CN108068659A - A kind of method, apparatus and system for inhibiting electric vehicle shake - Google Patents

A kind of method, apparatus and system for inhibiting electric vehicle shake Download PDF

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Publication number
CN108068659A
CN108068659A CN201711090837.XA CN201711090837A CN108068659A CN 108068659 A CN108068659 A CN 108068659A CN 201711090837 A CN201711090837 A CN 201711090837A CN 108068659 A CN108068659 A CN 108068659A
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shake
rotating speed
amplitude
axis
frequency
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CN201711090837.XA
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CN108068659B (en
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唐杰
张涛
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Huawei Technologies Co Ltd
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Huawei Technologies 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
    • H—ELECTRICITY
    • H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
    • H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
    • H02P23/00—Arrangements or methods for the control of AC motors characterised by a control method other than vector control
    • H02P23/04—Arrangements or methods for the control of AC motors characterised by a control method other than vector control specially adapted for damping motor oscillations, e.g. for reducing hunting
    • 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
    • Y02T10/64—Electric machine technologies in electromobility
    • 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

This application discloses a kind of method, apparatus and system for inhibiting electric vehicle shake, for inhibiting electric vehicle shake, improve driver comfort.This method includes：Obtain the tach signal of motor；Fourier analysis is carried out to the tach signal, obtains the frequency and amplitude of the active constituent that rotating speed is caused to be shaken in the tach signal；The rotating speed is dithered as between electric vehicle drag torque and the moment of resistance that there are shakes caused by non-linear relation；The parameter for inhibiting rotating speed and shaking is obtained according to the frequency of the active constituent that rotating speed is caused to be shaken and amplitude；The parameter and the tach signal shaken according to the inhibition rotating speed obtain compensation torque by differential inertial element and bandpass filtering link；The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.Due to inhibiting the shake of electric vehicle, reduce the mechanical resonance generated during shake, and then reduce the abrasion of electric vehicle hardware.

Description

A kind of method, apparatus and system for inhibiting electric vehicle shake
Technical field
This application involves electric vehicle engineering field more particularly to it is a kind of inhibit electric vehicle shake method, apparatus and System.
Background technology
Electric vehicle has many advantages, such as efficient, energy saving, low noise and zero-emission, therefore electric vehicle is Future New Energy Source The development trend of automobile.As people's environmental consciousness gradually steps up, electric vehicle is increasingly subject to people to favor.
Electric vehicle generally use retarder substitutes the gearbox of traditional vehicle, is connected between motor and retarder using spline It connects, is connected between retarder and wheel by universal joint.Due between spline, retarder and universal joint there are certain joint gap and It is flexible.
There is instantaneous abrupt change in motor output torque in electric vehicle starting-up process, can cause the elastic deformation of transmission system, Drag torque and between the moment of resistance there are non-linear relation, therefore rotating speed is caused to be shaken.In addition, in some works of high-speed cruising Under condition, mechanical resonance can occur for vehicle driveline, can also motor output torque be caused to fluctuate, be trembled so as to cause rotating speed It is dynamic.
Rotating speed jitter problem not only seriously affects the comfort of electric vehicle driving, but also can reduce the work of transmission system Performance and service life.
Therefore, how to inhibit the rotating speed jitter problem of electric vehicle, slow down vehicle shake, become motor drive area urgently It solves the problems, such as.
The content of the invention
This application provides a kind of method, apparatus and system for inhibiting electric vehicle shake, can effectively inhibit electronic vapour The rotating speed shake of vehicle, so as to improve driver comfort, while can also improve working performance and the service life of transmission system.
In a first aspect, a kind of method for inhibiting electric vehicle shake is provided, the described method includes：
Obtain the tach signal of motor；
Fourier analysis is carried out to the tach signal, obtains the active constituent that rotating speed is caused to be shaken in the tach signal Frequency and amplitude；The rotating speed is dithered as between electric vehicle drag torque and the moment of resistance that there are trembled caused by non-linear relation It is dynamic；
The parameter for inhibiting rotating speed and shaking is obtained according to the frequency of the active constituent that rotating speed is caused to be shaken and amplitude；
The parameter and the tach signal shaken according to the inhibition rotating speed pass through differential inertial element and bandpass filtering ring Section obtains compensation torque；
The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.
In the first possible realization method of first aspect, Fourier analysis is carried out to the tach signal and is turned Cause the frequency and amplitude of the active constituent of rotating speed shake in fast signal, specifically include：
Fourier analysis is carried out to the tach signal, obtains the amplitude of each component in tach signal；
Using the component of amplitude maximum as the active constituent that rotating speed is caused to be shaken；
Cause the frequency and amplitude of the active constituent of rotating speed shake described in acquisition.
It, will in second of possible realization method with reference to first aspect and in any of the above-described kind of possible realization method The compensation torque is overlapped with given torque, is further included before：
Amplitude limit is carried out to the compensation torque, obtains the compensation torque after amplitude limit；
It is described to be overlapped the compensation torque with given torque, be specially：
Compensation torque after the amplitude limit is overlapped with given torque.
With reference to first aspect and in any of the above-described kind of possible realization method, in the third possible realization method, root It is compensated according to the parameter and the tach signal of the inhibition rotating speed shake by differential inertial element and bandpass filtering link Torque specifically includes：
Compensation torque is obtained by following transmission function；
Wherein, ωnFor the centre frequency of bandpass filtering, ξ is damped coefficient, T1For the passband gain of bandpass filtering, T2To be micro- Divide the corner frequency of inertial element；S is Laplace variable；
Wherein, f1 *For the frequency of the active constituent that rotating speed is caused to be shaken；A1 *Cause the effective of rotating speed shake to be described The amplitude of component；A and b is respectively for adjusting the coefficient of on-state gain and passband width.
With reference to first aspect and in any of the above-described kind of possible realization method, in the 4th kind of possible realization method, root The parameter for inhibiting rotating speed shake is obtained according to the frequency and amplitude of the active constituent that rotating speed is caused to be shaken, is specifically included：
It will cause the frequency f of the active constituent of rotating speed shake1 *With amplitude A1 *, inhibition rotating speed is obtained by the following formula and is trembled Dynamic parameter；It is described inhibit rotating speed shake parameter be respectively：The passband gain T of bandpass filter1, differential inertial element turn Roll over frequency T2, bandpass filter centre frequency ωnWith damped coefficient ξ；
T1=aA1
ωn=2 π f1 *
ξ=b
Wherein, a and b is respectively for adjusting the coefficient of on-state gain and passband width.
With reference to first aspect and in any of the above-described kind of possible realization method, in the 5th kind of possible realization method, also Including：
Obtain motor direct-axis current deviation signal and quadrature axis current deviation signal；
Fourier analysis is carried out respectively to the motor direct-axis current deviation signal and quadrature axis current deviation signal to obtain directly Shaft current causes the frequency and amplitude of the active constituent of electric current shake in being exchanged with quadrature axis；
The parameter for inhibiting electric current shake is obtained by the frequency and amplitude of the active constituent that electric current is caused to be shaken；
Utilize parameter, the direct-axis current deviation signal and the quadrature axis current deviation signal of the inhibition electric current shake D-axis offset voltage and quadrature axis offset voltage are obtained by resonance controlling unit；
The d-axis offset voltage and quadrature axis offset voltage are exported into direct-axis voltage and output with output direct-axis voltage respectively Quadrature-axis voltage is overlapped, to inhibit to electric current shake.
It is right in the 6th kind of possible realization method with reference to first aspect and in any of the above-described kind of possible realization method The motor direct-axis current deviation signal and quadrature axis current deviation signal carry out Fourier analysis and obtain direct-axis current and friendship respectively Cause the frequency and amplitude of the active constituent of electric current shake in axis AC, specifically include：
Fourier analysis is carried out to the direct-axis current deviation signal and quadrature axis current deviation signal respectively, is obtained respectively straight The amplitude of each component in shaft current deviation signal and quadrature axis current deviation signal；
Using the component of amplitude maximum as the active constituent that electric current is caused to be shaken；
Obtain the frequency and amplitude for the active constituent that electric current is caused to be shaken during the direct-axis current is exchanged with quadrature axis.
It, will in the 7th kind of possible realization method with reference to first aspect and in any of the above-described kind of possible realization method The d-axis offset voltage and quadrature axis offset voltage are overlapped respectively with output direct-axis voltage and output quadrature-axis voltage, also before Including：
Amplitude limit is carried out to the d-axis offset voltage and quadrature axis offset voltage, obtains d-axis offset voltage and limit after amplitude limit Quadrature axis offset voltage after width；
The d-axis offset voltage and quadrature axis offset voltage are carried out respectively with output direct-axis voltage and output quadrature-axis voltage Superposition, specially：
By the d-axis offset voltage after amplitude limit and the quadrature axis offset voltage after amplitude limit respectively with exporting direct-axis voltage and output Quadrature-axis voltage is overlapped.
With reference to first aspect and in any of the above-described kind of possible realization method, in the 8th kind of possible realization method, profit Parameter, the direct-axis current deviation signal and the quadrature axis current deviation signal shaken with the inhibition electric current pass through resonance control Link processed obtains d-axis offset voltage and quadrature axis offset voltage, specifically includes：
D-axis offset voltage and quadrature axis offset voltage are obtained by following transmission function；
Wherein, ωcFor the pre-set bandwidths of the resonance controlling unit, ω0Centered on frequency, k is gain, and c is adjusts gain Predetermined coefficient；ω0=2 π f2 *, k=cA2 *；f2 *For the frequency of the active constituent that electric current is caused to be shaken；A2 *To be described Cause the amplitude of the active constituent of electric current shake；S is Laplace variable.
Second aspect, provides a kind of device for inhibiting electric vehicle shake, and described device includes：
Collecting unit, for obtaining the tach signal of motor；
Rotating speed shakes active constituent obtaining unit, for carrying out Fourier analysis to the tach signal, obtains described turn Cause the frequency and amplitude of the active constituent of rotating speed shake in fast signal；The rotating speed be dithered as electric vehicle drag torque and and There are shakes caused by non-linear relation between the moment of resistance；
Inhibit rotating speed jitter parameter obtaining unit, for causing the frequency and width of the active constituent of rotating speed shake according to Value obtains the parameter for inhibiting rotating speed shake；
Torque obtaining unit is compensated, the parameter and the tach signal for being shaken according to the inhibition rotating speed pass through differential Inertial element and bandpass filtering link obtain compensation torque；
Rotating speed jitter suppression unit, for the compensation torque to be overlapped with given torque, to be trembled to the rotating speed It is dynamic to be inhibited.
In the first possible realization method of second aspect, stating rotating speed shake active constituent obtaining unit includes：
Tach signal component obtains subelement, for carrying out Fourier analysis to the tach signal, obtains tach signal In each component amplitude；
Rotating speed shake active constituent obtains subelement, for the component of amplitude maximum is effective as rotating speed is caused to be shaken Component；
Frequency and amplitude first obtain subelement, for obtaining the frequency and width of the active constituent that rotating speed is caused to be shaken Value.
With reference in second aspect and any of the above-described kind of possible realization method, in second of possible realization method, go back Including：Torque amplitude limit unit；
The torque amplitude limit unit for carrying out amplitude limit to the compensation torque, obtains the compensation torque after amplitude limit；
Rotating speed jitter suppression unit, for the compensation torque after the amplitude limit to be overlapped with given torque.
With reference in second aspect and any of the above-described kind of possible realization method, in the third possible realization method, go back Including：
Current deviation signal obtaining unit, for obtaining motor direct-axis current deviation signal and quadrature axis current deviation signal；
Electric current shakes active constituent obtaining unit, for the motor direct-axis current deviation signal and quadrature axis current deviation Signal carry out respectively Fourier analysis obtain direct-axis current exchange with quadrature axis in cause electric current shake active constituent frequency with Amplitude；
Inhibit electric current jitter parameter obtaining unit, for by the frequency and amplitude of the active constituent that electric current is caused to be shaken Obtain the parameter for inhibiting electric current shake；
Offset voltage obtaining unit, for utilizing parameter, the direct-axis current deviation signal of the inhibition electric current shake D-axis offset voltage and quadrature axis offset voltage are obtained by resonance controlling unit with the quadrature axis current deviation signal；
Electric current jitter suppression unit, for the d-axis offset voltage and quadrature axis offset voltage is electric with output d-axis respectively Pressure and output quadrature-axis voltage are overlapped, to inhibit to electric current shake.
With reference in second aspect and any of the above-described kind of possible realization method, in the 4th kind of possible realization method, institute Stating electric current shake active constituent obtaining unit includes：
Current deviation signal component obtains subelement, for inclined to the direct-axis current deviation signal and quadrature axis current respectively Difference signal carries out Fourier analysis, obtains the width of each component in direct-axis current deviation signal and quadrature axis current deviation signal respectively Value；
Electric current shake active constituent obtains subelement, for the component of amplitude maximum is effective as electric current is caused to be shaken Component；
Frequency and amplitude second obtain subelement, for obtaining during the direct-axis current is exchanged with quadrature axis electric current are caused to be shaken Active constituent frequency and amplitude.
With reference in second aspect and any of the above-described kind of possible realization method, in the 5th kind of possible realization method, go back Including：Voltage clipping unit；
The voltage clipping unit for carrying out amplitude limit to the d-axis offset voltage and quadrature axis offset voltage, is limited The quadrature axis offset voltage after d-axis offset voltage and amplitude limit after width；
The electric current jitter suppression unit, for by the d-axis offset voltage after amplitude limit and the quadrature axis offset voltage after amplitude limit It is overlapped respectively with output direct-axis voltage and output quadrature-axis voltage.
The third aspect, provides a kind of system for inhibiting electric vehicle shake, which is applied to the motor to electric vehicle It is controlled, including：Speed probe and electric machine controller；
The speed probe, for obtaining the tach signal of motor；
The electric machine controller for carrying out Fourier analysis to the tach signal, is obtained and led in the tach signal Cause the frequency and amplitude of the active constituent of rotating speed shake；The rotating speed is dithered as electric vehicle drag torque and between the moment of resistance There are shakes caused by non-linear relation；It is obtained according to the frequency of the active constituent that rotating speed is caused to be shaken and amplitude and inhibits to turn The parameter of speed shake；The parameter and the tach signal shaken according to the inhibition rotating speed are filtered by differential inertial element and band logical Ripple link obtains compensation torque；The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.
In the first possible realization method of the third aspect, the electric machine controller is additionally operable to obtain motor d-axis Current deviation signal and quadrature axis current deviation signal；To the motor direct-axis current deviation signal and quadrature axis current deviation signal point Not carry out Fourier analysis obtain direct-axis current exchange with quadrature axis in cause electric current shake active constituent frequency and amplitude；By The frequency and amplitude of the active constituent that electric current is caused to be shaken obtain the parameter for inhibiting electric current shake；Utilize the inhibition electric current The parameter of shake, the direct-axis current deviation signal and the quadrature axis current deviation signal obtain d-axis by resonance controlling unit Offset voltage and quadrature axis offset voltage；By the d-axis offset voltage and quadrature axis offset voltage respectively with output direct-axis voltage and defeated Go out quadrature-axis voltage to be overlapped, to inhibit electric current shake.
As can be seen from the above technical solutions, the embodiment of the present application has the following advantages：
This application provides a kind of methods for inhibiting electric vehicle shake, gather motor speed and then obtain corresponding rotating speed Signal carries out Fourier analysis to the tach signal of acquisition, and then obtains the active constituent that rotating speed is caused to be shaken in tach signal Frequency and amplitude, further according to cause rotating speed shake active constituent frequency and amplitude obtain inhibit rotating speed shake parameter, Compensation torque is obtained by differential inertial element and bandpass filtering link using the parameter and tach signal that inhibit rotating speed shake, it will Compensation torque is overlapped with given torque, you can realizes the inhibition to the shake of electric vehicle rotating speed.
The method for inhibiting electric vehicle shake that the application provides, when the working condition of electric vehicle changes, Fu In the frequency of active constituent that rotating speed is caused to be shaken that obtains of leaf analysis also differ, and then according to the frequency and width of active constituent The parameter that value obtains inhibition rotating speed shake is also different, can so ensure to obtain inhibition in real time according to the working condition of electric vehicle The parameter of rotating speed shake, inhibits the parameter electric vehicle of shake without being adjusted manually according to the current working condition of electric vehicle Working condition adaptively, enhance the adaptability of system.In addition, it is necessary to be used to by differential in the method that the application provides Property link and bandpass filtering link collective effect, according to inhibit rotating speed shake parameter and tach signal obtain compensation torque, Vehicle is solved under the working condition of Accelerating running, extraction fluctuation of speed amount has the problem of straight inclined.In conclusion the application The method for inhibiting electric vehicle shake of offer, can more effectively inhibit the shake of electric vehicle, improve the comfortable of driving Property, and due to the shake for inhibiting electric vehicle, reduce the mechanical resonance generated during shake, and then it is hard to reduce electric vehicle The abrasion of part.
Description of the drawings
Fig. 1 is a kind of structure chart for the system for inhibiting electric vehicle shake；
Fig. 2 is the structure chart of another system for inhibiting electric vehicle shake；
Fig. 3 is the method flow diagram of inhibition electric vehicle shake provided by the embodiments of the present application；
Fig. 4 is another method flow diagram for inhibiting electric vehicle shake provided by the embodiments of the present application；
Fig. 5 is the functional block diagram of inhibition electric vehicle rotating speed shake provided by the embodiments of the present application；
Fig. 6 is the specific implementation block diagram of inhibition electric vehicle rotating speed shake provided by the embodiments of the present application；
Fig. 7 is the method flow diagram of inhibition electric vehicle electric current shake provided by the embodiments of the present application；
Fig. 8 is the functional block diagram of inhibition electric vehicle electric current shake provided by the embodiments of the present application；
Fig. 9 is the specific implementation block diagram of inhibition electric vehicle electric current shake provided by the embodiments of the present application；
Figure 10 is the structure drawing of device of inhibition electric vehicle shake provided by the embodiments of the present application；
Figure 11 is another structure drawing of device for inhibiting electric vehicle shake provided by the embodiments of the present application；
Figure 12 is the structure drawing of device of inhibition electric vehicle electric current shake provided by the embodiments of the present application；
Figure 13 is the structure drawing of device of inhibition electric vehicle electric current shake provided by the embodiments of the present application；
Figure 14 is the system construction drawing of inhibition electric vehicle shake provided by the embodiments of the present application；
Inhibit the system schematic of electric vehicle shake when Figure 15 is specific implementation provided by the embodiments of the present application.
Specific embodiment
The embodiment of the present application provides a kind of method, apparatus and system for inhibiting electric car shake, for inhibiting electric vehicle Shake, so as to improve driver comfort, while the working performance of hardware configuration and longevity in car transmissions can also be improved Life.
Electric vehicle is shaken during traveling, will influence the comfort of electric vehicle driving, and electronic vapour The shake of vehicle can also affect to the hardware configuration of some on electric vehicle, some hardware configurations may be caused Damage, and then influence its service life.
As shown in Figure 1, it is a kind of structure chart for the system for inhibiting the shake of electric vehicle rotating speed.Specifically, in full-vehicle control After device (VCU, Vehicle Control Unit) gets tach signal, the tach signal and given tach signal are carried out Deviation calculates, and is tabled look-up according to the departure size being calculated, and obtains resistance capacitance (RC) filter parameter, is filtered according to the RC Device parameter is filtered tach signal, and wherein RC wave filters utilize voltage source, current source interesting episode resistor and capacitance to be a kind of A kind of circuit of device running.Further according to the obtained tach signal of filtering, table look-up and calculate proportional integral differential (PID, Proportional Integral Derivative) adjustment parameter, pid parameter is respectively scale parameter, integral parameter and micro- Torque value after correction using the corrected value of the pid parameter calculating torque, is issued to the controller of generator by point parameter, with Realize the function of inhibiting rotating speed shake.
Inventor by the way of the corresponding inhibition electric vehicle rotating speed shakes of Fig. 1 the study found that had the following disadvantages：
Due to being inhibited by entire car controller (VCU) to rotating speed shake, the acquisition of tach signal and torque instruction Issue and can be subject to entire car controller (VCU) and electric machine controller (IPU, Intelligence Processing Unit) logical Believe the limitation of time, larger delay can be generated, and inhibitory action is limited, can only be generally suppressed to 90rpm/60ms with It is interior.In addition, when operating condition changes, filtering parameter is obtained by way of tabling look-up according to the size of rotating speed deviation, is controlled The adaptability of system is poor.
In addition, also a kind of scheme for inhibiting electric vehicle shake, as shown in Fig. 2, be the structure chart of the system, the system It is realized in electric machine controller side and rotating speed shake is inhibited.Specifically, by velocity feedback link to it is expected that torque is repaiied Just, the tach signal of motor speed detection detection motor, the tach signal detected is by low-pass filter, motor speed After differential, inertial element and output violent change, compensated torque value is obtained, which is added to and it is expected in torque, i.e., The inhibition to rotating speed shake can be achieved.
Found in inventor's research process, use Fig. 2 it is corresponding inhibit electric vehicle rotating speed shake scheme exist with Lower deficiency：
Since the value of the control parameters such as filter factor, the time parameter in velocity feedback link is fixed, it is only capable of to list The shake of one frequency range is effectively inhibited.In addition, under the operating mode of vehicle Accelerating running, turned using low-pass filter, motor Fast differentiation element and inertial element obtain compensated torque value, the fluctuation of speed amount extracted can be caused to there is a situation where straight inclined, made It obtains and actually gives torque and it is expected that there are larger deviations between torque.
In conclusion the system shaken using the corresponding rotating speed for inhibiting electric vehicle of Fig. 1 or Fig. 2, it may appear that inhibit to turn Fast jitter suppression delay, inhibitory action is limited, controls bad adaptability, is only capable of the shake of the torque to single frequency band and carries out inhibiting etc. to lack Point, and then the inhibition to the shake of electric vehicle rotating speed cannot be effectively realized.
This application provides a kind of methods for inhibiting electric vehicle shake, gather motor speed and then obtain corresponding rotating speed Signal carries out Fourier analysis to the tach signal of acquisition, and then obtains the active constituent that rotating speed is caused to be shaken in tach signal Frequency and amplitude, further according to cause rotating speed shake active constituent frequency and amplitude obtain inhibit rotating speed shake parameter, Compensation torque is obtained by differential inertial element and bandpass filtering link using the parameter and tach signal that inhibit rotating speed shake, it will Compensation torque is overlapped with given torque, you can realizes the inhibition to the shake of electric vehicle rotating speed.
The method that the application provides can effectively inhibit the shake of electric vehicle, and then substantially increase the comfortable of driving Property, further, since inhibiting the shake of electric vehicle, reduce the mechanical resonance generated in dither process, thus reduce Damage to hardware configuration on electric vehicle.
Embodiment of the method one
Referring to Fig. 3, which is a kind of method flow diagram for inhibiting electric vehicle shake provided in this embodiment.This method bag It includes：
Step 301：Obtain the tach signal of motor.
Specifically, when gathering motor speed, the rotating speed of rotary transformer uniform velocity sensor acquisition motor may be employed, obtain After obtaining rotating speed analog signal, which is sent to electric machine controller, number is converted analog signals by electric machine controller Word signal, and digital signal decoding is obtained into corresponding tach signal.
Step 302：Fourier analysis is carried out to tach signal, obtains the active constituent that rotating speed is caused to be shaken in tach signal Frequency and amplitude；Rotating speed is dithered as between electric vehicle drag torque and the moment of resistance that there are shakes caused by non-linear relation.
The essence of Fourier transformation is that a time domain waveform is transformed into frequency domain to be decomposed, and is resolving into different frequency just Therefore the sum of string ripple, is analyzed using Fourier transform pairs tach signal, can detect each frequency point in tach signal The amplitude and phase information of amount.
Fourier transform formula is as follows：
Wherein, a0For DC component, An、fnWithThe respectively amplitude of nth harmonic, frequency and phase.
During specific implementation, time domain selection method can be selected to carry out Fast Fourier Transform (FFT) to tach signal, to realize to turning The Fourier analysis of fast signal, formula are as follows：
Wherein,List entries x (n) length is N, and meets N=2L, L is positive integer.
The component of each frequency is obtained by carrying out Fourier analysis to tach signal, therefrom obtaining causes what rotating speed was shaken The frequency and amplitude of active constituent.
Step 303：The parameter for inhibiting rotating speed and shaking is obtained according to the frequency for the active constituent for causing rotating speed shake and amplitude.
According to the frequency and amplitude of the active constituent that rotating speed is caused to be shaken obtained in step 302, correspondingly calculated, To obtain the parameter for inhibiting rotating speed shake, specifically, the parameter for inhibiting rotating speed shake can be the passband gain, micro- of bandpass filtering Divide corner frequency, the centre frequency and damped coefficient of bandpass filtering of inertial element.
Step 304：Parameter and tach signal according to rotating speed shake is inhibited pass through differential inertial element and bandpass filtering ring Section obtains compensation torque.
What is obtained in step 303 inhibits the parameter of rotating speed shake, is in differential inertial element and bandpass filtering link Corresponding parameter, the tach signal obtained in step 301 is after differential inertial element and the processing of bandpass filtering link, you can obtains The compensation torque of system.
Wherein, differentiation element can reflect the rate of change of speed signal, can efficiently extract the fluctuation signal of rotating speed, And then carry out jitter suppression.But since the result differentiated is present with larger fluctuation, the present embodiment further carries Inertial element has been supplied, rotating speed by the result differentiated is smoothed by inertial element, and then is obtained more Stable result.
In addition, radio-frequency component has been generally comprised in rotating speed dither signal, and during electric vehicle starting accelerates, Through also there are larger DC components, therefore, the fluctuation of speed extracted in order to prevent in differentiation element treated tach signal Amount is happened in the presence of directly inclined, and the embodiment of the present application additionally provides bandpass filter, which, which can realize, is turning Useful signal is extracted in the fluctuation signal of speed.
Step 305：Compensation torque and given torque are overlapped, to inhibit to rotating speed shake.
The compensation torque obtained in step 304 is superimposed on given torque, you can realize and electric vehicle rotating speed is shaken Inhibition.
The method provided in this embodiment for inhibiting electric vehicle shake, when the working condition of electric vehicle changes, The frequency of active constituent that Fourier analysis obtained cause rotating speed to be shaken also differs, so according to the frequency of active constituent and The parameter that amplitude obtains inhibition rotating speed shake is also different, can so ensure to obtain suppression in real time according to the working condition of electric vehicle The parameter of rotating speed shake processed inhibits the parameter electric vehicle of shake without being adjusted manually according to the current working condition of electric vehicle Working condition carry out adaptive, enhance the adaptability of system.In addition, it is necessary to by micro- in method provided in this embodiment Divide the collective effect of inertial element and bandpass filtering link, compensation turn is obtained according to the parameter and tach signal that inhibit rotating speed shake Square solves vehicle under the working condition of Accelerating running, and extraction fluctuation of speed amount has the problem of straight inclined.In conclusion this The method for inhibiting electric vehicle shake that application provides, can more effectively inhibit the shake of electric vehicle, improve driving Comfort, and due to the shake for inhibiting electric vehicle, reduce the mechanical resonance generated during shake, and then reduce to electricity The abrasion of hardware on electrical automobile.
In practical application, for the ease of inhibiting the implementation of the method for electric vehicle shake, this reality in embodiment of the method one It applies example and provides a kind of more specifical implementation.
Embodiment of the method two
Referring to Fig. 4, the method provided in this embodiment for inhibiting electric vehicle shake includes：
Step 401：It gathers motor speed and obtains corresponding tach signal.
The implementation of step 401 is identical with the implementation of step 301 in embodiment of the method one, and details are not described herein.
Step 402：Fourier analysis is carried out to tach signal, obtains the amplitude of each component in tach signal.
The tach signal obtained in step 401 is subjected to Fourier analysis, when the essence of Fourier transformation is one Domain waveform is transformed into frequency domain and is decomposed, and resolves into the sine wave sum of different frequency, therefore, uses Fourier transform pairs rotating speed Signal is analyzed, and can detect the amplitude and phase information of each frequency component in tach signal.
Fourier transform formula is as follows：
Wherein, a0For DC component, An、fnWithThe respectively amplitude of nth harmonic, frequency and phase.
During specific implementation, time domain selection method is selected to carry out Fast Fourier Transform (FFT) to tach signal, rotating speed is believed with realizing Number Fourier analysis, formula is as follows：
Wherein,List entries x (n) length is N, and meets N=2L, and L is positive integer.
I.e. by tach signal carry out Fourier analysis, obtain tach signal in different frequency component, meanwhile, obtain The amplitude of each frequency component.
Step 403：Using the component of amplitude maximum as the active constituent that rotating speed is caused to be shaken.
Step 404：Obtain the frequency and amplitude for the active constituent that rotating speed is caused to be shaken.
The component of amplitude maximum in each frequency component is chosen, using the component as the active constituent that rotating speed is caused to be shaken. And then obtain the frequency and amplitude of the active constituent that rotating speed is caused to be shaken.
Step 405：The parameter for inhibiting rotating speed shake is obtained by the frequency and amplitude of the active constituent for causing rotating speed shake.
Specifically, by the frequency f of the active constituent that rotating speed is caused to be shaken obtained in step 3021* with amplitude A1*, f is inputted (T1、T2、ωn, ξ)=f (f*, A*), with obtain inhibit rotating speed shake parameter, inhibit rotating speed shake parameter be respectively band logical The passband gain T of filtering1, differential inertial element corner frequency T2, bandpass filtering centre frequency ωnWith damped coefficient ξ.
Specifically, the formula for obtaining each parameter for inhibiting rotating speed shake is as follows：
T1=aA1 *
ωn=2 π f1 *
ξ=b
Wherein, a and b is respectively for adjusting the coefficient of on-state gain and passband width, can be carried out according to actual conditions It sets, is not specifically limited in the present embodiment.For example, different automobile types have different requirements.
Step 406：Pass through differential inertial element and bandpass filtering ring using the parameter and tach signal that inhibit rotating speed shake Section obtains compensation torque.
Compensation torque is obtained by following transmission function；
Wherein, ωnFor the centre frequency of bandpass filtering, ξ is damped coefficient, T1For the passband gain of bandpass filtering, T2To be micro- Divide the corner frequency of inertial element；S is Laplace variable.
During specific implementation, differential inertial element and bandpass filtering link can be set in jitter suppression adjuster, it will be The corresponding tach signal input jiffer of motor speed collected in step 401 inhibits in adjuster, will obtain in step 405 Each inhibition rotating speed shake parameter T1、T2、ωnIt is also input to ξ in jitter suppression adjuster, utilizes each inhibition rotating speed The parameter of shake carries out the processing of differential inertia and bandpass filtering treatment, to obtain compensation torque to tach signal.
During specific implementation, above-mentioned formula is subjected to sliding-model control, differential inertial element and band can be obtained after discretization The difference equation of pass filter link is as follows：
Wherein,
Wherein, T1、T2、ωnThe parameter for inhibiting rotating speed shake as got in step 303 with ξ, s is Laplce Variable.
Due to the passband gain T of bandpass filtering1It can online be adjusted by coefficient a and coefficient b respectively with damped coefficient ξ It is whole, the corner frequency T of differential inertial element2With the centre frequency ω of bandpass filteringnCause to turn all in accordance with what Fourier analysis obtained The frequency of the active constituent of speed shake is calculated, and therefore, it is relatively narrow to overcome filters solutions frequency adaptation scope in the prior art The defects of, when rotating speed shake is changed in a wider scope, it still is able to keep good filter effect.
Step 407：Amplitude limit is carried out to compensation torque, obtains the compensation torque after amplitude limit.
Specifically, amplitude limit is carried out to compensation torque according to following formula, by compensation torque limiting in controlled range.
Wherein, Δ T' be compensated torque amount amplitude limit output, Δ T be compensated torque amount, Δ TUpLimitFor in compensated torque amount Limit, Δ TDnLimitFor compensated torque amount lower limit.
The compensation torque that will be obtained in a step 406 carries out amplitude limiting processing, specifically, when compensation torque is mended more than torque During the amount of the repaying upper limit, the value for compensating torque is replaced with to the value of the compensated torque amount upper limit；When compensation torque is under compensated torque amount When between limit and the compensated torque amount upper limit, the value for compensating torque does not change；It, will when compensating torque less than compensated torque amount lower limit The value of compensation torque replaces with the value of compensated torque amount lower limit.
Step 408：Compensation torque after amplitude limit is overlapped with given torque, to inhibit to rotating speed shake.
Compensation torque after amplitude limit is overlapped with given torque, you can realize and the shake of electric vehicle rotating speed is pressed down System.
Method provided in this embodiment can realize that the functional block diagram of the module is such as in the form of rotating speed jitter suppression module Shown in Fig. 5.
Fourier analysis is carried out to the tach signal n of acquisition as shown in figure 5, being realized in the form of FFT unit, by turning Fast signal carries out Fourier analysis, obtains the frequency f for the active constituent that rotating speed is caused to be shaken1 *With amplitude A1 *, this is caused into rotating speed The frequency f of the active constituent of shake1 *With amplitude A1 *Input parameter adaptive unit, the parameter adaptive unit according to cause turn The frequency f of the active constituent of speed shake1 *With amplitude A1 *, obtain the parameter T for inhibiting rotating speed shake1、T2、ωn, ξ, the inhibition rotating speed The parameter of shake is the parameters in transmission function in speed jitter suppression adjuster, and tach signal is through speed jitter suppression tune Save device in transmission function processing, be compensated torque Δ T, by compensation torque Δ T carry out output violent change processing, you can with to Determine torque to be overlapped, to realize that the rotating speed for inhibiting electric vehicle is shaken.Fig. 6 is the block diagram of the corresponding specific implementations of Fig. 5.
The method provided in this embodiment for inhibiting electric vehicle shake, the inhibition electric vehicle provided embodiment of the method one The method of shake is embodied, that is, is given more specifical method and realized the rotating speed shake for inhibiting electric vehicle.This reality The method for applying offer can equally effectively inhibit the rotating speed shake of electric vehicle, improve the comfort of driving, and due to suppression The shake of electric vehicle has been made, has reduced the mechanical resonance generated during shake, and then has reduced the mill to hardware on electric vehicle Damage.
When electric vehicle is operated in high band, the shake of electric current easily occurs, electric current shake can cause torque to tremble It is dynamic, the comfort of electric vehicle driving can be equally influenced, and the hardware configuration inside electric vehicle can be caused to a certain degree Damage.In order to further ensure inhibiting to the shake of electric vehicle, the present embodiment still further provides a kind of electric current The method of jitter suppression on the basis of the suppressing method of the rotating speed shake of the offer of embodiment of the method one, further increases electricity The inhibition of dither flow, to achieve the effect that preferably to electric vehicle jitter suppression.
It should be noted that provided in the method for electric current jitter suppression provided in this embodiment and embodiment of the method one The method of rotating speed jitter suppression is two kinds of independent methods, and the sequencing that two methods use is not fixed.
Embodiment of the method three
It is the flow of the suppressing method of increased electric current shake on the basis of rotating speed jitter suppression method referring to Fig. 7 Figure.
Step 701：Obtain motor direct-axis current deviation signal and quadrature axis current deviation signal.
Specifically, the direct-axis current deviation signal of motor and quadrature axis electricity can be obtained by current sensors such as Hall elements The deviation signal of stream.
Step 702：Fourier analysis is carried out respectively to motor direct-axis current deviation signal and quadrature axis current deviation signal to obtain Obtain the frequency and amplitude for the active constituent that electric current is caused to be shaken in direct-axis current and quadrature axis current.
Fourier analysis is carried out to direct-axis current deviation signal and quadrature axis current deviation signal respectively, obtains d-axis electricity respectively Flow the amplitude of each component in deviation signal and quadrature axis current deviation signal.
Using the component of amplitude maximum as the active constituent that electric current is caused to be shaken.
Obtain the frequency and amplitude for the active constituent that electric current is caused to be shaken in direct-axis current and quadrature axis current.
During specific implementation, it can be realized in the form of FFT unit to respectively to direct-axis current deviation signal and quadrature axis current Deviation signal carries out Fourier analysis.The essence of Fourier transformation is that a time domain waveform is transformed into frequency domain to be decomposed, point Solution into different frequency sine wave sum, therefore, using fourier transform method to motor direct-axis current deviation signal and quadrature axis electricity Stream deviation signal is analyzed, and can detect each frequency in motor direct-axis current deviation signal and quadrature axis current deviation signal The amplitude and phase information of component.
Wherein, a0For DC component, An、fn、For the amplitude, frequency and phase of nth harmonic.
During specific implementation, time domain selection method is selected to carry out motor direct-axis current deviation signal and quadrature axis current deviation signal Fast Fourier Transform (FFT), it is public to realize the Fourier analysis to motor direct-axis current deviation signal and quadrature axis current deviation signal Formula is as follows：
Wherein,List entries x (n) length is N, and meets N=2L, L is positive integer.
The each frequency component obtained to Fourier analysis is screened, specifically, in direct-axis current deviation signal The component of amplitude maximum is chosen in each frequency component, as the active constituent that electric current is caused to be shaken in direct-axis current；In quadrature axis In each frequency component of current deviation signal choose amplitude maximum component, as cause in quadrature axis current electric current shake have Imitate component.The frequency and amplitude for the active constituent that electric current is caused to be shaken in direct-axis current and quadrature axis current are obtained respectively, as straight Cause the frequency and amplitude of the active constituent of electric current shake in shaft current and quadrature axis current.
Step 703：The parameter for inhibiting electric current shake is obtained by the frequency and amplitude of the active constituent for causing electric current shake.
During specific implementation, the parameter for inhibiting electric current shake can be obtained in the form of parameter adaptive unit.By fft analysis The frequency and amplitude of the active constituent that electric current is caused to be shaken got in unit, the f (ω in input parameter adaptive unit0, K)=f (f*,A*), the parameter for inhibiting electric current shake is obtained, the parameter for inhibiting electric current shake is respectively centre frequency ω0And gain k。
Specifically, the formula for obtaining the parameter for inhibiting direct-axis current shake is as follows：
ω0=2 π f2 *
K=aA2 *
Wherein, ω0Centered on frequency, k is gain, and a is adjustment factor.f2 *To cause the active constituent that direct-axis current is shaken Frequency, A2 *To cause the amplitude of the active constituent of direct-axis current shake.
The formula for obtaining the parameter for inhibiting quadrature axis current shake is as follows：
ω0The π f of '=23 *
K'=aA3 *
Wherein, ω0' centered on frequency, k' is gain, and a is adjustment factor.f3 *To cause effectively dividing for quadrature axis current shake The frequency of amount, A3 *To cause the amplitude of the active constituent of quadrature axis current shake.
Step 704：Passed through using the parameter, direct-axis current deviation signal and the quadrature axis current deviation signal that inhibit electric current shake Resonance controlling unit obtains d-axis offset voltage and quadrature axis offset voltage.
D-axis offset voltage and quadrature axis offset voltage are obtained by following transmission function；
Wherein, ωcFor the pre-set bandwidths of the resonance controlling unit, ω0Centered on frequency, k is gain, and c is adjusts gain Predetermined coefficient；S is Laplace variable.
During specific implementation, resonance controlling unit in electric current jitter suppression adjuster can be set, will be adopted in step 701 The direct-axis current deviation signal and quadrature axis current deviation signal input current jitter suppression adjuster collected, will be in step 703 The parameter of each inhibition d-axis and the quadrature axis current shake obtained also inputs to the electric current jitter suppression adjuster.Utilize each suppression The parameter of direct-axis current shake processed, carries out resonance control process, to obtain d-axis offset voltage to direct-axis current deviation signal；Profit The parameter shaken with each inhibition quadrature axis current, resonance control process is carried out to quadrature axis current deviation signal, to obtain quadrature axis benefit Repay voltage.
Wherein, the sinusoidal signal that resonance controlling unit can be identical with its resonant frequency to frequency realizes zero stable state indifference control System.During specific implementation, quasi resonant control may be employed in resonance controlling unit, during using quasi resonant control, can both realize Resonance controlling unit reaches larger gain, it is possibility to have reduces the influence of fundamental frequency offset in effect ground.
Ssystem transfer function is as follows：
During specific implementation, above system transmission function is subjected to sliding-model control, the resonance control ring is obtained after discretization The difference equation of section is as follows：
Wherein,D=2 ωcT, E=-2 ωcT。
Wherein, ωcFor bandwidth, ω0Centered on frequency, k is gain, and c is the coefficient for adjusting gain, and s is Laplce's change Amount.
Due to centre frequency ω0The frequency of the active constituent that electric current is caused to be shaken obtained according to Fourier analysis calculates It arrives, therefore, overcomes the defects of frequency accommodation is relatively narrow in existing control method, in the case where chattering frequency is wider, Remain to keep the effect of resonance control.
Step 705：By d-axis offset voltage and quadrature axis offset voltage respectively with exporting direct-axis voltage and output quadrature-axis voltage It is overlapped, to inhibit to electric current shake.
D-axis offset voltage and quadrature axis offset voltage are overlapped respectively with output direct-axis voltage and output quadrature-axis voltage Before, amplitude limit is carried out to d-axis offset voltage and quadrature axis offset voltage, after obtaining d-axis offset voltage and amplitude limit after amplitude limit D-axis offset voltage and quadrature axis offset voltage are limited in controllable scope by quadrature axis offset voltage.
Wherein, it is after carrying out PI adjustings to direct-axis current and quadrature axis current respectively to export direct-axis voltage and output AC voltage Output.
Specifically, amplitude limit is carried out to d-axis offset voltage and quadrature axis offset voltage according to following formula, after obtaining amplitude limit D-axis offset voltage and quadrature axis offset voltage.
Wherein, Δ u' be offset voltage amplitude limit output, Δ u be d, q shaft voltage compensation rate, Δ uUpLimitFor in offset voltage Limit, Δ uDnLimitFor offset voltage lower limit.
During specific implementation, the d-axis offset voltage obtained in step 704 is subjected to amplitude limiting processing, specifically, works as d-axis When offset voltage is more than the offset voltage upper limit, the value of d-axis offset voltage is replaced with to the value of the offset voltage upper limit；When d-axis is mended When repaying voltage and being between offset voltage lower limit and the offset voltage upper limit, the value of d-axis offset voltage does not change；Work as d-axis When offset voltage is less than the value of offset voltage lower limit, the value of d-axis offset voltage is replaced with to the value of offset voltage lower limit.
It should be noted that the method for amplitude limiting processing and above-mentioned amplitude limiting processing d-axis compensation electricity are carried out to quadrature axis offset voltage The method of pressure is identical, and details are not described herein.
By the d-axis offset voltage after amplitude limit and output direct-axis voltage be overlapped, you can realize direct-axis current is shaken into Row inhibits；By the quadrature axis offset voltage after amplitude limit and output quadrature-axis voltage be overlapped, you can realize quadrature axis current is shaken into Row inhibits.
Method provided in this embodiment can realize that the functional block diagram of the module is such as in the form of electric current jitter suppression module Shown in Fig. 8.
As shown in figure 8, the direct-axis current deviation signal Δ i to acquisition is realized in the form of fft analysis unitdWith quadrature axis electricity Flow deviation signal Δ iqFourier analysis is carried out, by direct-axis current deviation signal Δ idWith quadrature axis current deviation signal Δ iq Fourier analysis is carried out, obtains the frequency f for the active constituent that electric current is caused to be shaken in direct-axis current and quadrature axis current*With amplitude A*, By the frequency f of the active constituent for causing electric current shake*With amplitude A*Input parameter adaptive unit, through parameter adaptive unit Processing, obtain inhibit electric current shake parameter ω0, k, the inhibition electric current shake parameter be electric current jitter suppression adjuster Parameters in middle transmission function, direct-axis current deviation signal and quadrature axis current deviation signal are through electric current jitter suppression tune machine The processing of middle transmission function obtains d-axis offset voltage Δ udWith quadrature axis offset voltage Δ uq, by d-axis offset voltage Δ udAnd friendship Axis offset voltage Δ uqIt is handled through output violent change unit, obtains the d-axis offset voltage Δ u' after amplitude limitdElectricity is compensated with quadrature axis Press Δ u'q, correspondingly, the d-axis offset voltage after amplitude limit and quadrature axis offset voltage are handed over respectively with output direct-axis voltage and output Shaft voltage is overlapped, you can is realized to electric current jitter suppression.Fig. 9 is the block diagram of the corresponding specific implementations of Fig. 8.
The suppressing method of electric current shake provided in this embodiment, on the basis of rotating speed is inhibited to shake, further inhibits Electric vehicle is operated in the electric current shake generated during high band so that when electric vehicle is operated in any frequency, can protect The comfort driven is demonstrate,proved, and the hardware configuration of automotive interior can be protected always.
Based on a kind of method of inhibition electric vehicle shake with embodiment of the method introduction, the embodiment of the present application also provides one Kind inhibits the device of electric vehicle shake, is described in detail below in conjunction with the accompanying drawings.
Device embodiment one
Referring to Figure 10, for a kind of structure chart for the device for inhibiting electric vehicle shake provided in this embodiment, inhibition electricity The device of electrical automobile shake includes：
Collecting unit 1001 obtains corresponding tach signal for gathering motor speed.
Rotating speed shake active constituent obtaining unit 1002 obtains tach signal for carrying out Fourier analysis to tach signal In cause rotating speed shake active constituent frequency and amplitude.
Inhibit rotating speed jitter parameter obtaining unit 1003, for the frequency and amplitude of the active constituent by causing rotating speed shake Obtain the parameter for inhibiting rotating speed shake.
Torque obtaining unit 1004 is compensated, for passing through differential inertia using the parameter and tach signal that inhibit rotating speed shake Link and bandpass filtering link obtain compensation torque.
Rotating speed jitter suppression unit 1005 is overlapped for that will compensate torque with given torque, with rotating speed is shaken into Row inhibits.
Wherein, as shown in figure 11, rotating speed shake active constituent obtaining unit 1002 includes：
Tach signal component obtains subelement 1101, for carrying out Fourier analysis to tach signal, obtains tach signal In each component amplitude.
Rotating speed shake active constituent obtain subelement 1102, for using the component of amplitude maximum as cause rotating speed shake Active constituent.
Frequency and amplitude first obtain subelement 1103, for obtaining the frequency and width of the active constituent that rotating speed is caused to be shaken Value.
As shown in figure 11, which still further comprises：
The torque amplitude limit unit 1104 for carrying out amplitude limit to compensation torque, obtains the compensation torque after amplitude limit.
Rotating speed jitter suppression unit 1005, for the compensation torque after amplitude limit to be overlapped with given torque.
The device provided in this embodiment for inhibiting electric vehicle shake, when the working condition of electric vehicle changes, The frequency of active constituent that Fourier analysis obtained cause rotating speed to be shaken also differs, so according to the frequency of active constituent and The parameter that amplitude obtains inhibition rotating speed shake is also different, can so ensure to obtain suppression in real time according to the working condition of electric vehicle The parameter of rotating speed shake processed inhibits the parameter electric vehicle of shake without being adjusted manually according to the current working condition of electric vehicle Working condition carry out adaptive, enhance the adaptability of system.In addition, it is necessary to by micro- in device provided in this embodiment Divide the collective effect of inertial element and bandpass filtering link, compensation turn is obtained according to the parameter and tach signal that inhibit rotating speed shake Square solves vehicle under the working condition of Accelerating running, and extraction fluctuation of speed amount has the problem of straight inclined.In conclusion this The method for inhibiting electric vehicle shake that application provides, can more effectively inhibit the shake of electric vehicle, improve driving Comfort, and due to the shake for inhibiting electric vehicle, reduce the mechanical resonance generated during shake, and then reduce to electricity The abrasion of hardware on electrical automobile.
Method based on a kind of inhibition electric vehicle electric current shake that embodiment of the method three is introduced, the present embodiment are real in device On the basis of the device for inhibiting electric vehicle shake that the offer of example one is provided, a kind of inhibition electric vehicle electric current shake is additionally provided Device is described in detail below in conjunction with the accompanying drawings.
Device embodiment two
Referring to Figure 12, be the present embodiment on the basis of device embodiment one, a kind of inhibition electric vehicle electric current for providing The structure chart of the device of shake, the device include：
Current deviation signal obtaining unit 1201, for obtaining motor direct-axis current deviation signal and quadrature axis current deviation letter Number.
Electric current shake active constituent obtaining unit 1202, for motor direct-axis current deviation signal and quadrature axis current deviation Signal carry out respectively Fourier analysis obtain direct-axis current exchange with quadrature axis in cause electric current shake active constituent frequency with Amplitude.
Inhibit electric current jitter parameter obtaining unit 1203, for the frequency and amplitude of the active constituent by causing electric current shake Obtain the parameter for inhibiting electric current shake.
Offset voltage obtaining unit 1204, for utilizing parameter, the direct-axis current deviation signal of the inhibition electric current shake D-axis offset voltage and quadrature axis offset voltage are obtained by resonance controlling unit with quadrature axis current deviation signal；
Electric current jitter suppression unit 1205, for d-axis offset voltage and quadrature axis offset voltage is electric with output d-axis respectively Pressure and output quadrature-axis voltage are overlapped, to inhibit to electric current shake.
As shown in figure 13, wherein, electric current shake active constituent obtaining unit 1202 includes：
Current deviation signal component obtains subelement 1301, for inclined to direct-axis current deviation signal and quadrature axis current respectively Difference signal carries out Fourier analysis, obtains the width of each component in direct-axis current deviation signal and quadrature axis current deviation signal respectively Value.
Electric current shake active constituent obtain subelement 1302, for using the component of amplitude maximum as cause electric current shake Active constituent.
Frequency and amplitude second obtain subelement 1303, cause electric current for obtaining during the direct-axis current is exchanged with quadrature axis The frequency and amplitude of the active constituent of shake.
As shown in figure 13, which further includes：
Voltage clipping unit 1304, for carrying out amplitude limit to d-axis offset voltage and quadrature axis offset voltage, after obtaining amplitude limit D-axis offset voltage and amplitude limit after quadrature axis offset voltage.
Electric current jitter suppression unit 1205, for by the d-axis offset voltage after amplitude limit and the quadrature axis offset voltage after amplitude limit It is overlapped respectively with output direct-axis voltage and output quadrature-axis voltage.
The restraining device of electric current shake provided in this embodiment, on the basis of rotating speed is inhibited to shake, further inhibits Electric vehicle is operated in the electric current shake generated during high band so that when electric vehicle is operated in any frequency, can protect The comfort driven is demonstrate,proved, and the hardware configuration of automotive interior can be protected always.
A kind of method and apparatus of inhibition electric vehicle shake based on above method embodiment introduction, this implementation provide A kind of system for inhibiting electric vehicle shake, is described in detail below in conjunction with the accompanying drawings.
System embodiment
Referring to Figure 14, for a kind of system construction drawing for inhibiting electric vehicle shake provided in this embodiment.
Speed probe 1401 obtains corresponding tach signal for gathering motor speed
Electric machine controller 1402, for carrying out causing rotating speed in Fourier analysis acquisition tach signal to the tach signal The frequency and amplitude of the active constituent of shake；It is obtained by the frequency and amplitude of the active constituent that rotating speed is caused to be shaken and inhibits to turn The parameter of speed shake；It is compensated using the parameter of the inhibition rotating speed shake by differential inertial element and bandpass filtering link Torque；The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.
Specifically, the rotating speed of rotary transformer uniform velocity sensor measurement motor can be utilized, and obtains and turns with the motor The corresponding analog signal of speed, is sent to electric machine controller 1402, electric machine controller 1402 can simulate this by the analog signal Signal is converted to corresponding digital signal, by the digital signal decoding, you can obtain the tach signal of motor.
The method that electric machine controller 1402 arrives step 305 according to the step 302 in embodiment of the method one is realized and motor is turned The inhibition of speed shake.
In addition, electric machine controller 1402, is additionally operable to obtain motor direct-axis current deviation signal and quadrature axis current deviation signal； The motor direct-axis current deviation signal and quadrature axis current deviation signal are carried out respectively Fourier analysis obtain direct-axis current and Cause the frequency and amplitude of the active constituent of electric current shake in quadrature axis exchange；By the frequency of the active constituent that electric current is caused to be shaken Rate and amplitude obtain the parameter for inhibiting electric current shake；It is obtained using the parameter of the inhibition electric current shake by resonance controlling unit D-axis offset voltage and quadrature axis offset voltage；By the d-axis offset voltage and quadrature axis offset voltage respectively with exporting direct-axis voltage It is overlapped with output quadrature-axis voltage, to inhibit to electric current shake.
Specifically, electric machine controller 1402 can also be according to the method introduced in embodiment of the method two, further realization pair Electric current shake is inhibited.
The system topological figure of inhibition electric vehicle shake when as shown in figure 15, to implement.
Wherein, the as rotating speed jitter suppression module of Fig. 5 of rotating speed jitter suppression module 1501, electric current jitter suppression module 1502 be the electric current jitter suppression module of Fig. 7.
The system provided in this embodiment for inhibiting electric vehicle shake, when the working condition of electric vehicle changes, The frequency of active constituent that Fourier analysis obtained cause rotating speed to be shaken also differs, so according to the frequency of active constituent and The parameter that amplitude obtains inhibition rotating speed shake is also different, can so ensure to obtain suppression in real time according to the working condition of electric vehicle The parameter of rotating speed shake processed inhibits the parameter electric vehicle of shake without being adjusted manually according to the current working condition of electric vehicle Working condition carry out adaptive, enhance the adaptability of system.In addition, it is necessary to by micro- in system provided in this embodiment Divide the collective effect of inertial element and bandpass filtering link, compensation turn is obtained according to the parameter and tach signal that inhibit rotating speed shake Square solves vehicle under the working condition of Accelerating running, and extraction fluctuation of speed amount has the problem of straight inclined.In conclusion this The method for inhibiting electric vehicle shake that application provides, can more effectively inhibit the shake of electric vehicle, improve driving Comfort, and due to the shake for inhibiting electric vehicle, reduce the mechanical resonance generated during shake, and then reduce to electricity The abrasion of hardware on electrical automobile.
In addition, the system provided in this embodiment for inhibiting electric vehicle shake, on the basis of rotating speed is inhibited to shake, into One step inhibits the electric current shake that electric vehicle generates when being operated in high band so that when electric vehicle is operated in any frequency, It can ensure the comfort driven, and the hardware configuration of automotive interior can be protected always.
Further, since it is that electric machine controller directly carries out rotating speed jitter suppression and electric current shake suppression in the embodiment of the present application System rather than entire car controller inhibit, and therefore, are shaken in the present embodiment there is no shown in Fig. 2 by entire car controller The signal delay sex chromosome mosaicism of inhibition.
The above, above example are only to illustrate the technical solution of the application, rather than its limitations；Although with reference to before Embodiment is stated the application is described in detail, it will be understood by those of ordinary skill in the art that：It still can be to preceding The technical solution recorded in each embodiment is stated to modify or carry out equivalent substitution to which part technical characteristic；And these Modification is replaced, and the essence of appropriate technical solution is not made to depart from the spirit and scope of each embodiment technical solution of the application.

Claims (17)

  1. A kind of 1. method for inhibiting electric vehicle shake, which is characterized in that including：
    Obtain the tach signal of motor；
    Fourier analysis is carried out to the tach signal, obtains the frequency for the active constituent that rotating speed is caused to be shaken in the tach signal Rate and amplitude；The rotating speed is dithered as between electric vehicle drag torque and the moment of resistance that there are shakes caused by non-linear relation；
    The parameter for inhibiting rotating speed and shaking is obtained according to the frequency of the active constituent that rotating speed is caused to be shaken and amplitude；
    The parameter and the tach signal shaken according to the inhibition rotating speed are obtained by differential inertial element and bandpass filtering link Torque must be compensated；
    The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.
  2. 2. the method according to claim 1 for inhibiting electric vehicle shake, which is characterized in that carried out to the tach signal Fourier analysis obtains the frequency and amplitude of the active constituent that rotating speed is caused to be shaken in the tach signal, specifically includes：
    Fourier analysis is carried out to the tach signal, obtains the amplitude of each component in tach signal；
    Using the component of amplitude maximum as the active constituent that rotating speed is caused to be shaken；
    Cause the frequency and amplitude of the active constituent of rotating speed shake described in acquisition.
  3. 3. the method according to claim 1 for inhibiting electric vehicle shake, which is characterized in that by the compensation torque with giving Determine torque to be overlapped, further include before：
    Amplitude limit is carried out to the compensation torque, obtains the compensation torque after amplitude limit；
    It is described to be overlapped the compensation torque with given torque, be specially：
    Compensation torque after the amplitude limit is overlapped with given torque.
  4. 4. the method according to claim 2 for inhibiting electric vehicle shake, which is characterized in that trembled according to the inhibition rotating speed Dynamic parameter and the tach signal obtain compensation torque by differential inertial element and bandpass filtering link, specifically include：
    Compensation torque is obtained by following transmission function；
    <mrow> <msub> <mi>G</mi> <mi>n</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mn>2</mn> </msubsup> <msup> <mi>s</mi> <mn>2</mn> </msup> </mrow> <mrow> <msub> <mi>T</mi> <mn>3</mn> </msub> <msup> <mi>s</mi> <mn>3</mn> </msup> <mo>+</mo> <mrow> <mo>(</mo> <mn>2</mn> <msub> <mi>&amp;xi;&amp;omega;</mi> <mi>n</mi> </msub> <msub> <mi>T</mi> <mn>2</mn> </msub> <mo>+</mo> <mn>1</mn> <mo>)</mo> </mrow> <msup> <mi>s</mi> <mn>2</mn> </msup> <mo>+</mo> <mrow> <mo>(</mo> <msub> <mi>T</mi> <mn>2</mn> </msub> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mn>2</mn> </msubsup> <mo>+</mo> <mn>2</mn> <msub> <mi>&amp;xi;&amp;omega;</mi> <mi>n</mi> </msub> <mo>)</mo> </mrow> <mi>s</mi> <mo>+</mo> <msubsup> <mi>&amp;omega;</mi> <mi>n</mi> <mn>2</mn> </msubsup> </mrow> </mfrac> </mrow>
    Wherein, ωnFor the centre frequency of bandpass filtering, ξ is damped coefficient, T1For the passband gain of bandpass filtering, T2It is used to for differential The corner frequency of property link；S is Laplace variable；
    <mrow> <msub> <mi>T</mi> <mn>1</mn> </msub> <mo>=</mo> <msup> <msub> <mi>aA</mi> <mn>1</mn> </msub> <mo>*</mo> </msup> <mo>,</mo> <msub> <mi>T</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mrow> <mn>10</mn> <msup> <msub> <mi>f</mi> <mn>1</mn> </msub> <mo>*</mo> </msup> </mrow> </mfrac> <mo>,</mo> <msub> <mi>&amp;omega;</mi> <mi>n</mi> </msub> <mo>=</mo> <mn>2</mn> <msup> <msub> <mi>&amp;pi;f</mi> <mn>1</mn> </msub> <mo>*</mo> </msup> <mo>,</mo> <mi>&amp;xi;</mi> <mo>=</mo> <mi>b</mi> <mo>;</mo> </mrow>
    Wherein, f1 *For the frequency of the active constituent that rotating speed is caused to be shaken；A1 *For the active constituent that rotating speed is caused to be shaken Amplitude；A and b is respectively for adjusting the coefficient of on-state gain and passband width.
  5. 5. the method according to claim 1 for inhibiting electric vehicle shake, which is characterized in that according to described rotating speed is caused to be trembled The frequency and amplitude of dynamic active constituent obtain the parameter for inhibiting rotating speed shake, specifically include：
    It will cause the frequency f of the active constituent of rotating speed shake1 *With amplitude A1 *, the ginseng for inhibiting rotating speed and shaking is obtained by the following formula Number；It is described inhibit rotating speed shake parameter be respectively：The passband gain T of bandpass filter1, differential inertial element corner frequency T2, bandpass filter centre frequency ωnWith damped coefficient ξ；
    T1=aA1 *
    <mrow> <msub> <mi>T</mi> <mn>2</mn> </msub> <mo>=</mo> <mfrac> <mn>1</mn> <mrow> <mn>10</mn> <msup> <msub> <mi>f</mi> <mn>1</mn> </msub> <mo>*</mo> </msup> </mrow> </mfrac> </mrow>
    ωn=2 π f1 *
    ξ=b
    Wherein, a and b is respectively for adjusting the coefficient of on-state gain and passband width.
  6. 6. the method according to claim 1 for inhibiting electric vehicle shake, which is characterized in that further include：
    Obtain motor direct-axis current deviation signal and quadrature axis current deviation signal；
    It carries out Fourier analysis respectively to the motor direct-axis current deviation signal and quadrature axis current deviation signal and obtains d-axis electricity Stream causes the frequency and amplitude of the active constituent of electric current shake in being exchanged with quadrature axis；
    The parameter for inhibiting electric current shake is obtained by the frequency and amplitude of the active constituent that electric current is caused to be shaken；
    Parameter, the direct-axis current deviation signal and the quadrature axis current deviation signal using the inhibition electric current shake pass through Resonance controlling unit obtains d-axis offset voltage and quadrature axis offset voltage；
    The d-axis offset voltage and quadrature axis offset voltage are exported into direct-axis voltage and output quadrature axis with output direct-axis voltage respectively Voltage is overlapped, to inhibit to electric current shake.
  7. 7. the method according to claim 6 for inhibiting electric vehicle shake, which is characterized in that the motor direct-axis current Deviation signal carries out causing electric current during Fourier analysis acquisition direct-axis current is exchanged with quadrature axis with quadrature axis current deviation signal respectively The frequency and amplitude of the active constituent of shake, specifically include：
    Fourier analysis is carried out to the direct-axis current deviation signal and quadrature axis current deviation signal respectively, obtains d-axis electricity respectively Flow the amplitude of each component in deviation signal and quadrature axis current deviation signal；
    Using the component of amplitude maximum as the active constituent that electric current is caused to be shaken；
    Obtain the frequency and amplitude for the active constituent that electric current is caused to be shaken during the direct-axis current is exchanged with quadrature axis.
  8. 8. the method according to claim 6 for inhibiting electric vehicle shake, which is characterized in that by the d-axis offset voltage It is overlapped with output direct-axis voltage and output quadrature-axis voltage with quadrature axis offset voltage, further includes before respectively：
    Amplitude limit is carried out to the d-axis offset voltage and quadrature axis offset voltage, after obtaining d-axis offset voltage and amplitude limit after amplitude limit Quadrature axis offset voltage；
    The d-axis offset voltage and quadrature axis offset voltage are overlapped respectively with output direct-axis voltage and output quadrature-axis voltage, Specially：
    By the d-axis offset voltage after amplitude limit and the quadrature axis offset voltage after amplitude limit respectively with exporting direct-axis voltage and output quadrature axis Voltage is overlapped.
  9. 9. the method according to claim 7 for inhibiting electric vehicle shake, which is characterized in that trembled using the inhibition electric current Dynamic parameter, the direct-axis current deviation signal and the quadrature axis current deviation signal obtains d-axis by resonance controlling unit and mends Voltage and quadrature axis offset voltage are repaid, is specifically included：
    D-axis offset voltage and quadrature axis offset voltage are obtained by following transmission function；
    <mrow> <msub> <mi>G</mi> <mi>i</mi> </msub> <mrow> <mo>(</mo> <mi>s</mi> <mo>)</mo> </mrow> <mo>=</mo> <mfrac> <mrow> <msub> <mi>k&amp;omega;</mi> <mi>c</mi> </msub> <mi>s</mi> </mrow> <mrow> <msup> <mi>s</mi> <mn>2</mn> </msup> <mo>+</mo> <msub> <mi>&amp;omega;</mi> <mi>c</mi> </msub> <mi>s</mi> <mo>+</mo> <msubsup> <mi>&amp;omega;</mi> <mn>0</mn> <mn>2</mn> </msubsup> </mrow> </mfrac> </mrow>
    Wherein, ωcFor the pre-set bandwidths of the resonance controlling unit, ω0Centered on frequency, k is gain, and c is adjust gain pre- If coefficient；ω0=2 π f2 *, k=cA2 *；f2 *For the frequency of the active constituent that electric current is caused to be shaken；A2 *Cause to be described The amplitude of the active constituent of electric current shake；S is Laplace variable.
  10. 10. a kind of device for inhibiting electric vehicle shake, which is characterized in that including：
    Collecting unit, for obtaining the tach signal of motor；
    Rotating speed shakes active constituent obtaining unit, for carrying out Fourier analysis to the tach signal, obtains the rotating speed letter Cause the frequency and amplitude of the active constituent of rotating speed shake in number；The rotating speed is dithered as electric vehicle drag torque and and resistance There are shakes caused by non-linear relation between square；
    Inhibit rotating speed jitter parameter obtaining unit, for the frequency of the active constituent of rotating speed shake and amplitude to be caused to obtain according to It must inhibit the parameter of rotating speed shake；
    Torque obtaining unit is compensated, the parameter and the tach signal for being shaken according to the inhibition rotating speed pass through differential inertia Link and bandpass filtering link obtain compensation torque；
    Rotating speed jitter suppression unit, for by it is described compensation torque be overlapped with given torque, with the rotating speed is shaken into Row inhibits.
  11. 11. the device according to claim 10 for inhibiting electric vehicle shake, which is characterized in that the rotating speed shake is effective Component obtaining unit includes：
    Tach signal component obtains subelement, for carrying out Fourier analysis to the tach signal, obtains each in tach signal The amplitude of a component；
    Rotating speed shake active constituent obtain subelement, for using the component of amplitude maximum as cause rotating speed shake effectively divide Amount；
    Frequency and amplitude first obtain subelement, for obtaining the frequency and amplitude of the active constituent that rotating speed is caused to be shaken.
  12. 12. the device according to claim 10 for inhibiting electric vehicle shake, which is characterized in that further include：Torque amplitude limit Unit；
    The torque amplitude limit unit for carrying out amplitude limit to the compensation torque, obtains the compensation torque after amplitude limit；
    Rotating speed jitter suppression unit, for the compensation torque after the amplitude limit to be overlapped with given torque.
  13. 13. the device according to claim 10 for inhibiting electric vehicle shake, which is characterized in that further include：
    Current deviation signal obtaining unit, for obtaining motor direct-axis current deviation signal and quadrature axis current deviation signal；
    Electric current shakes active constituent obtaining unit, for the motor direct-axis current deviation signal and quadrature axis current deviation signal Frequency and amplitude that Fourier analysis obtains the active constituent for during direct-axis current is exchanged with quadrature axis electric current being caused to be shaken are carried out respectively；
    Inhibit electric current jitter parameter obtaining unit, for being obtained by the frequency and amplitude of the active constituent that electric current is caused to be shaken Inhibit the parameter of electric current shake；
    Offset voltage obtaining unit, for utilizing parameter, the direct-axis current deviation signal and the institute of the inhibition electric current shake It states quadrature axis current deviation signal and d-axis offset voltage and quadrature axis offset voltage is obtained by resonance controlling unit；
    Electric current jitter suppression unit, for by the d-axis offset voltage and quadrature axis offset voltage respectively with output direct-axis voltage and Output quadrature-axis voltage is overlapped, to inhibit to electric current shake.
  14. 14. the device according to claim 13 for inhibiting electric vehicle shake, which is characterized in that the electric current shake is effective Component obtaining unit includes：
    Current deviation signal component obtains subelement, for believing respectively the direct-axis current deviation signal and quadrature axis current deviation Number Fourier analysis is carried out, obtain the amplitude of each component in direct-axis current deviation signal and quadrature axis current deviation signal respectively；
    Electric current shake active constituent obtain subelement, for using the component of amplitude maximum as cause electric current shake effectively divide Amount；
    Frequency and amplitude second obtain subelement, cause having for electric current shake during the direct-axis current is exchanged with quadrature axis for obtaining Imitate the frequency and amplitude of component.
  15. 15. the device according to claim 13 for inhibiting electric vehicle shake, which is characterized in that further include：Voltage amplitude limit Unit；
    The voltage clipping unit, for carrying out amplitude limit to the d-axis offset voltage and quadrature axis offset voltage, after obtaining amplitude limit D-axis offset voltage and amplitude limit after quadrature axis offset voltage；
    The electric current jitter suppression unit, for the d-axis offset voltage after amplitude limit and the quadrature axis offset voltage after amplitude limit to be distinguished It is overlapped with output direct-axis voltage and output quadrature-axis voltage.
  16. 16. a kind of system for inhibiting electric vehicle shake, which is characterized in that it is controlled applied to the motor to electric vehicle, Including：Speed probe and electric machine controller；
    The speed probe, for obtaining the tach signal of motor；
    The electric machine controller, for carrying out Fourier analysis to the tach signal, obtaining causes to turn in the tach signal The frequency and amplitude of the active constituent of speed shake；The rotating speed is dithered as electric vehicle drag torque and exists between the moment of resistance Shake caused by non-linear relation；Inhibition rotating speed is obtained according to the frequency of the active constituent that rotating speed is caused to be shaken and amplitude to tremble Dynamic parameter；The parameter and the tach signal shaken according to the inhibition rotating speed pass through differential inertial element and bandpass filtering ring Section obtains compensation torque；The compensation torque is overlapped with given torque, to inhibit to rotating speed shake.
  17. 17. the system according to claim 16 for inhibiting electric vehicle shake, which is characterized in that the electric machine controller, It is additionally operable to obtain motor direct-axis current deviation signal and quadrature axis current deviation signal；To the motor direct-axis current deviation signal and Quadrature axis current deviation signal carries out causing the effective of electric current shake during Fourier analysis acquisition direct-axis current is exchanged with quadrature axis respectively The frequency and amplitude of component；The ginseng for inhibiting electric current shake is obtained by the frequency and amplitude of the active constituent that electric current is caused to be shaken Number；Parameter, the direct-axis current deviation signal and the quadrature axis current deviation signal using the inhibition electric current shake pass through Resonance controlling unit obtains d-axis offset voltage and quadrature axis offset voltage；By the d-axis offset voltage and quadrature axis offset voltage point It is not overlapped with output direct-axis voltage and output quadrature-axis voltage, to inhibit to electric current shake.
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CN109466339A (en) * 2018-11-17 2019-03-15 四川大学锦城学院 A kind of motor speed control method of electric car hill start
CN109713968A (en) * 2018-12-18 2019-05-03 蚌埠学院 The suppressing method of cutting machine Servodrive Mechanical Resonance
CN110380654A (en) * 2019-08-05 2019-10-25 江苏科技大学 The shake anti-interference method and device of permanent magnet synchronous motor Hall sensor signal acquisition
CN110509779A (en) * 2019-07-24 2019-11-29 浙江合众新能源汽车有限公司 A kind of electric car starting jitter suppression method
CN110798101A (en) * 2019-11-12 2020-02-14 威科达（东莞）智能控制有限公司 Method for inhibiting jitter under torque control of permanent magnet synchronous motor
CN110843550A (en) * 2019-11-14 2020-02-28 深圳市福瑞电气有限公司 Method for eliminating low-speed jitter of electric automobile
CN110861497A (en) * 2019-11-28 2020-03-06 安徽江淮汽车集团股份有限公司 Electric vehicle shake detection method and device, electronic equipment and storage medium
CN111079289A (en) * 2019-12-17 2020-04-28 广州星迪智能光电科技有限公司 Method for overcoming motor shake
CN111251901A (en) * 2019-11-21 2020-06-09 浙江零跑科技有限公司 PR (pulse repetition) jitter suppression method based on stationary point calibration
CN111251900A (en) * 2019-11-21 2020-06-09 浙江零跑科技有限公司 Shake suppression method capable of reducing torque loss
CN111591144A (en) * 2020-05-29 2020-08-28 重庆长安新能源汽车科技有限公司 Control method for reducing output torque vibration of motor for electric vehicle
CN111605553A (en) * 2019-02-26 2020-09-01 郑州宇通客车股份有限公司 Torque segmentation gradient filtering control method and device for new energy automobile
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CN112356683A (en) * 2020-11-10 2021-02-12 深圳市英威腾电动汽车驱动技术有限公司 Anti-shaking method, device and equipment based on electric automobile and storage medium
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CN113492689A (en) * 2020-03-18 2021-10-12 蔚然（南京）动力科技有限公司 Method for inhibiting low-speed running jitter of electric vehicle
CN114347801A (en) * 2022-01-17 2022-04-15 浙江吉利控股集团有限公司 Motor torque control method and control device
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CN109240087B (en) * 2018-10-23 2022-03-01 固高科技股份有限公司 Method and system for inhibiting vibration by changing command planning frequency in real time
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CN109466339B (en) * 2018-11-17 2022-06-28 四川大学锦城学院 Motor rotating speed control method for electric automobile hill start
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CN110798101A (en) * 2019-11-12 2020-02-14 威科达（东莞）智能控制有限公司 Method for inhibiting jitter under torque control of permanent magnet synchronous motor
CN110843550A (en) * 2019-11-14 2020-02-28 深圳市福瑞电气有限公司 Method for eliminating low-speed jitter of electric automobile
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