CN110138304A - A kind of electric drive system stabilization control method, device and vehicle - Google Patents

Abstract

The present invention relates to the field of new energy vehicles, and proposes an anti-shake control method, device, and vehicle for an electric drive system. Calculate the average value separately to judge whether the vibration of the electric drive system exceeds the preset threshold, so as to calculate the compensation torque and perform torque compensation. The first difference is the motor speed at each sampling time and the motor speed at the previous sampling time The difference between, the second difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment, the method of the present invention introduces the second difference as a judgment One of the bases is that it can quickly respond to large-scale fluctuations, suppress fluctuations in time, and avoid misjudgment of rotational speed fluctuations within the error range.

Description

Anti-vibration control method, device and vehicle for electric drive system

technical field

The invention relates to the field of new energy vehicles, in particular to an anti-vibration control method, device and vehicle for an electric drive system.

Background technique

New energy vehicles have attracted widespread attention due to their environmental protection and energy saving features. Among them, pure electric vehicles or hybrid vehicles have been put into practical applications. For electric-driven new energy vehicles, batteries and drive motors are important components. The battery and the drive motor can start the whole vehicle, and in the electric mode of the drive motor, the battery and the drive motor can provide power for the vehicle to drive the vehicle to run. The driving motor can also be switched to a power generation mode at the same time, and the battery can be charged through the driving motor, or excess energy can be recovered.

Compared with traditional vehicles, new energy vehicles driven by electric motors have fast torque response due to the use of electric motors as the driving system, and the working state of the motors is frequently switched between electric mode and power generation mode. The performance of the transmission system composed of the motor, gearbox and drive shaft It is an underdamped system dominated by inertia and elasticity. When the vehicle starts at low speed, accelerates, and switches between operating conditions, the motor speed changes greatly, so there will be vibration. This vibration seriously affects the driving experience of the vehicle and occupants, and will also cause damage to the electric drive system.

The vibration problem of the electric drive system, on the one hand, will affect the ride comfort and ride comfort due to the vibration and the noise of the drive system; life. Therefore, when the motor speed changes greatly and the electric drive system shakes, it is necessary to properly adjust the output torque to suppress the fluctuation of the speed, so as to improve the driving experience and the stress damage to the shaft.

Contents of the invention

The technical problem to be solved by the invention is the vibration problem of the electric drive system. In order to solve the above problems, the present invention proposes an anti-vibration control method, device and vehicle for an electric drive system. The present invention is specifically realized with the following technical solutions:

The first aspect of the present invention proposes an anti-shake control method for an electric drive system, the method comprising:

According to the preset time interval, the motor speed signal is sampled to obtain the motor speed at each sampling moment;

Calculating a first difference corresponding to each sampling moment, where the first difference is the difference between the motor speed at the sampling moment and the motor speed at the previous sampling moment;

Calculating a second difference corresponding to each sampling moment, where the second difference is the difference between the first difference at the sampling moment and the first difference at the previous sampling moment;

calculating a rotational speed fluctuation value according to the first difference and the second difference at each sampling moment;

judging whether the rotational speed fluctuation value is greater than a fluctuation threshold;

If yes, calculate the compensation torque;

The required torque is adjusted based on the compensation torque.

Further, the calculating the rotational speed fluctuation value according to the first difference and the second difference at each sampling time further includes:

calculating the average value of the first difference at each sampling moment to obtain the first average difference;

calculating the average value of the second difference at each sampling moment to obtain a second average difference;

Calculate a rotational speed fluctuation value according to the first average difference and the second average difference.

Further, after the calculation of the compensation torque, it also includes:

judging whether the compensation torque is greater than a preset threshold;

If yes, then output the compensation torque according to the preset threshold.

Further, before sampling the motor speed signal according to the preset time interval, it also includes:

Perform low-pass filtering on the motor speed signal according to preset filtering parameters.

Specifically, the motor speed signal is sampled according to a preset sampling period. Filtering is performed before sampling, and the filtering parameters of the motor speed signal need to be debugged.

Calculate the difference between the motor speed signal at each sampling time and the motor speed information at the previous sampling time to obtain a first difference at each sampling time. A difference between the first difference at each sampling moment and the first difference at a previous sampling moment is calculated to obtain a second difference at each sampling moment.

According to the preset number of sampling times, the first difference at each sampling time is accumulated and averaged multiple times to obtain the first average difference, and according to the preset number of times, the second difference at each sampling time is accumulated and averaged multiple times to obtain the second difference. Two mean difference.

According to the rotational speed fluctuation value, it is judged whether the rotational speed fluctuation value is greater than a fluctuation threshold. The fluctuation threshold is a pre-calibrated threshold

If the speed fluctuation value is greater than the fluctuation threshold, the active damping function switch is turned on. When the active damping switch is not turned on, torque compensation is not performed for ordinary acceptable small speed fluctuations, so as to prevent frequent torque adjustments from causing certain shocks to the system . And according to the speed fluctuation value, calculate the compensation torque.

When the speed fluctuation value is positive, the compensation torque is positive, that is, the speed rises too fast, and the demand torque is subtracted from the compensation torque to reduce the actual output torque. When the speed fluctuation value is negative, the compensation torque is negative, that is, the speed drops too fast, and the demand torque is subtracted from the compensation torque to increase the actual output torque.

The second aspect of the present invention proposes an anti-shake control device for an electric drive system, the device includes: a rotational speed signal sampling module, a first difference calculation module, a second difference calculation module, a rotational speed fluctuation judging module and a compensation torque computing module;

The rotational speed signal sampling module is used to sample the motor rotational speed signal according to a preset time interval to obtain the motor rotational speed;

The first difference calculation module is used to calculate the first difference at each moment, and the first difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment;

The second difference calculation module is used to calculate the second difference at each moment, and the second difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment;

The rotation speed fluctuation judging module is used to judge whether the rotation speed fluctuation exceeds a preset threshold according to the first difference and the second difference;

The compensation torque calculation module is used to calculate the compensation torque when the rotational speed fluctuation exceeds a preset threshold.

Further, the first difference calculation module also includes: a first average difference calculation unit

The first average difference calculation unit is used to calculate the average value of the first difference at each sampling moment to obtain the first average difference;

The second difference calculation module also includes: a first average difference calculation unit

The second average difference calculation unit is used to calculate the average value of the second differences at each sampling moment to obtain the second average difference.

Further, the rotational speed fluctuation judging module includes a rotational speed fluctuation value calculation unit and a rotational speed fluctuation value comparison unit;

The rotation speed fluctuation value calculation unit is used to calculate the rotation speed fluctuation value according to the first average difference and the second average difference;

The rotational speed fluctuation value comparison unit is used to compare whether the rotational speed fluctuation value is greater than a preset fluctuation threshold.

Further, the device further includes a rotational speed signal filtering module, which is used to filter the rotational speed signal of the motor.

Further, the device also includes a compensation torque limiting module;

The compensation torque limiting module is used to judge whether the compensation torque exceeds a preset threshold, and output the compensation torque according to the preset threshold when it is judged that the compensation torque exceeds the preset threshold.

Specifically, the motor speed signal is sampled according to a preset sampling period. Filtering is performed before sampling, and the filtering parameters of the motor speed signal need to be debugged.

Calculate the difference between the motor speed signal at each sampling time and the motor speed information at the previous sampling time to obtain a first difference at each sampling time. A difference between the first difference at each sampling moment and the first difference at a previous sampling moment is calculated to obtain a second difference at each sampling moment.

According to the preset number of sampling times, the first difference at each sampling time is accumulated and averaged multiple times to obtain the first average difference, and according to the preset number of times, the second difference at each sampling time is accumulated and averaged multiple times to obtain the second difference. Two mean difference.

According to the rotational speed fluctuation value, it is judged whether the rotational speed fluctuation value is greater than a fluctuation threshold. The fluctuation threshold is a pre-calibrated threshold.

If the speed fluctuation value is greater than the fluctuation threshold, the active damping function switch is turned on. When the active damping switch is not turned on, torque compensation is not performed for ordinary acceptable small speed fluctuations, so as to prevent frequent torque adjustments from causing certain shocks to the system . And according to the speed fluctuation value, calculate the compensation torque.

When the speed fluctuation value is positive, the compensation torque is positive, that is, the speed rises too fast, and the demand torque is subtracted from the compensation torque to reduce the actual output torque. When the speed fluctuation value is negative, the compensation torque is negative, that is, the speed drops too fast, and the demand torque is subtracted from the compensation torque to increase the actual output torque.

A third aspect of the present invention provides a vehicle, which includes the anti-vibration control device for an electric drive system described above.

By adopting the above technical solution, the anti-shake control method, device and vehicle of the electric drive system according to the present invention have the following beneficial effects:

1) An anti-shake control method for an electric drive system proposed by the present invention, the electric drive system anti-shake control method samples the motor speed, and determines whether the shake of the electric drive system exceeds a preset threshold by calculating the difference twice. In order to perform torque compensation, the first difference is the difference between the motor speed at each sampling moment and the motor speed at the previous sampling moment, and the second difference is the difference between the first difference at each sampling moment and the previous The difference between the first difference at the sampling time and the introduction of the second difference can quickly respond to large-scale fluctuations, and suppress fluctuations in time, while avoiding misjudgment of rotational speed fluctuations within the error range;

2) An anti-shake control method for an electric drive system proposed by the present invention, the anti-shake control method for an electric drive system filters the motor speed signal before sampling the motor speed, which not only ensures the real-time performance of the calculated speed, but also ensures Can filter out high-frequency speed fluctuations;

3) An anti-shake control device for an electric drive system proposed by the present invention. The device has an active damping switch. When the degree of shaking exceeds a preset threshold, the active damping switch is turned on and the active damping function is activated. For ordinary acceptable small For speed fluctuations, torque compensation can be set to prevent frequent torque adjustments from causing certain shocks to the system.

Description of drawings

In order to more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the following will briefly introduce the drawings that need to be used in the description of the embodiments or the prior art. Obviously, the accompanying drawings in the following description are only These are some embodiments of the present invention. Those skilled in the art can also obtain other drawings based on these drawings without creative work.

FIG. 1 is a flow chart of an anti-shake control method for an electric drive system provided by an embodiment of the present invention;

FIG. 2 is a schematic structural diagram of an anti-shake control device for an electric drive system provided by an embodiment of the present invention;

FIG. 3 is a schematic structural diagram of a rotational speed fluctuation judging module of an anti-shake control device for an electric drive system provided by an embodiment of the present invention.

The accompanying drawings are supplemented as follows:

201-speed signal sampling module, 202-first difference calculation module, 203-second difference calculation module, 204-speed fluctuation judgment module, 205-compensation torque calculation module, 2001-speed fluctuation value calculation unit, 2002-speed Fluctuation value comparison unit.

Detailed ways

The following will clearly and completely describe the technical solutions in the embodiments of the present invention with reference to the drawings in the embodiments of the present invention. Apparently, the described embodiments are only some of the embodiments of the present invention, but not all of them. Based on the embodiments of the present invention, all other embodiments obtained by persons of ordinary skill in the art without making creative efforts belong to the protection scope of the present invention.

In the several embodiments provided in this application, the described system embodiments are only illustrative, for example, the division of the modules is only a logical function division, and there may be other division methods in actual implementation, such as Multiple modules or components may be combined or integrated into another system, or some features may be omitted, or not implemented. In another point, the mutual coupling or direct coupling or communication connection shown or discussed may be through some interfaces, and the indirect coupling or communication connection of modules or units may be in electrical or other forms.

The modules described as separate components may or may not be physically separated, and the components displayed as modules may or may not be physical modules, that is, they may be located in one place, or may be distributed to multiple network modules. Part or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

In addition, each functional unit in each embodiment of the present invention may be integrated into one processing module, each unit may exist separately physically, or two or more units may be integrated into one module. The above-mentioned integrated units can be implemented in the form of hardware or in the form of software functional units.

Example 1:

An embodiment of the present invention provides an anti-shake control method for an electric drive system, as shown in FIG. 1 , the method includes:

S1. According to the preset time interval, the motor speed signal is sampled to obtain the motor speed at each sampling moment;

S2. Calculate the first difference at each sampling moment, where the first difference is the difference between the motor speed at each sampling moment and the motor speed at the previous sampling moment;

S3. Accumulate and average the first difference values at each sampling time multiple times to obtain a first average difference value.

S4. Calculating the second difference at each sampling moment, where the second difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment;

S5. Accumulate and average the second difference at each sampling moment multiple times to obtain a second average difference;

S6. According to the first average difference and the second average difference, calculate a rotational speed fluctuation value, and judge whether the rotational speed fluctuation value is greater than a fluctuation threshold;

S7. If yes, calculate the compensation torque, and adjust the required torque according to the compensation torque.

Further, before obtaining the motor speed at each moment, low-pass filtering is performed on the motor speed signal. Select appropriate parameters to perform low-pass filtering on the motor speed signal under certain conditions.

Further, after the compensation torque is calculated, the compensation torque is limited to prevent the compensation torque from exceeding the limit of the electric drive system.

Further, when the rotational speed fluctuation value is positive, the compensation torque is positive, that is, the rotational speed rises too fast, and the demanded torque is subtracted from the compensation torque to reduce the actual output torque. When the speed fluctuation value is negative, the compensation torque is negative, that is, the speed drops too fast, and the demand torque is subtracted from the compensation torque to increase the actual output torque.

Specifically, the motor speed signal is sampled according to a preset sampling period. Every time a preset time interval passes, the motor speed signal at the sampling time is obtained. The filter parameters of the motor speed signal need to be adjusted. The filter parameters must ensure that some high-frequency speed fluctuations are filtered out, and at the same time, the real-time performance of the speed must be maintained to prevent the torque lag of the compensation.

Calculate the difference between the motor speed signal at each sampling time and the motor speed information at the previous sampling time to obtain a first difference at each sampling time. A difference between the first difference at each sampling moment and the first difference at a previous sampling moment is calculated to obtain a second difference at each sampling moment. The rising trend of the motor speed can be judged according to the second difference, which ensures a quick response to large fluctuations and suppresses the fluctuations in time. Moreover, the introduction of the second difference can avoid misjudgment of ordinary motor speed fluctuations. The ordinary motor speed fluctuations may be caused by the uneven motor speed itself, or may be caused by the adjustment of the active damping function fluctuation.

According to the preset number of sampling times, the first difference at each sampling time is accumulated and averaged multiple times to obtain the first average difference, and according to the preset number of times, the second difference at each sampling time is accumulated and averaged multiple times to obtain the second difference. Two mean difference. Processing the first difference and the second difference by calculating the first average difference and the second average difference can filter out ordinary small fluctuations and avoid misjudgment.

Calculate a rotational speed fluctuation value according to the first average difference and the second average difference. The formula of the rotational speed fluctuation value is as follows:

S＝D _avg1 *a+D _avg2 *b

Wherein, S is the rotational speed fluctuation value, D _avg1 is the first average difference, D _avg2 is the second average difference, a is the calibration parameter, and b is the calibration parameter.

According to the rotational speed fluctuation value, it is judged whether the rotational speed fluctuation value is greater than a fluctuation threshold. The fluctuation threshold is a pre-calibrated threshold

If the speed fluctuation value is greater than the fluctuation threshold, the active damping function switch is turned on. When the active damping switch is not turned on, torque compensation is not performed for ordinary acceptable small speed fluctuations, so as to prevent frequent torque adjustments from causing certain shocks to the system . And according to the speed fluctuation value, calculate the compensation torque. The formula for calculating the compensation torque is:

T _add =D _avg1 *c+D _avg2 *d

Wherein, T _add is the compensation torque, D _avg1 is the first average difference, D _avg2 is the second average difference, c is the calibration parameter, and d is the calibration parameter. This parameter is a calibratable parameter, which can be quickly verified on different vehicle models to speed up the debugging progress. The compensation torque can also be calculated by other calculation methods.

Limit the compensation torque to prevent the compensation torque from exceeding the limit conditions of the system.

The compensation torque is compensated to the demand torque, and the demand torque is input into the motor controller through the vehicle controller, and the motor controller can control the rotation of the motor according to the demand torque. When the speed fluctuation value is positive, that is, when the speed rises too fast, the compensation torque is also positive, and the demand torque minus the compensation torque reduces the actual output torque and restrains the rapid rise of the speed. When the speed fluctuation value is negative, that is, when the speed drops too fast, the compensation torque is also negative, and the demand torque minus the compensation torque increases the actual output torque and suppresses the rapid drop of the speed.

An anti-vibration control method for an electric drive system according to an embodiment of the present invention. The method calculates the rotational speed fluctuation value through the rotational speed difference and the difference between the rotational speed difference at each moment and the rotational speed difference at the previous moment, and judges whether The fluctuation threshold is exceeded. When the fluctuation threshold is exceeded, the compensation torque is calculated to compensate the demand torque. The method introduces the difference between the rotational speed difference at each moment and the rotational speed difference at the previous moment, which can quickly respond to large-scale fluctuations, suppress fluctuations in time, and avoid errors in rotational speed fluctuations within the error range. sentenced. In addition, before obtaining the difference, the method performs filtering processing on the motor speed signal, which not only ensures the real-time performance of the calculated speed, but also ensures that high-frequency speed fluctuations can be filtered out.

Example 2:

An embodiment of the present invention provides an anti-shake control device for an electric drive system. As shown in FIG. The rotational speed fluctuation judgment module 204 and the compensation torque calculation module 205 .

The rotational speed signal sampling module 201 is used to sample the motor rotational speed signal according to a preset time interval, and obtain the motor rotational speed signal at each moment.

The first difference calculation module 202 is used to calculate the first difference at each moment, and the first difference is the difference between the motor speed at each moment and the motor speed at the previous moment. The first difference value calculation module also includes a first average difference value calculation unit, and the first average difference value calculation unit is used to accumulate and average the first difference values at each moment multiple times to obtain the first average difference value .

The second difference calculating module 203 is used to calculate the second difference at each moment, and the second difference is the difference between the first difference at each moment and the first difference at the previous moment. The second difference calculation module also includes a second average difference calculation unit, and the second average difference calculation unit is used to accumulate and average the second differences at each moment to obtain the second average difference .

The rotational speed fluctuation judging module 204 includes a rotational speed fluctuation value calculation unit 2001 and a rotational speed fluctuation value comparison unit 2002 . The rotational speed fluctuation value calculating unit is used for calculating the rotational speed fluctuation value according to the first average difference and the second average difference. The rotational speed fluctuation value comparison unit is used to compare whether the rotational speed fluctuation value is greater than a preset fluctuation threshold.

The compensation torque calculation module 205 is used to calculate the compensation torque when the rotational speed fluctuation value is greater than a preset fluctuation threshold.

Further, the device further includes a rotational speed signal filtering module, which is used to filter the rotational speed signal of the motor. Filter out some high-frequency speed fluctuations through filtering, while maintaining the real-time performance of the speed and preventing the lag of the compensated torque.

Specifically, the motor speed signal is sampled according to a preset sampling period. Every time a preset time interval passes, the motor speed signal at the sampling time is obtained. The filter parameters of the motor speed signal need to be adjusted. The filter parameters must ensure that some high-frequency speed fluctuations are filtered out, and at the same time, the real-time performance of the speed must be maintained to prevent the torque lag of the compensation.

Calculate the difference between the motor speed signal at each sampling time and the motor speed information at the previous sampling time to obtain a first difference at each sampling time. A difference between the first difference at each sampling moment and the first difference at a previous sampling moment is calculated to obtain a second difference at each sampling moment. The rising trend of the motor speed can be judged according to the second difference, which ensures a quick response to large fluctuations and suppresses the fluctuations in time. Moreover, the introduction of the second difference can avoid misjudgment of ordinary motor speed fluctuations. The ordinary motor speed fluctuations may be caused by the uneven motor speed itself, or may be caused by the adjustment of the active damping function fluctuation.

The first difference at each sampling moment is accumulated and averaged multiple times according to the preset number of times to obtain the first average difference, and the second difference at each sampling moment is accumulated and averaged multiple times according to the preset number of times to obtain the second average difference. Processing the first difference and the second difference by calculating the first average difference and the second average difference can filter out ordinary small fluctuations and avoid misjudgment.

Calculate a rotational speed fluctuation value according to the first average difference and the second average difference. The formula of the rotational speed fluctuation value is as follows:

S＝D _avg1 *a+D _avg2 *b

Wherein, S is the rotational speed fluctuation value, D _avg1 is the first average difference, D _avg2 is the second average difference, a is the calibration parameter, and b is the calibration parameter.

According to the rotational speed fluctuation value, it is judged whether the rotational speed fluctuation value is greater than a fluctuation threshold. The fluctuation threshold is a pre-calibrated threshold

If the rotational speed fluctuation value is greater than the fluctuation threshold, the active damping function switch is turned on. The active damping function does not perform torque compensation for ordinary acceptable small rotational speed fluctuations, so as to prevent frequent torque adjustments from causing certain shocks to the system. And according to the speed fluctuation value, calculate the compensation torque. The formula for calculating the compensation torque is:

T _add =D _avg1 *c+D _avg2 *d

Wherein, T _add is the compensation torque, D _avg1 is the first average difference, D _avg2 is the second average difference, c is the calibration parameter, and d is the calibration parameter. This parameter is a calibratable parameter, which can be quickly verified on different vehicle models to speed up the debugging progress. The compensation torque can also be calculated by other calculation methods.

Limit the compensation torque to prevent the compensation torque from exceeding the limit conditions of the system.

The compensation torque is added to the demand torque, and the demand torque is input into the motor controller through the vehicle controller, and the motor controller can control the rotation of the motor according to the demand torque. When the speed fluctuation value is positive, that is, when the speed rises too fast, the compensation torque is also positive, and the demand torque minus the compensation torque reduces the actual output torque and restrains the rapid rise of the speed. When the speed fluctuation value is negative, that is, when the speed drops too fast, the compensation torque is also negative, and the demand torque minus the compensation torque increases the actual output torque and suppresses the rapid drop of the speed.

An anti-shake control device for an electric drive system according to an embodiment of the present invention, the device calculates the rotational speed fluctuation value through the rotational speed difference and the difference between the rotational speed difference at each time and the previous time rotational speed difference, and judges whether The fluctuation threshold is exceeded. When the fluctuation threshold is exceeded, the compensation torque is calculated to compensate the demand torque. The method introduces the difference between the rotational speed difference at each moment and the rotational speed difference at the previous moment, which can quickly respond to large-scale fluctuations, suppress fluctuations in time, and avoid misjudgment of rotational speed fluctuations within the error range . In addition, before obtaining the difference, the device performs filtering processing on the motor speed signal, which not only ensures the real-time performance of the calculated speed, but also ensures that high-frequency speed fluctuations can be filtered out. The device also adds an active damping switch, which can be set not to perform torque compensation for ordinary and acceptable small speed fluctuations, so as to prevent frequent torque adjustments from causing certain shocks to the system.

The above descriptions are only preferred embodiments of the present invention, and are not intended to limit the present invention. Any modifications, equivalent replacements, improvements, etc. made within the spirit and principles of the present invention shall be included in the protection of the present invention. within range.

Claims (10)

1. An anti-shake control method for an electric drive system, characterized in that the method comprises: According to the preset time interval, the motor speed signal is sampled to obtain the motor speed at each sampling moment; Calculating a first difference corresponding to each sampling moment, where the first difference is the difference between the motor speed at the sampling moment and the motor speed at the previous sampling moment; Calculating a second difference corresponding to each sampling moment, where the second difference is the difference between the first difference at the sampling moment and the first difference at the previous sampling moment; calculating a rotational speed fluctuation value according to the first difference and the second difference at each sampling moment; judging whether the rotational speed fluctuation value is greater than a fluctuation threshold; If so, calculate the compensation torque; The required torque is adjusted based on the compensation torque. 2. The anti-vibration control method of an electric drive system according to claim 1, wherein the calculation of the rotational speed fluctuation value according to the first difference and the second difference at each sampling moment comprises: calculating the average value of the first difference at each sampling moment to obtain the first average difference; calculating the average value of the second difference at each sampling moment to obtain a second average difference; Calculate a rotational speed fluctuation value according to the first average difference and the second average difference. 3. The anti-shake control method of an electric drive system according to claim 1, characterized in that, after calculating the compensation torque, further comprising: judging whether the compensation torque is greater than a preset threshold; If yes, then output the compensation torque according to the preset threshold. 4. The anti-shake control method of an electric drive system according to claim 1, wherein, before sampling the motor speed signal according to the preset time interval, further comprising: Perform low-pass filtering on the motor speed signal according to preset filtering parameters. 5. An anti-shake control device for an electric drive system, characterized in that the device comprises: a rotational speed signal sampling module, a first difference calculation module, a second difference calculation module, a rotational speed fluctuation judgment module, and a compensation torque calculation module; The rotational speed signal sampling module is used to sample the motor rotational speed signal according to a preset time interval to obtain the motor rotational speed; The first difference calculation module is used to calculate the first difference at each moment, and the first difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment; The second difference calculation module is used to calculate the second difference at each moment, and the second difference is the difference between the first difference at each sampling moment and the first difference at the previous sampling moment; The rotation speed fluctuation judging module is used to judge whether the rotation speed fluctuation exceeds a preset threshold according to the first difference and the second difference; The compensation torque calculation module is used to calculate the compensation torque when the rotational speed fluctuation exceeds a preset threshold. 6. An anti-shake control device for an electric drive system according to claim 5, wherein the first difference calculation module further comprises: a first average difference calculation unit The first average difference calculation unit is used to calculate the average value of the first difference at each sampling moment to obtain the first average difference; The second difference calculation module also includes: a first average difference calculation unit The second average difference calculation unit is used to calculate the average value of the second differences at each sampling moment to obtain the second average difference. 7. The anti-shake control device for an electric drive system according to claim 6, wherein the speed fluctuation judging module includes a speed fluctuation value calculation unit and a speed fluctuation value comparison unit; The rotation speed fluctuation value calculation unit is used to calculate the rotation speed fluctuation value according to the first average difference and the second average difference; The rotational speed fluctuation value comparison unit is used to compare whether the rotational speed fluctuation value is greater than a preset fluctuation threshold. 8 . The anti-shake control device for an electric drive system according to claim 5 , wherein the device further comprises a rotational speed signal filtering module, and the rotational speed signal filtering module is used to filter the motor rotational speed signal. 9. An anti-shake control device for an electric drive system according to claim 5, wherein the device further comprises a compensation torque limiting module; The compensation torque limiting module is used to judge whether the compensation torque exceeds a preset threshold, and output the compensation torque according to the preset threshold when it is judged that the compensation torque exceeds the preset threshold. 10. A vehicle, characterized in that the vehicle comprises the anti-vibration control device for an electric drive system according to any one of claims 5 to 9.