CN108032768A - Suppress control method, system and the automobile of vehicle body shake - Google Patents
Suppress control method, system and the automobile of vehicle body shake Download PDFInfo
- Publication number
- CN108032768A CN108032768A CN201710975459.7A CN201710975459A CN108032768A CN 108032768 A CN108032768 A CN 108032768A CN 201710975459 A CN201710975459 A CN 201710975459A CN 108032768 A CN108032768 A CN 108032768A
- Authority
- CN
- China
- Prior art keywords
- wheel
- acceleration
- motor
- rotating speed
- driving
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
Classifications
-
- 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
-
- 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 invention discloses a kind of control method, system and automobile for suppressing vehicle body shake.Wherein, the control method of suppression vehicle body shake includes：Jitter suppression switch, electric machine controller, driving motor and sensor, wherein, sensor, is configured at wheel, for gathering the acceleration of wheel；Electric machine controller, is connected with driving motor, the rotating speed acceleration of driving motor is corresponded to for gathering wheel；Jitter suppression switchs, and is connected respectively with sensor and electric machine controller, and for the rotating speed acceleration of the acceleration according to wheel and driving motor, output jitter suppresses control signal.The present invention is solved due to suppressing the fluctuation of motor speed by being superimposed a moment of torsion in the processing procedure for suppressing vehicle body shake in the prior art, causes the low technical problem of vehicle moment of torsion control precision.
Description
Technical field
The present invention relates to automotive engineering application field, in particular to a kind of control method for suppressing vehicle body shake, is
System and automobile.
Background technology
The new-energy automobile development of current domestic market is very rapid, and major orthodox car manufactory has put into new energy in commercial city
Among the development ＆ production of source automobile.Had a problem that in current pure electric automobile that be exactly during vehicle start by
There is a situation where vehicle body shake in the problem of driveline lash and motor suspension rigidity, therefore many electric machine controllers all have and tremble
The dynamic function of suppressing, realization principle are exactly that a moment of torsion is superimposed on the basis of current torque to suppress the fluctuation of motor speed,
So as to eliminate the shake of vehicle.But this mode has a problem that, i.e., motor output torque is after jitter suppression moment of torsion is superimposed with
The torque command of meeting and entire car controller is there are larger deviation, and this reduces the precision of Motor torque control, it is impossible to full
The requirement of sufficient vehicle moment of torsion control precision.
The fluctuation of motor speed has to suppress, because the cost being mechanically improved is higher, therefore motor
Jitter suppression function i.e. inevitable measure are added on controller.But suppress the ripple of motor speed by being superimposed a moment of torsion
Dynamic, the torque command of meeting and entire car controller is there are larger deviation after suppressing moment of torsion, and this reduces Motor torque control
Precision, it is impossible to meet the requirement of vehicle moment of torsion control precision.
For above-mentioned due to being pressed down in the prior art in the processing procedure for suppressing vehicle body shake by being superimposed a moment of torsion
The fluctuation of motor speed processed, the problem of causing vehicle moment of torsion control precision low, not yet proposes effective solution at present.
The content of the invention
An embodiment of the present invention provides it is a kind of suppress vehicle body shake control method, system and automobile, with least solve by
In suppressing the fluctuation of motor speed by being superimposed a moment of torsion in the processing procedure for suppressing vehicle body shake in the prior art, lead
Cause the low technical problem of vehicle moment of torsion control precision.
One side according to embodiments of the present invention, additionally provides a kind of control method for suppressing vehicle body shake, including：Collection
The acceleration and wheel of wheel correspond to the rotating speed acceleration of driving motor；Add according to the acceleration of wheel and the rotating speed of driving motor
Speed, output jitter suppress control signal.
Optionally, gather the acceleration of wheel and wheel corresponds to and drives the rotating speed acceleration of motor to include：Work as vehicle traction
When type includes two drives, the acceleration of any driving wheel is gathered；And the rotating speed acceleration of the corresponding driving motor of driving wheel, its
In, wheel includes：Driving wheel；
Wherein, two drives are included in the vehicle traction type of automobile, two drives include forerunner and rear-guard, and wheel includes driving wheel
In the case of, gather the acceleration of any wheel in the driving wheel in forerunner or rear-guard；And wheel corresponds to the rotating speed of driving motor
Acceleration.
Further, optionally, control is suppressed according to the acceleration of wheel and the rotating speed acceleration of driving motor, output jitter
Signal processed includes：If the acceleration of driving wheel is more than predetermined wheel acceleration rate threshold, and/or, drive the rotating speed acceleration of motor
More than default motor speed acceleration rate threshold, then jitter suppression control signal is triggered；
Wherein, whether the acceleration for including driving wheel in Rule of judgment is more than predetermined wheel acceleration rate threshold；And/or electricity
In the case that whether the rotating speed acceleration of machine is more than default motor speed acceleration rate threshold, preset if the acceleration of driving wheel is more than
Wheel acceleration threshold value, and/or, the rotating speed acceleration of motor is more than default motor speed acceleration rate threshold, then triggering shake suppression
Control signal processed.
Optionally, gather the acceleration of wheel and wheel corresponds to and drives the rotating speed acceleration of motor to include：Work as vehicle traction
When type includes 4 wheel driven, the first acceleration of any front driving wheel and the second acceleration of any rear drive sprocket are gathered；It is and preceding
First rotating speed acceleration of the corresponding front motor of driving wheel, and the second rotating speed acceleration of the corresponding rear motor of rear drive sprocket；Its
In, wheel includes：Front driving wheel and rear drive sprocket；
Wherein, 4 wheel driven is included in the vehicle traction type of automobile, wheel includes：Front driving wheel and rear drive sprocket, driving electricity
Machine includes：In the case of front motor and rear motor, the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are gathered；
And the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor；Wherein, rear drive sprocket is located at front driving wheel
Diagonal position, front motor be used for drive front driving wheel；Motor is used to drive rear drive sprocket afterwards；Gather front driving wheel first adds
Second acceleration of speed and rear drive sprocket includes：Gather the first acceleration of any wheel in front driving wheel；And rear driving
Second acceleration of any wheel in wheel.
Further, optionally, control is suppressed according to the acceleration of wheel and the rotating speed acceleration of driving motor, output jitter
Signal processed includes：If the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are all higher than predetermined wheel acceleration threshold
Value；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor are all higher than default motor speed and accelerate
Threshold value is spent, then triggers jitter suppression control signal；
Include in Rule of judgment：It is pre- whether the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are all higher than
If wheel acceleration threshold value；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor it is whether big
In the case of default motor speed acceleration rate threshold, if the second acceleration of the first acceleration of front driving wheel and rear drive sprocket
It is all higher than predetermined wheel acceleration rate threshold；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor
Default motor speed acceleration rate threshold is all higher than, then triggers jitter suppression control signal.
Other side according to embodiments of the present invention, there is provided a kind of control system for suppressing vehicle body shake, including：Tremble
It is dynamic to suppress switch, electric machine controller, driving motor and sensor, wherein, sensor, is configured at wheel, for gathering wheel
Acceleration；Electric machine controller, is connected with driving motor, the rotating speed acceleration of driving motor is corresponded to for gathering wheel；Shake
Suppress switch, be connected respectively with sensor and electric machine controller, the rotating speed for the acceleration according to wheel and driving motor adds
Speed, output jitter suppress control signal.
Optionally, in the case where wheel includes driving wheel, sensor includes：Acceleration transducer, wherein, acceleration passes
Sensor, for foundation vehicle traction type configuration in corresponding driving wheel, wherein, vehicle traction type includes：Two drives or four
Drive, wheel includes driving wheel.
Further, optionally, in the case where vehicle traction type includes two drives, two driving wheels driven is configured and are corresponded to
Acceleration transducer；Wherein, configuring corresponding acceleration transducer to two driving wheels driven includes：To in two driving wheels driven
Any one vehicle configures corresponding acceleration transducer；Or, two driving wheels configuration respectively to two automobiles driven is corresponding
Acceleration transducer.
Optionally, in the case where vehicle traction type includes 4 wheel driven, corresponding acceleration is configured to the driving wheel of 4 wheel driven
Sensor；Wherein, the corresponding acceleration transducer of driving wheel configuration to 4 wheel driven includes：Front driving wheel and and forerunner to 4 wheel driven
Corresponding acceleration transducer is respectively configured in the diagonal rear drive sprocket of driving wheel；Or, each driving wheel of 4 wheel driven is matched somebody with somebody respectively respectively
Put corresponding acceleration transducer.
Optionally, in the case where vehicle traction type includes two drives, pass through electric machine controller and gather turning for driving motor
Fast acceleration；In the case where vehicle traction type includes 4 wheel driven, driving motor includes：Front motor and rear motor, pass through motor
Controller gathers the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor respectively.
Optionally, jitter suppression switchgear distribution is in entire car controller, for the acceleration according to the wheel collected and drive
The rotating speed acceleration of dynamic motor, judges whether to meet preset trigger condition, in the case where the judgment result is yes, triggering shake suppression
Control signal processed；Wherein, preset trigger condition includes：Whether the acceleration of wheel is more than predetermined wheel acceleration rate threshold；With/
Or, whether the rotating speed acceleration of driving motor is more than default motor speed acceleration rate threshold.
Another aspect according to embodiments of the present invention, additionally provides a kind of automobile, including：Electric automobile, wherein, electronic vapour
Car includes：Suppress the control system of vehicle body shake, suppressing the control system of vehicle body shake includes the control of above-mentioned suppression vehicle body shake
System processed.
In embodiments of the present invention, using one shake of addition in the communication protocol of entire car controller and electric machine controller
Suppress the mode of functional switch, switched by jitter suppression, electric machine controller, driving motor and sensor, wherein, sensor,
It is configured at wheel, for gathering the acceleration of wheel；Electric machine controller, is connected with driving motor, is corresponded to for gathering wheel
Drive the rotating speed acceleration of motor；Jitter suppression switchs, and is connected respectively with sensor and electric machine controller, for according to wheel
The rotating speed acceleration of acceleration and motor, output jitter suppress control signal, have reached and ensure that and disappear in time when shaking
Except discomfort caused by wheel shake and motor vibrating, and the frequency that jitter suppression function is opened is reduced as far as possible, ensure
The high accuracy of torque controller ensure that in vehicle operation eliminates wheel shake and motor vibrating when shaking in time
Caused discomfort, and the frequency that jitter suppression function is opened is reduced as far as possible, ensure moment of torsion control in vehicle operation
The high-precision purpose of device processed, it is achieved thereby that the technique effect of lifting vehicle moment of torsion control precision, and then solve due to existing
Have in technology and suppress the fluctuation of motor speed by being superimposed a moment of torsion in the processing procedure for suppressing vehicle body shake, cause whole
The low technical problem of car moment of torsion control precision.
Brief description of the drawings
Attached drawing described herein is used for providing a further understanding of the present invention, forms the part of the application, this hair
Bright schematic description and description is used to explain the present invention, does not form inappropriate limitation of the present invention.In the accompanying drawings：
Fig. 1 is the structure diagram of the control system for suppressing vehicle body shake according to embodiments of the present invention；
Fig. 2 is that sensor and motor are disposed in the control system that a kind of suppression vehicle body according to embodiments of the present invention is shaken
Structure diagram；
Fig. 3 is sensor and motor deployment in another control system for suppressing vehicle body shake according to embodiments of the present invention
Structure diagram；
Fig. 4 is the function that jitter suppression switchs in the control system that a kind of suppression vehicle body according to embodiments of the present invention is shaken
Schematic diagram；
Fig. 5 is the flow diagram of the control method for suppressing vehicle body shake according to embodiments of the present invention.
Embodiment
In order to make those skilled in the art more fully understand the present invention program, below in conjunction with the embodiment of the present invention
Attached drawing, is clearly and completely described the technical solution in the embodiment of the present invention, it is clear that described embodiment is only
The embodiment of a part of the invention, instead of all the embodiments.Based on the embodiments of the present invention, ordinary skill people
Member's all other embodiments obtained without making creative work, should all belong to the model that the present invention protects
Enclose.
It should be noted that term " first " in description and claims of this specification and above-mentioned attached drawing, "
Two " etc. be for distinguishing similar object, without for describing specific order or precedence.It should be appreciated that so use
Data can exchange in the appropriate case, so as to the embodiment of the present invention described herein can with except illustrating herein or
Order beyond those of description is implemented.In addition, term " comprising " and " having " and their any deformation, it is intended that cover
Cover it is non-exclusive include, be not necessarily limited to for example, containing the process of series of steps or unit, method, system, product or equipment
Those steps or unit clearly listed, but may include not list clearly or for these processes, method, product
Or the intrinsic other steps of equipment or unit.
Embodiment one
According to embodiments of the present invention, there is provided it is a kind of suppress vehicle body shake control system embodiment, it is necessary to explanation,
Step shown in the flowchart of the accompanying drawings can perform in the computer system of such as a group of computer-executable instructions, and
And although showing logical order in flow charts, in some cases, can be with different from order execution institute herein
The step of showing or describing.
Fig. 1 is the structure diagram of the control system for suppressing vehicle body shake according to embodiments of the present invention, as shown in Figure 1,
The control system of suppression vehicle body shake includes：
Jitter suppression switch 12, electric machine controller 14, driving motor 16 and sensor 18, wherein, sensor 18, is configured at
At wheel, for gathering the acceleration of wheel；Electric machine controller 14, is connected with driving motor 16, and drive is corresponded to for gathering wheel
The rotating speed acceleration of dynamic motor 16；Jitter suppression switch 12, is connected with sensor 18 and electric machine controller 14, for foundation respectively
The acceleration of wheel and the rotating speed acceleration of driving motor, output jitter suppress control signal.
Specifically, the control system for the suppression vehicle body shake that the application provides can be adapted for automobile, wherein, which can
With including：Pure electric vehicle power automobile, oil-electric vehicle or gas-electricity power combined automobile, the suppression vehicle body that the application provides are trembled
Dynamic control system illustrates exemplified by suitable for pure electric vehicle power automobile, in pure electric vehicle power automobile, jitter suppression switch 12
The rotating speed acceleration of the acceleration for by sensor 18 and electric machine controller 14, gathering wheel and driving motor is put forward respectively, and is led to
Whether the rotating speed acceleration for crossing the acceleration for judging current wheel and driving motor is more than predetermined threshold value, it is determined whether output jitter
Suppress control signal.
For example, the acceleration rate threshold for being set in wheel is A1, the rotating speed acceleration threshold value for driving motor is A2, is collected
The acceleration of wheel is a1, and the rotating speed acceleration for driving motor is a2, if jitter suppression switch 12 is getting the acceleration of wheel
When spending for a1 with driving the rotating speed acceleration of motor to be a2, respectively by a1 and A1, a2 judges whether a1 is more than compared with A2
Whether A1, a2 are more than A2, and in the case where judging result is to be, output jitter suppresses control signal.
In embodiments of the present invention, using one shake of addition in the communication protocol of entire car controller and electric machine controller
Suppress the mode of functional switch, switched by jitter suppression, electric machine controller, driving motor and sensor, wherein, sensor,
It is configured at wheel, for gathering the acceleration of wheel；Electric machine controller, is connected with driving motor, is corresponded to for gathering wheel
Drive the rotating speed acceleration of motor；Jitter suppression switchs, and is connected respectively with sensor and electric machine controller, for according to wheel
The rotating speed acceleration of acceleration and driving motor, output jitter suppress control signal, reached ensure that when shaking and
When eliminate discomfort caused by wheel shake and driving motor vibrating, and reduce the frequency that jitter suppression function is opened as far as possible
Rate, ensures that the high accuracy of torque controller in vehicle operation ensure that and eliminates wheel shake in time when shaking and drive
Discomfort caused by dynamic motor vibrating, and the frequency that jitter suppression function is opened is reduced as far as possible, ensure that vehicle was run
The high-precision purpose of torque controller in journey, it is achieved thereby that the technique effect of lifting vehicle moment of torsion control precision, and then solve
Determine due to suppressing motor speed by being superimposed a moment of torsion in the processing procedure for suppressing vehicle body shake in the prior art
Fluctuation, causes the low technical problem of vehicle moment of torsion control precision.
Optionally, in the case where wheel includes driving wheel, sensor 18 includes：Acceleration transducer, wherein, acceleration
Sensor, for foundation vehicle traction type configuration in corresponding driving wheel, wherein, vehicle traction type includes：Two drive or
4 wheel driven, wheel include driving wheel.
Specifically, since the vehicle traction type of automobile includes two kinds：Two drives and 4 wheel driven, the suppression vehicle body that the application provides
It is specific as follows that the control system of shake is based on vehicle traction type：
Scene one：Vehicle traction type includes：Two drive
Further, optionally, in the case where vehicle traction type includes two drives, two driving wheels driven is configured and are corresponded to
Acceleration transducer；Wherein, configuring corresponding acceleration transducer to two driving wheels driven includes：To in two driving wheels driven
Any one vehicle configures corresponding acceleration transducer；Or, two driving wheels configuration respectively to two automobiles driven is corresponding
Acceleration transducer.
Specifically, drive to include due to two：Forerunner and rear-guard, in the case where vehicle traction type is forerunner, accelerate
Spending sensor can be located on any wheel in front driving wheel, or, acceleration is respectively configured to two wheels in front driving wheel
Spend sensor.
Similarly, in the case where vehicle traction type is rear-guard, acceleration transducer can be located at appointing in rear drive sprocket
On one wheel, or, acceleration transducer is respectively configured to two wheels in rear drive sprocket.If each wheel in driving wheel is matched somebody with somebody
Acceleration transducer is put, then can lift vehicle moment of torsion control precision.
It is any one in front driving wheel with the case of forerunner in the control system for suppressing vehicle body shake that the application provides
Configure acceleration transducer on a wheel to illustrate for preferred exemplary, specifically as shown in Fig. 2, Fig. 2 is to implement according to the present invention
Sensor and the structure diagram of motor deployment in a kind of control system of suppression vehicle body shake of example.
Scene two：Vehicle traction type includes：4 wheel driven
Optionally, in the case where vehicle traction type includes 4 wheel driven, corresponding acceleration is configured to the driving wheel of 4 wheel driven
Sensor；Wherein, the corresponding acceleration transducer of driving wheel configuration to 4 wheel driven includes：Front driving wheel and and forerunner to 4 wheel driven
Corresponding acceleration transducer is respectively configured in the diagonal rear drive sprocket of driving wheel；Or, each driving wheel of 4 wheel driven is matched somebody with somebody respectively respectively
Put corresponding acceleration transducer.
Specifically, in the case that vehicle traction type is 4 wheel driven, front driving wheel and and front driving wheel to the automobile of 4 wheel driven
Corresponding acceleration transducer is respectively configured in diagonal rear drive sprocket；Or, each driving wheel of the automobile of 4 wheel driven is distinguished respectively
Corresponding acceleration transducer is configured, if configuring acceleration transducer to each wheel in driving wheel, vehicle torsion can be lifted
Square control accuracy.
Corresponding acceleration is respectively configured in the front driving wheel of the automobile of 4 wheel driven and the rear drive sprocket diagonal with front driving wheel
Degree sensor is specific as shown in figure 3, Fig. 3 is another suppression according to embodiments of the present invention to be illustrated exemplified by preferred exemplary
Sensor and the structure diagram of motor deployment in the control system of vehicle body shake processed.
Optionally, in the case where vehicle traction type includes two drives, pass through electric machine controller 14 and gather driving motor 16
Rotating speed acceleration；It is specific as shown in Figure 2.
In the case where vehicle traction type includes 4 wheel driven, driving motor includes：Front motor and rear motor, pass through motor control
Device processed gathers the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor respectively；It is specific as shown in Figure 3.
Optionally, jitter suppression switch 12 is configured at entire car controller, for the acceleration according to the wheel collected and
The rotating speed acceleration of motor 16 is driven, judges whether to meet preset trigger condition, in the case where the judgment result is yes, triggering is trembled
It is dynamic to suppress control signal；Wherein, preset trigger condition includes：Whether the acceleration of wheel is more than predetermined wheel acceleration rate threshold；
And/or whether the rotating speed acceleration of driving motor 16 is more than default motor speed acceleration rate threshold.
To sum up, in the logical of entire car controller and electric machine controller in the control system for suppressing vehicle body shake that the application provides
Believe and a jitter suppression functional switch is added in agreement, the jitter suppression work(of electric machine controller is turned on and off by this
Energy.
If vehicle drives for two, a high-precision acceleration transducer is arranged on a wheel in driving wheel,
Also arrange that an acceleration passes on the diagonal trailing wheel for arrange acceleration transducer front-wheel if vehicle is four-wheel drive cars
Sensor.
Jitter suppression switch Controlling model is embedded in the entire car controller of vehicle, jitter suppression switch Controlling model
Input quantity is the acceleration of wheel and the acceleration of motor speed, and output quantity is jitter suppression functional switch signal.Current motor
Rotating speed acceleration is excessive or precursor motor thrashing is opened when front wheel rotation speed acceleration is excessive suppresses function, otherwise closes shake
Suppress function, rear-guard electric system jitter suppression is opened when rear motor speed acceleration is excessive or rear wheel rotation speed acceleration is excessive
Function, on the contrary close jitter suppression function.
The jitter suppression switchs Controlling model as shown in figure 4, Fig. 4 is a kind of vehicle body that suppresses according to embodiments of the present invention trembles
The functional schematic that jitter suppression switchs in dynamic control system.By taking the 4 wheel driven wheel of two motors as an example, a1 represents front wheel rotation speed
Acceleration；A1* represents the front wheel rotation speed acceleration magnitude of the influence driver comfort drawn after calibration test,
A2 represents rear wheel rotation speed acceleration；A2* represents the rear wheel rotation speed of the influence driver comfort drawn after calibration test
Acceleration magnitude,
A3 represents front motor rotating speed acceleration；A3* represents the front motor of the influence driver comfort drawn after calibration test
Rotating speed acceleration value,
Motor speed acceleration after a4 is represented；A4* represents the rear motor of the influence driver comfort drawn after calibration test
Rotating speed acceleration value.
St_damping1 represents front motor jitter suppression functional switch, this value represents front motor jitter suppression when being equal to 1
Function is opened；Motor vibrating suppresses functional switch after st_damping2 is represented, and motor vibrating presses down after this value represents when being equal to 1
Function processed is opened.
If vehicle traction motor has multiple, then the just corresponding increase of mode input amount.
What the application provided suppresses the control system of vehicle body shake by accelerating to driving motor speed acceleration and wheel
The collection of degree both ensure that to decide whether unlatching jitter suppression function and eliminate wheel shake and driving in time when shaking
Discomfort caused by motor vibrating, and the frequency that jitter suppression function is opened is reduced as far as possible, ensure vehicle operation
The high accuracy of middle torque controller.
Specifically, as shown in figure 4, flg1 is put 1 as a1 ＞ a1*, otherwise flg1 is set to 0；As a2 ＞ a2* by flg2
1 is put, otherwise sets to 0 flg2；Flg3 is put 1 as a3 ＞ a3*, otherwise sets to 0 flg3,；Flg4 is put 1 as a4 ＞ a4*, it is no
Then flg4 is set to 0.
When any one is 1 as flg1 or flg3, st_damping1 is put 1 and is sent to FMCU, precursor motor system
Open jitter suppression function；When flg1 and flg3 is 0, st_damping1 is set to 0 and is sent to FMCU, precursor motor system
Close jitter suppression function.When any one is 1 as flg2 or flg4, st_damping2 is put 1 and is sent to RMCU, after
Drive electric system and open jitter suppression function；When flg2 and flg4 is 0, st_damping2 is set to 0 and is sent to RMCU, after
Drive electric system and close jitter suppression function.
The control system for the suppression vehicle body shake that the application provides passes through to driving motor speed acceleration and vehicle wheel rotational speed
The real-time collection of acceleration suppresses whether function opens to judge stabilization, and by widely testing, verification is several to be added in practical application
The reasonability of threshold speed, ensures the promptness that jitter suppression function is opened and reduces unnecessary opening times, is ensureing to add
It ensure that the control accuracy of driving Motor torque to improve vehicle in the process of running on the premise of fast comfort to greatest extent
Security.
Embodiment two
According to embodiments of the present invention, there is provided it is a kind of suppress vehicle body shake control method embodiment, it is necessary to explanation,
Step shown in the flowchart of the accompanying drawings can perform in the computer system of such as a group of computer-executable instructions, and
And although showing logical order in flow charts, in some cases, can be with different from order execution institute herein
The step of showing or describing.
Fig. 5 is the flow diagram of the control method for suppressing vehicle body shake according to embodiments of the present invention, as shown in figure 5,
This method comprises the following steps：
Step S502, gathers the acceleration of wheel and wheel corresponds to the rotating speed acceleration of driving motor；
Step S504, according to the acceleration of wheel and the rotating speed acceleration of driving motor, output jitter suppresses control signal.
Specifically, the suppression vehicle body in the control method corresponding diagram 1 provided by the embodiments of the present application for suppressing vehicle body shake is trembled
Dynamic control system, wherein, the control method for the suppression vehicle body shake that the application provides can be adapted for automobile, wherein, the vapour
Car can include：Pure electric vehicle power automobile, oil-electric vehicle or gas-electricity power combined automobile, the suppression car that the application provides
The control method of body shake illustrates exemplified by suitable for pure electric vehicle power automobile, and in pure electric vehicle power automobile, jitter suppression is opened
The acceleration of wheel and the rotating speed acceleration of driving motor that automobile is gathered by sensor and electric machine controller are closed, and according to car
The acceleration of wheel and the rotating speed acceleration of driving motor, output jitter suppress control signal.
In embodiments of the present invention, using one shake of addition in the communication protocol of entire car controller and electric machine controller
Suppress the mode of functional switch, the rotating speed acceleration of driving motor is corresponded to by the acceleration and wheel that gather wheel；According to car
The rotating speed acceleration of the acceleration of wheel and driving motor, output jitter suppress control signal, have reached and ensure that and shaking
When eliminate discomfort caused by wheel shake and driving motor vibrating in time, and reduce jitter suppression function as far as possible and open
Frequency, ensure vehicle operation in torque controller high accuracy ensure that eliminated in time when shaking wheel shake
With driving motor vibrating caused by discomfort, and reduce the frequency that jitter suppression function is opened as far as possible, ensure vehicle fortune
The high-precision purpose of torque controller during row, it is achieved thereby that the technique effect of lifting vehicle moment of torsion control precision, into
And solve due to being turned in the prior art in the processing procedure for suppressing vehicle body shake by being superimposed a moment of torsion to suppress motor
The fluctuation of speed, causes the low technical problem of vehicle moment of torsion control precision.
Specifically, since the vehicle traction type of automobile includes two kinds：Two drives and 4 wheel driven, the suppression vehicle body that the application provides
It is specific as follows that the control method of shake is based on vehicle traction type：
Scene one：Vehicle traction type includes：Two drive
Optionally, the acceleration of wheel is gathered in step S502 and wheel corresponds to and drives the rotating speed acceleration of motor to include：
Step1, when vehicle traction type, which includes two, drives, gathers the acceleration of any driving wheel；And driving wheel corresponds to
Driving motor rotating speed acceleration, wherein, wheel includes：Driving wheel；
Wherein, two drives are included in the vehicle traction type of automobile, two drives include forerunner and rear-guard, and wheel includes driving wheel
In the case of, gather the acceleration of any wheel in the driving wheel in forerunner or rear-guard；And wheel corresponds to the rotating speed of driving motor
Acceleration.
Further, optionally, according to the acceleration of wheel and the rotating speed acceleration of driving motor, output in step S504
Jitter suppression control signal includes：
Step1, if the acceleration of driving wheel is more than predetermined wheel acceleration rate threshold, and/or, drive the rotating speed of motor to accelerate
Degree is more than default motor speed acceleration rate threshold, then triggers jitter suppression control signal；
Wherein, whether the acceleration for including driving wheel in Rule of judgment is more than predetermined wheel acceleration rate threshold；And/or electricity
In the case that whether the rotating speed acceleration of machine is more than default motor speed acceleration rate threshold, preset if the acceleration of driving wheel is more than
Wheel acceleration threshold value, and/or, the rotating speed acceleration of motor is more than default motor speed acceleration rate threshold, then triggering shake suppression
Control signal processed.
Scene two：Vehicle traction type includes：4 wheel driven
Optionally, the acceleration of wheel of automobile and the rotating speed acceleration of motor are gathered in step S502 includes：
Step1, gathers the acceleration of wheel and wheel corresponds to and drives the rotating speed acceleration of motor to include：When vehicle traction class
When type includes 4 wheel driven, the first acceleration of any front driving wheel and the second acceleration of any rear drive sprocket are gathered；And forerunner
First rotating speed acceleration of the corresponding front motor of driving wheel, and the second rotating speed acceleration of the corresponding rear motor of rear drive sprocket；Wherein,
Wheel includes：Front driving wheel and rear drive sprocket；
Wherein, 4 wheel driven is included in the vehicle traction type of automobile, wheel includes：Front driving wheel and rear drive sprocket, driving electricity
Machine includes：In the case of front motor and rear motor, the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are gathered；
And the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor；Wherein, rear drive sprocket is located at front driving wheel
Diagonal position, front motor be used for drive front driving wheel；Motor is used to drive rear drive sprocket afterwards；Gather front driving wheel first adds
Second acceleration of speed and rear drive sprocket includes：Gather the first acceleration of any wheel in front driving wheel；And rear driving
Second acceleration of any wheel in wheel.
Further, optionally, according to the acceleration of wheel and the rotating speed acceleration of driving motor, output in step S504
Jitter suppression control signal includes：
Step1, if the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are all higher than predetermined wheel acceleration
Spend threshold value；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor are all higher than default motor speed
Acceleration rate threshold, then trigger jitter suppression control signal；
Include in Rule of judgment：It is pre- whether the first acceleration of front driving wheel and the second acceleration of rear drive sprocket are all higher than
If wheel acceleration threshold value；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor it is whether big
In the case of default motor speed acceleration rate threshold, if the second acceleration of the first acceleration of front driving wheel and rear drive sprocket
It is all higher than predetermined wheel acceleration rate threshold；And/or the first rotating speed acceleration of front motor and the second rotating speed acceleration of rear motor
Default motor speed acceleration rate threshold is all higher than, then triggers jitter suppression control signal.
What the application provided suppresses the control method of vehicle body shake by accelerating to motor speed acceleration and vehicle wheel rotational speed
The real-time collection of degree suppresses whether function opens to judge stabilization, by widely testing the several acceleration of verification in practical application
The reasonability of threshold value, ensures the promptness that jitter suppression function is opened and reduces unnecessary opening times, is ensureing to accelerate to relax
The control accuracy of Motor torque is ensure that on the premise of adaptive to greatest extent to improve the security of vehicle in the process of running.
Embodiment three
Another aspect according to embodiments of the present invention, additionally provides a kind of automobile, including：Pure electric vehicle power automobile, oil electricity are mixed
Power vehicle or vapour point hybrid vehicle are closed, wherein, which includes：Suppress the control system of vehicle body shake, suppress vehicle body
The control system of shake includes the control system for suppressing vehicle body shake in above-described embodiment one.
The embodiments of the present invention are for illustration only, do not represent the quality of embodiment.
In the above embodiment of the present invention, the description to each embodiment all emphasizes particularly on different fields, and does not have in some embodiment
The part of detailed description, may refer to the associated description of other embodiment.
In several embodiments provided herein, it should be understood that disclosed technology contents, can pass through others
Mode is realized.Wherein, device embodiment described above is only schematical, such as the division of the unit, Ke Yiwei
A kind of division of logic function, can there is an other dividing mode when actually realizing, for example, multiple units or component can combine or
Person is desirably integrated into another system, or some features can be ignored, or does not perform.Another, shown or discussed is mutual
Between coupling, direct-coupling or communication connection can be INDIRECT COUPLING or communication link by some interfaces, unit or module
Connect, can be electrical or other forms.
The unit illustrated as separating component may or may not be physically separate, be shown as unit
The component shown may or may not be physical location, you can with positioned at a place, or can also be distributed to multiple
On unit.Some or all of unit therein can be selected to realize the purpose of this embodiment scheme according to the actual needs.
In addition, each functional unit in each embodiment of the present invention can be integrated in a processing unit, can also
That unit is individually physically present, can also two or more units integrate in a unit.Above-mentioned integrated list
Member can both be realized in the form of hardware, can also be realized in the form of SFU software functional unit.
If the integrated unit is realized in the form of SFU software functional unit and is used as independent production marketing or use
When, it can be stored in a computer read/write memory medium.Based on such understanding, technical scheme is substantially
The part to contribute in other words to the prior art or all or part of the technical solution can be in the form of software products
Embody, which is stored in a storage medium, including some instructions are used so that a computer
Equipment (can be personal computer, server or network equipment etc.) perform each embodiment the method for the present invention whole or
Part steps.And foregoing storage medium includes：USB flash disk, read-only storage (ROM, Read-Only Memory), arbitrary access are deposited
Reservoir (RAM, Random Access Memory), mobile hard disk, magnetic disc or CD etc. are various can be with store program codes
Medium.
The above is only the preferred embodiment of the present invention, it is noted that for the ordinary skill people of the art
For member, various improvements and modifications may be made without departing from the principle of the present invention, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (12)
- A kind of 1. control method for suppressing vehicle body shake, it is characterised in that including：Gather the acceleration of wheel and the wheel corresponds to the rotating speed acceleration of driving motor；According to the acceleration of the wheel and the rotating speed acceleration of the driving motor, output jitter suppresses control signal.
- 2. the control method according to claim 1 for suppressing vehicle body shake, it is characterised in that the acceleration of the collection wheel The rotating speed acceleration of degree driving motor corresponding with the wheel includes：When vehicle traction type, which includes two, drives, the acceleration of any driving wheel is gathered；And the corresponding driving of driving wheel The rotating speed acceleration of motor, wherein, the wheel includes：The driving wheel.
- 3. the control method according to claim 2 for suppressing vehicle body shake, it is characterised in that described according to the wheel The rotating speed acceleration of acceleration and the driving motor, output jitter, which suppresses control signal, to be included：If the acceleration of the driving wheel is more than predetermined wheel acceleration rate threshold, and/or, the rotating speed acceleration of the driving motor More than default motor speed acceleration rate threshold, then the jitter suppression control signal is triggered.
- 4. the control method according to claim 1 for suppressing vehicle body shake, it is characterised in that the acceleration of the collection wheel The rotating speed acceleration of degree driving motor corresponding with the wheel includes：When vehicle traction type includes 4 wheel driven, gather any front driving wheel the first acceleration and any rear drive sprocket second Acceleration；And the first rotating speed acceleration of the corresponding front motor of the front driving wheel, and the rear drive sprocket it is corresponding after electricity Second rotating speed acceleration of machine；Wherein, the wheel includes：Front driving wheel and rear drive sprocket.
- 5. the control method according to claim 4 for suppressing vehicle body shake, it is characterised in that described according to the wheel The rotating speed acceleration of acceleration and the driving motor, output jitter, which suppresses control signal, to be included：If the first acceleration of the front driving wheel and the second acceleration of the rear drive sprocket are all higher than predetermined wheel acceleration Threshold value；And/or the first rotating speed acceleration of the front motor and the second rotating speed acceleration of the rear motor are all higher than default electricity Machine rotating speed acceleration threshold value, then trigger the jitter suppression control signal.
- A kind of 6. control system for suppressing vehicle body shake, it is characterised in that including：Jitter suppression switch, electric machine controller, driving motor and sensor, wherein,The sensor, is configured at wheel, for gathering the acceleration of the wheel；The electric machine controller, is connected, the rotating speed that driving motor is corresponded to for gathering the wheel accelerates with the driving motor Degree；The jitter suppression switch, is connected with the sensor and the electric machine controller, for according to the wheel respectively The rotating speed acceleration of acceleration and the driving motor, output jitter suppress control signal.
- 7. the control system according to claim 6 for suppressing vehicle body shake, it is characterised in that include driving in the wheel In the case of wheel, the sensor includes：Acceleration transducer, wherein,The acceleration transducer, for foundation vehicle traction type configuration in corresponding driving wheel, wherein, the vehicle drives Dynamic type includes：Two drives or 4 wheel driven, the wheel include the driving wheel.
- 8. the control system according to claim 7 for suppressing vehicle body shake, it is characterised in thatIn the case where the vehicle traction type includes two drives, corresponding acceleration sensing is configured to described two driving wheels driven Device；Wherein, the corresponding acceleration transducer of driving wheels configuration driven to described two includes：Corresponding acceleration transducer is configured to any one wheel in described two driving wheels driven；Or, driven respectively to described two Two driving wheels of automobile configure corresponding acceleration transducer.
- 9. the control system according to claim 7 for suppressing vehicle body shake, it is characterised in thatIn the case where the vehicle traction type includes 4 wheel driven, corresponding acceleration sensing is configured to the driving wheel of the 4 wheel driven Device；Wherein, the driving wheel to the 4 wheel driven configures corresponding acceleration transducer and includes：Front driving wheel and the rear drive sprocket diagonal with the front driving wheel to the 4 wheel driven are respectively configured corresponding acceleration and pass Sensor；Or, corresponding acceleration transducer is respectively configured to each driving wheel of the 4 wheel driven respectively.
- 10. the control system according to claim 6 for suppressing vehicle body shake, it is characterised in thatIn the case where vehicle traction type includes two drives, the rotating speed that the driving motor is gathered by the electric machine controller adds Speed；In the case where vehicle traction type includes 4 wheel driven, the driving motor includes：Front motor and rear motor, pass through the electricity Machine controller gathers the first rotating speed acceleration of the front motor and the second rotating speed acceleration of the rear motor respectively.
- 11. the control system for suppressing vehicle body shake according to any one of claim 6 to 10, it is characterised in thatThe jitter suppression switchgear distribution is in entire car controller, for the acceleration according to the wheel collected and the drive The rotating speed acceleration of dynamic motor, judges whether to meet preset trigger condition, in the case where the judgment result is yes, is trembled described in triggering It is dynamic to suppress control signal；Wherein, the preset trigger condition includes：Whether the acceleration of the wheel is more than predetermined wheel acceleration rate threshold；With/ Or, whether the rotating speed acceleration of the driving motor is more than default motor speed acceleration rate threshold.
- A kind of 12. automobile, it is characterised in that including：Electric automobile, wherein, the electric automobile includes：Suppress vehicle body shake Control system, the suppression vehicle body that the control system for suppressing vehicle body shake is included any one of claim 6 to 11 are trembled Dynamic control system.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975459.7A CN108032768B (en) | 2017-10-16 | 2017-10-16 | Control method and system for inhibiting vehicle body shake and automobile |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201710975459.7A CN108032768B (en) | 2017-10-16 | 2017-10-16 | Control method and system for inhibiting vehicle body shake and automobile |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN108032768A true CN108032768A (en) | 2018-05-15 |
| CN108032768B CN108032768B (en) | 2020-08-28 |
Family
ID=62093201
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201710975459.7A Expired - Fee Related CN108032768B (en) | 2017-10-16 | 2017-10-16 | Control method and system for inhibiting vehicle body shake and automobile |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN108032768B (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758114A (en) * | 2019-11-25 | 2020-02-07 | 北京长城华冠汽车科技股份有限公司 | Method for inhibiting jitter of four-wheel-drive electric automobile in acceleration process |
| CN111942172A (en) * | 2020-05-13 | 2020-11-17 | 武汉格罗夫氢能汽车有限公司 | Automatic identification method for motor jitter of hydrogen fuel cell automobile |
Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060030979A1 (en) * | 2004-07-23 | 2006-02-09 | Ford Global Technologies, Llc | Method for attenuating vibrations in a hybrid electric vehicle powertrain |
| KR20130060907A (en) * | 2011-11-30 | 2013-06-10 | 주식회사 포스코 | Electric vehicle and vibration reduction control method in drive shaft thereof |
| CN104057839A (en) * | 2014-06-18 | 2014-09-24 | 安徽江淮汽车股份有限公司 | Torque compensation method and device |
| CN106143209A (en) * | 2015-04-09 | 2016-11-23 | 上海汽车集团股份有限公司 | Vehicle torsion vibration control method, Apparatus and system |
| CN106809051A (en) * | 2015-12-01 | 2017-06-09 | 上海汽车集团股份有限公司 | Motor in electric automobile jitter suppression method and device |
| CN106965707A (en) * | 2017-02-23 | 2017-07-21 | 重庆长安汽车股份有限公司 | A kind of control method and system of pure electric automobile shake |
-
2017
- 2017-10-16 CN CN201710975459.7A patent/CN108032768B/en not_active Expired - Fee Related
Patent Citations (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20060030979A1 (en) * | 2004-07-23 | 2006-02-09 | Ford Global Technologies, Llc | Method for attenuating vibrations in a hybrid electric vehicle powertrain |
| KR20130060907A (en) * | 2011-11-30 | 2013-06-10 | 주식회사 포스코 | Electric vehicle and vibration reduction control method in drive shaft thereof |
| CN104057839A (en) * | 2014-06-18 | 2014-09-24 | 安徽江淮汽车股份有限公司 | Torque compensation method and device |
| CN106143209A (en) * | 2015-04-09 | 2016-11-23 | 上海汽车集团股份有限公司 | Vehicle torsion vibration control method, Apparatus and system |
| CN106809051A (en) * | 2015-12-01 | 2017-06-09 | 上海汽车集团股份有限公司 | Motor in electric automobile jitter suppression method and device |
| CN106965707A (en) * | 2017-02-23 | 2017-07-21 | 重庆长安汽车股份有限公司 | A kind of control method and system of pure electric automobile shake |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110758114A (en) * | 2019-11-25 | 2020-02-07 | 北京长城华冠汽车科技股份有限公司 | Method for inhibiting jitter of four-wheel-drive electric automobile in acceleration process |
| CN111942172A (en) * | 2020-05-13 | 2020-11-17 | 武汉格罗夫氢能汽车有限公司 | Automatic identification method for motor jitter of hydrogen fuel cell automobile |
Also Published As
| Publication number | Publication date |
|---|---|
| CN108032768B (en) | 2020-08-28 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN108032768A (en) | Suppress control method, system and the automobile of vehicle body shake | |
| CN100593299C (en) | System for failure safety control between controllers of hybrid vehicle | |
| WO2021211503A1 (en) | Ann training through processing power of parked vehicles | |
| CN105984468B (en) | The method for operating Electric drive module | |
| CN103569093B (en) | Stopping/starting vehicle | |
| CN104828087B (en) | Antero posterior axis driving force adjustment control method, system and the four-wheel drive cars of four-wheel drive cars | |
| US20240079986A1 (en) | Motor Control Unit | |
| CN104044567A (en) | Coordinated brake control of wheels on a common differential | |
| CN106740824A (en) | demand torque filtering method, system and hybrid vehicle | |
| CN110171297A (en) | Driving motor output torque control method, system and the vehicle of electric car | |
| CN108622070A (en) | The control device of vehicle | |
| CN107599889A (en) | One kind reversing control method, device and electric automobile | |
| CN107187317A (en) | Control method, device, entire car controller and the automobile of automobile driving speed | |
| CN113482790A (en) | Control method and device of engine | |
| CN103490681B (en) | Control the method and system of attached brushless DC motor of electric vehicle | |
| CN108528272A (en) | Electric car motor control method, device and electric vehicle | |
| CN103402846A (en) | Detection of power train oscillations | |
| CN109803849A (en) | The control method of the control device of electric vehicle, the control system of electric vehicle and electric vehicle | |
| JP3677904B2 (en) | Electric vehicle motor drive control device | |
| CN103339008A (en) | Damping of power train oscillations | |
| CN115782612A (en) | Vehicle motor torque distribution method, apparatus and system | |
| CN106740272A (en) | The low jitter control method of pure electric automobile, device and pure electric automobile | |
| CN107703947A (en) | Control method, device, vehicle and computer-readable recording medium | |
| WO2023210440A1 (en) | Electric vehicle control device | |
| CN107444503A (en) | A kind of crosswind emergency system for vehicle |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20200828 Termination date: 20211016 |
|
| CF01 | Termination of patent right due to non-payment of annual fee |