
  2. 2. according to the method for claim 1, it is characterised in that described according to multiple first rotating speeds and multiple described the One output torque determines whether the vehicle includes in starting dither state：
    It is determined that the hopping amplitude of multiple first rotating speeds is more than or equal to the first hop value and the multiple first output When the hopping amplitude of moment of torsion is more than or equal to the second hop value, determine that the vehicle is in starting dither state.
  3. 3. according to the method for claim 1, it is characterised in that described to be determined according to the current rotating speed and predetermined acceleration Second rotating speed of the motor includes：
    The second rotating speed of the motor is determined by below equation：
    W=a*t+w0(0≤t≤t1)
    Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent the current rotating speed of motor.
  4. 4. according to the method for claim 1, it is characterised in that described according to the first output torque changing value and default Parameter, which obtains the second output torque changing value, to be included：
    The product for calculating the parameter preset and the first output torque changing value obtains the second output torque changing value.
  5. 5. according to the method for claim 4, it is characterised in that the control motor is according to second output torque Changing value operation includes：
    First output torque changing value of the motor in controlling cycle is adjusted to the second output torque changing value.
  6. 6. a kind of device of wagon control, it is characterised in that described device includes：
    First acquisition module, multiple first rotating speeds for the collection vehicle motor in preset time period；
    First acquisition module, for obtaining multiple first output torques of the motor in the preset time period；
    First determining module, for determining that the vehicle is according to multiple first rotating speeds and multiple first output torques It is no to be in starting dither state；
    Second acquisition module, for when it is determined that the vehicle is in starting dither state, gathering the current rotating speed of the motor；
    Second determining module, for determining the second rotating speed of the motor according to the current rotating speed and predetermined acceleration；
    Second acquisition module, for obtaining first output torque changing value of the motor in controlling cycle；
    3rd acquisition module, for obtaining the change of the second output torque according to the first output torque changing value and parameter preset Value；
    Control module, for controlling the motor to be run according to second rotating speed and the second output torque changing value.
  7. 7. device according to claim 6, it is characterised in that first determining module, for it is determined that multiple described The hopping amplitude of first rotating speed is more than or equal to the first hop value and the hopping amplitude of the multiple first output torque is more than Or during equal to the second hop value, determine that the vehicle is in starting dither state.
  8. 8. device according to claim 6, it is characterised in that second determining module, for true by below equation Second rotating speed of the fixed motor：
    W=a*t+w0(0≤t≤t1)
    Wherein, w represents the second rotating speed of motor；A represents predetermined acceleration；T represents the time；w0Represent the current rotating speed of motor.
  9. 9. device according to claim 6, it is characterised in that the 3rd acquisition module, for calculating the default ginseng The product of number and the first output torque changing value obtains the second output torque changing value.
  10. 10. device according to claim 9, it is characterised in that the control module, for the motor is all in control The first output torque changing value in phase is adjusted to the second output torque changing value.
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