CN111775869B - Method for inhibiting abnormal sound of transmission chain of pure electric bus - Google Patents
Method for inhibiting abnormal sound of transmission chain of pure electric bus Download PDFInfo
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- CN111775869B CN111775869B CN202010738428.1A CN202010738428A CN111775869B CN 111775869 B CN111775869 B CN 111775869B CN 202010738428 A CN202010738428 A CN 202010738428A CN 111775869 B CN111775869 B CN 111775869B
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60R—VEHICLES, VEHICLE FITTINGS, OR VEHICLE PARTS, NOT OTHERWISE PROVIDED FOR
- B60R16/00—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for
- B60R16/02—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements
- B60R16/023—Electric or fluid circuits specially adapted for vehicles and not otherwise provided for; Arrangement of elements of electric or fluid circuits specially adapted for vehicles and not otherwise provided for electric constitutive elements for transmission of signals between vehicle parts or subsystems
- B60R16/0231—Circuits relating to the driving or the functioning of the vehicle
- B60R16/0232—Circuits relating to the driving or the functioning of the vehicle for measuring vehicle parameters and indicating critical, abnormal or dangerous conditions
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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
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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
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- 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
A method for inhibiting abnormal sound of a transmission chain of a pure electric bus comprises the following steps: a preset time t is set, the brake pedal is not immediately stepped down after the accelerator is released1Immediately stepping on the brake pedal after the accelerator is released to set the preset time t2(ii) a Determining a negative torque value T at which a tooth flank commutation abnormal sound occursn(ii) a Measuring the rate of change a of threshold at which abnormal noise occursH(ii) a Setting two different tooth surface reversing time according to whether the brake is stepped after the accelerator is released, calculating the remaining time capable of being used for tooth surface reversing action according to the consumed time of driving torque withdrawing, automatically determining the change rate of the motor torque and finishing the tooth surface reversing action according to the change rate. Therefore, the invention can realize that the driver releases the accelerator and does not immediately step on the brake, can complete the tooth surface reversing in a very gentle process and ensures that no abnormal sound occurs; the driver immediately steps on the brake after the accelerator is released, the motor torque change rate in the tooth surface reversing process can be automatically accelerated, and the contradiction between abnormal sound suppression and torque response is reconciled to the maximum extent.
Description
Technical Field
The invention relates to the technical field of new energy automobiles, in particular to a method for inhibiting abnormal sound of a transmission chain of a pure electric bus.
Background
The pure electric bus is different from the traditional bus in that a motor generates negative torque to recover energy, so that the braking and driving states of the bus alternate in the driving process, and a frequent positive and negative torque switching process is inevitably generated. And the transmission part of the vehicle, especially the main reducer gear, must have the clearance between the tooth, leads to when the motor torque direction switches, and the meshing flank of tooth changes, leans on the opposite side from one side, if the power change is too sudden, will produce abnormal sound, also influences the driving chain life-span simultaneously. And pure [ electric ] motor coach is with pure [ electric ] motor passenger car difference to some extent, and the passenger train mainly adopts at present still single motor centralized drive's mode, and the moment of torsion of motor output passes through final drive unit and transmits respectively to both ends rear wheel to use and the general rear axle of traditional fuel passenger train, so the abnormal sound condition is often more obvious. At present, in the new energy automobile industry, some optimization strategies aiming at the problem exist, and the principle is that when the torque direction changes, the tooth surface reversing step is firstly smoothly completed by controlling the motor torque, and then the original torque response is executed.
The patent publication No. CN110356248A provides a method, an apparatus, a storage medium, and a vehicle for controlling a motor torque, in which a required torque and an actual torque of a motor are obtained, and if the required torque is opposite to the actual torque, the actual torque of the motor is controlled to approach 0, and when the actual torque of the motor reaches 0, the actual torque of the motor is controlled to approach the required torque. Thereby avoided the moment of torsion of motor direct switching between positive torque and negative torque, eliminated the transmission shaft abnormal sound of motor, improved the driving comfort level, and then improved user experience. According to the control method, when the positive direction and the negative direction of the motor torque are switched, the motor torque reaches 0 point at the fastest speed, then the motor torque is further increased to a target torque, and in the process of increasing to the target torque, the torque is processed in a filtering mode. The method only avoids the phenomenon of direct switching of positive and negative torques. The tooth surface reversing action needs the motor to execute very slow torque change rate to inhibit abnormal sound, and the abnormal sound cannot be synchronously processed with normal torque response.
The patent with publication number CN108583365A discloses a method for controlling tooth surface reversing and anti-shake of an electric vehicle, which includes a reversing signal obtaining step, a torque obtaining step, a reversing step, a post-reversing torque processing step, a post-reversing torque judging step, and a step of judging whether the output torque processed by the post-reversing torque processing step reaches a post-reversing torque preset value, if yes, reversing is completed, the reversing signal obtaining step is returned, and if not, the post-reversing torque processing step is returned. The method for controlling the reversing and anti-shaking of the tooth surface of the electric automobile realizes smoother tooth surface reversing in driving, better accords with the characteristics of a pure electric logistics vehicle, and improves the comfort of the whole automobile. The patent sets a fixed tooth surface reversing step, does not distinguish and process according to the operation of a driver, and has more steps and correspondingly more time consumption in the reversing process. The patent proposes that the reversing action is completed within 1s, and the time is acceptable if the driver does not step on the brake after the accelerator is released, but if the driver immediately steps on the brake after the accelerator is released, the brake torque can only respond after 1s, and the time interval is too long, thereby having adverse effects on the driving feeling and the safety. Therefore, the method for inhibiting the abnormal sound of the transmission chain of the pure electric bus is provided.
Disclosure of Invention
The invention provides a method for inhibiting abnormal sound of a transmission chain of a pure electric bus, which aims to overcome the defects of contradiction between abnormal sound inhibition and braking torque response instantaneity and the like in the conventional method.
The invention adopts the following technical scheme:
a method for inhibiting abnormal sound of a transmission chain of a pure electric bus comprises the following steps:
step one, presetting time t, optimizing the torque when the torque passes through a 0 point, finishing the action of reversing by a tooth surface, and if a driver does not immediately step on a brake pedal after releasing an accelerator, setting the preset time t1If the driver immediately steps on the brake pedal after releasing the accelerator, the preset time is set as t2，t2Less than t1。
Step two, determining a negative torque value T of the generated tooth surface reversing abnormal soundn；
Step three, using T determined in step twonDetermining a threshold rate of change a at which abnormal noise occurs for a target tooth contact torqueH；
Driving the torque to remove the torque and starting timing, completely removing the torque and recording the current time consumption as ta；
Step five, detecting whether a braking signal exists or not, and if the braking signal does not exist after the throttle is released, braking is not stepped on or t1After time, stepping on the brake, executing t1Process for the production of
Torque rate of change to torque Tn，a1≤aH；
Step six, after the throttle is loosened, the brake is stepped down before the driving torque is removed, and complete t is executed2Process for the production of
Torque rate of change to torque Tn，a2≤aH；
Step seven, if t is executed1During the tooth surface reversing process, and t is not reached yet2The brake is pressed down in time, and the time when the brake is pressed down is recorded as tbAnd a current torque command TcTo do so by
Torque rate of change to torque Tn，a3≤aH。
Further, if t is being executed1In the process, and has reached t2And when the brake is stepped down after the time, the brake torque is responded in time, and the tooth surface reversing process is directly jumped out.
Further, if the tooth surface reversing action is completed within the set time period T and the reversing action quitting condition is not met, maintaining TnThe torque keeps the tooth surfaces in contact.
Further, the specific process of the second step is as follows: when the vehicle runs, the accelerator is loosened and the brake is not stepped on, and at the moment, the sliding brake torque T is given under the condition that the torque passes through a 0 point without special treatmentsCalibrating the value of the first test of the torque to be Ts1Then, a decreasing gradient torque value is set
Setting the value of the coasting braking torque of the nth test
(ii) a If the n-1 test has no abnormal sound or no obvious abnormal sound in the whole test process, but obvious abnormal sound appears from the nth test, and the abnormal sound degree of all the tests after the nth test is the same as that of the nth test,judging that the negative torque value corresponding to the nth test is the torque value T with the occurrence of the abnormal tooth surface reversing soundn。
Preferably, the
The value of (a) is 5-20 Nm.
Further, the threshold change rate a of abnormal sound in the third stepHThe search procedure of (1) is as follows: selecting a slower rate of change a of torqueLCarrying out the first test, if no abnormal sound occurs, accelerating the torque change rate to carry out the next test until slight acceptable abnormal sound occurs, and selecting the change rate value as the threshold change rate a of the abnormal soundH。
Preferably, said aLThe value of (a) is-50 to-200 Nm/s.
Preferably, t is1The time can be set to 0.7 s-1.2 s according to actual conditions, and t2The time can be set to be 0.3 s-0.7 s according to actual conditions.
As can be seen from the above description of the present invention, compared with the prior art, the present invention has the following advantages:
1. the invention provides an abnormal sound suppression strategy during driving, rotating and braking, which is characterized in that two different tooth surface reversing time are set by distinguishing different driving actions, namely according to whether braking is stepped after an accelerator is released, and meanwhile, according to the consumed time of torque withdrawing of driving torque, the residual time which can be used for tooth surface reversing action in a tooth surface reversing time period is calculated, so that the change rate of motor torque is automatically calculated and determined, and the tooth surface reversing action is completed according to the change rate. Therefore, the invention can realize that the driver releases the accelerator and does not immediately step on the brake, can complete the tooth surface reversing in a very gentle process and ensures that no abnormal sound occurs; if a driver immediately steps on the brake after the accelerator is released, the change rate of the motor torque in the tooth surface reversing process can be automatically accelerated, the timeliness of torque response is guaranteed as far as possible on the premise that abnormal sound does not occur or only weak abnormal sound exists, and the contradiction between abnormal sound inhibition and torque response is reconciled to the greatest extent.
2. The invention also considers that when the brake is stepped down in the tooth surface reversing action process, the torque change rate of a new motor is calculated again according to the residual available tooth surface reversing time and the current motor torque value, and the residual tooth surface reversing action is completed according to the change rate, so that the abnormal sound is further prevented from occurring, and the timeliness of torque response is also ensured.
3. The patent also provides a method for measuring a negative torque value of the abnormal sound generated during the tooth surface commutation so as to determine the target torque in the tooth surface commutation process. Meanwhile, a method for measuring the critical change rate of the motor torque which can cause abnormal sound in the tooth surface reversing process is also provided, and the upper limit and the lower limit of the torque change rate are determined according to the method.
Drawings
FIG. 1 is a schematic connection diagram of a pure electric bus.
FIG. 2 is a graph of the braking signal, the throttle signal and the motor torque versus time for the situation where the throttle is released and the brake is not being applied.
FIG. 3 is a graph showing the variation of braking signal, throttle signal and motor torque with time in the state of braking before the drive torque is removed after the throttle is released.
FIG. 4 shows an implementation of t according to the present invention1The tooth surface reversing process does not reach t2And a change curve graph of the braking signal, the accelerator signal and the motor torque with time in the state of stepping on the braking.
FIG. 5 is a flowchart of a tooth flank commutation control strategy of the present invention.
Detailed Description
The following describes embodiments of the present invention with reference to the drawings. Numerous details are set forth below in order to provide a thorough understanding of the present invention, but it will be apparent to those skilled in the art that the present invention may be practiced without these details. Well-known components, methods and processes are not described in detail below.
Referring to fig. 1, the pure electric bus of the present invention is provided with a vehicle control unit 1, a battery management system 2, and a power battery 3. The vehicle control unit 1 is connected with the battery management system 2 through CAN communication, the power battery 3 is electrically connected with the motor 5 through the motor controller 4, and the motor 5 is mechanically connected with rear wheels 7 at two ends through a main reducer 6. The vehicle control unit 1 analyzes the accelerator and braking intention of a driver, generates a corresponding torque demand, sends the torque demand to the motor controller 4 in real time through CAN communication, the motor controller controls the motor 5 to output a corresponding torque, the torque output by the motor is respectively transmitted to the rear wheels 7 at two ends through the main reducer 6, and the actual torque value of the motor 5 at the moment is fed back to the vehicle control unit 1 through CAN communication. Although the vehicle control unit filters the torque demand command and limits the change rate of the torque demand command to ensure smooth torque change and protection of a drive axle, the limitation is still not enough to eliminate abnormal noise when the torque exceeds the 0 point. The invention provides a method for inhibiting abnormal sound of a transmission chain of a pure electric bus by analyzing and optimizing the driving, rotating and braking processes of a vehicle, which comprises the following specific steps:
firstly, presetting time t, and carrying out optimization processing on the torque when the torque passes through a 0 point to finish the tooth-surface-leaning reversing action. It should be noted that the braking process is divided into a coasting energy recovery state in which the brake pedal is depressed and a coasting energy recovery state in which the brake pedal is not depressed, because the braking process is a motoring braking process. If the driver does not immediately step on the brake pedal after releasing the accelerator, the preset time t is set1(ii) a If the driver immediately steps on the brake pedal after releasing the accelerator, the driver has definite braking force demand, and the negative torque should be released in time to ensure the rapid response of the braking force, so the setting is shorter than t1Is preset time t2。t1And t2The starting time points of the accelerator pedal are all the time when the driver completely releases the accelerator pedal, and after the accelerator pedal is released, the preset time t is firstly used1Performing a tooth surface reversing step if at the time of throttle release t2Within the moment, if the driver steps on the brake pedal, the preset time t is executed2I.e. to reach t2After the time, the vertical horse exits from the tooth surface reversing step and responds to the braking negative torque in time; if after releasing the throttle
If the driver does not step on the brake within the time, the preset time t is completely executed1(ii) a If greater than t2Less than t1Is pressed down at the time point of (1), then immediately from t1Process exitAnd timely responding to braking negative torque.
And secondly, determining a negative torque value of the abnormal tooth surface reversing sound. When the vehicle runs, the accelerator is loosened and the brake is not stepped on, and at the moment, the sliding brake torque T is given under the condition that the torque passes through a 0 point without special treatmentS(negative value) for calibrating the first test value of the torque to be TS1. Then, the decreasing gradient torque value is set
，
The optimal value is 5-20 Nm, and the value of the sliding braking torque of the nth test is set
. If the n-1 test has no abnormal sound or no obvious abnormal sound in the whole test process, the obvious abnormal sound appears from the nth test, and the abnormal sound degrees of all the tests after the nth test are the same as the nth test, the negative torque value corresponding to the nth test is judged to be the torque value with the abnormal sound generated by the tooth surface reversing.
And thirdly, measuring the change rate of the tooth surface reversing torque without abnormal sound. Recording the torque value which is determined in the step two and generates abnormal noise of the tooth-leaning surface change as TnThe torque is a target tooth contact torque. After the driving torque is completely withdrawn to be 0, starting to perform a tooth surface reversing step, and controlling the motor torque to slowly change from 0 to TnTo complete the entire tooth face commutation process. This step requires testing for different rates of torque change. Selecting a slower rate of change a of torqueL(is a negative value, preferably takes a value of-50 to-200 Nm/s) to carry out a first test, if abnormal sound does not occur, the torque change rate is accelerated to carry out the next test until slightly acceptable abnormal sound occurs, and the change rate value is selected as a threshold change rate a of the abnormal soundH。
Fourthly, setting the time required by complete torque removal as taAnd the time required for completing the tooth surface reversing action is tb，taAnd tbJointly form a tooth-leaning surface switchTowards the preset time t of the process.
Fifthly, the specific tooth surface reversing control strategy is as follows:
referring to fig. 5, at the time of entering the time period t, the vehicle control unit executes a torque removing command action, starts timing, and calculates the time t consumed for removing the torque at the time when the torque is completely removedaCan be used to complete the time of the tooth face reversing action
. Referring to FIG. 2, if the brake is not applied after the throttle is released or at t1After a time, the brake is stepped on, and then complete t is executed1Procedure for t1In other words, the torque change rate a of the secondary tooth surface commutation action1Comprises the following steps:
to do so by
Torque rate of change to torque Tn. At the same time, for a1Carrying out range limitation:
。
referring to FIG. 3, if the brake is applied after the throttle is released and before the drive torque is removed, then a full t is performed2Procedure, for t2In other words, the torque change rate a of the secondary tooth surface commutation action2Comprises the following steps:
to do so by
Torque rate of change to torque Tn. Also for a2Carrying out range limitation:
。
referring to FIG. 4, if t is executed1Tooth flank reversing processIn (1), and has not yet reached t2The brake is pressed down in time, and the time when the brake is pressed down is recorded as tbThe current torque command has proceeded to TcThe rate of change a of torque after the brake is depressed3Comprises the following steps:
to do so by
Torque rate of change to torque Tn. Also for a3Carrying out range limitation:
。
if t is being executed1In the process, and has reached t2And when the brake is stepped down after the time, the brake torque is responded in time, and the tooth surface reversing process is directly jumped out.
If the tooth surface reversing action is finished within the set time period T and the reversing action quitting condition is not met, maintaining TnThe torque keeps the tooth surfaces in contact.
Entering the t period means that the driver completely releases the throttle, so that the front part in the t period needs to complete the torque removing action of the driving torque. In order to ensure that no impact is caused on a motor and a transmission chain, when torque is removed, proper filtering and limitation on the change rate of the torque are required, which means that certain time is required for completely removing the torque, the time is different according to the size of the torque before removing the torque, and the larger the torque before removing the torque is, the more the time consumed by removing the torque is.
In summary, t1The formulation principle of the method is that when the torque is removed with large torque, the torque can be removed by aLThe change rate of the torque softly finishes the tooth surface reversing action; t is t2The principle is that when the torque is removed under high torque, the torque can be removed by aHThe torque rate of change completes the tooth surface commutation action while the driver does not feel the electric brake force lag significantly. From experience, t1The time can be set to 0.7 s-1.2 s according to actual conditions, and t2The time can be set to be 0.3 s-0.7 s according to actual conditions.
The above description is only an embodiment of the present invention, but the design concept of the present invention is not limited thereto, and any insubstantial modifications made by using the design concept should fall within the scope of infringing the present invention.
Claims (8)
1. A method for suppressing abnormal sound of a transmission chain of a pure electric bus is characterized by comprising the following steps:
step one, presetting time t, optimizing the torque when the torque passes through a 0 point, finishing the action of reversing by a tooth surface, and if a driver does not immediately step on a brake pedal after releasing an accelerator, setting the preset time t1If the driver immediately steps on the brake pedal after releasing the accelerator, the preset time is set as t2，t2Less than t1；
Step two, determining a negative torque value T of the generated tooth surface reversing abnormal soundn；
Step three, using T determined in step twonDetermining a threshold rate of change a at which abnormal noise occurs for a target tooth contact torqueH；
Driving the torque to remove the torque and starting timing, completely removing the torque and recording the current time consumption as ta；
Step five, detecting whether a braking signal exists or not, and if the braking signal does not exist after the throttle is released, braking is not stepped on or t1After time, stepping on the brake, executing t1Process for the production of
Torque rate of change to torque Tn，a1≤aH；
Step six, after the throttle is loosened, the brake is stepped down before the driving torque is removed, and complete t is executed2Process for the production of
Torque rate of change to torque Tn，a2≤aH；
Step seven, if t is executed1During the tooth surface reversing process, and has not yet reachedTo t2The brake is pressed down in time, and the time when the brake is pressed down is recorded as tbAnd a current torque command TcTo do so by
Torque rate of change to torque Tn，a3≤aH；
The specific process of the second step is as follows: when the vehicle runs, the accelerator is loosened, the brake is not stepped on, at the moment, the sliding brake torque Ts is given under the condition that the torque passes through a 0 point and is not specially processed, the value of the first test of the torque is calibrated to be Ts1, then the value of the gradient torque is set, and the sliding brake torque value of the nth test is set; if the n-1 test has no abnormal sound or no obvious abnormal sound in the whole test process, the obvious abnormal sound appears from the nth test, and the abnormal sound degrees of all the tests after the nth test are the same as the nth test, the negative torque value corresponding to the nth test is judged to be the torque value Tn with the abnormal sound of the tooth surface reversing.
2. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: if t is being executed1In the process, and has reached t2And when the brake is stepped down after the time, the brake torque is responded in time, and the tooth surface reversing process is directly jumped out.
3. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: if the tooth surface reversing action is finished within the set time period T and the reversing action quitting condition is not met, maintaining TnThe torque keeps the tooth surfaces in contact.
4. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: the above-mentioned
The value of (a) is 5-20 Nm.
5. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: the threshold change rate a of abnormal sound in the third stepHThe search procedure of (1) is as follows: selecting a slower rate of change a of torqueLCarrying out the first test, if no abnormal sound occurs, accelerating the torque change rate to carry out the next test until slight acceptable abnormal sound occurs, and selecting the change rate value as the threshold change rate a of the abnormal soundH。
6. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 5, wherein the method comprises the following steps: a is aLThe value of (a) is-50 to-200 Nm/s.
7. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: said t is1The time is set to 0.7s to 1.2 s.
8. The method for suppressing abnormal noise of the transmission chain of the pure electric bus as claimed in claim 1, is characterized in that: said t is2The time is set to 0.3s to 0.7 s.
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| CN107117069A (en) * | 2017-04-21 | 2017-09-01 | 阿尔特汽车技术股份有限公司 | Motor in electric automobile moment of torsion Super-zero control method |
| CN108583365A (en) * | 2018-03-12 | 2018-09-28 | 上海伊控动力系统有限公司 | A kind of electric vehicle flank of tooth commutation stabilization control method |
| CN109159673A (en) * | 2018-08-28 | 2019-01-08 | 江铃汽车股份有限公司 | A kind of optimization method of new energy vehicle motor torque zero passage impact |
| CN110203078A (en) * | 2019-06-04 | 2019-09-06 | 厦门金龙汽车新能源科技有限公司 | Reduce control method, device and the electric vehicle of electric vehicle powertrain abnormal sound |
| CN110356248A (en) * | 2019-07-19 | 2019-10-22 | 潍柴动力股份有限公司 | Control method, device, storage medium and the vehicle of Motor torque |
| CN110395117A (en) * | 2019-08-09 | 2019-11-01 | 厦门金龙联合汽车工业有限公司 | Inhibit the Brake energy recovery control method of electric motor coach drive system vibration |
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