CN112130598A - Torque filtering method and device - Google Patents

Torque filtering method and device Download PDF

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Publication number
CN112130598A
CN112130598A CN202011026997.XA CN202011026997A CN112130598A CN 112130598 A CN112130598 A CN 112130598A CN 202011026997 A CN202011026997 A CN 202011026997A CN 112130598 A CN112130598 A CN 112130598A
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Prior art keywords
torque
torque value
filtering
value
preset
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CN202011026997.XA
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CN112130598B (en
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张洪丹
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Beijing Rockwell Technology Co Ltd
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Beijing CHJ Automotive Information Technology Co Ltd
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    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05D—SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES
    • G05D17/00—Control of torque; Control of mechanical power
    • G05D17/02—Control of torque; Control of mechanical power characterised by the use of electric means
    • 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
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B60—VEHICLES IN GENERAL
    • B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
    • B60L2240/00—Control parameters of input or output; Target parameters
    • B60L2240/40—Drive Train control parameters
    • B60L2240/42—Drive Train control parameters related to electric machines
    • B60L2240/423—Torque
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
    • Y02T10/00—Road transport of goods or passengers
    • Y02T10/60—Other road transportation technologies with climate change mitigation effect
    • Y02T10/72—Electric energy management in electromobility

Abstract

The application discloses a torque filtering method and device, and relates to the technical field of electric vehicle control. The method of the present application comprises: judging whether a historical required torque value is in a preset torque zero-crossing interval or not, wherein the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process; if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method; according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value, correcting the first filtering torque value to obtain a corrected filtering torque value; determining the corrected filtered torque value as a current required torque value. The method and the device are suitable for the process of carrying out torque filtering processing on the target torque.

Description

Torque filtering method and device
Technical Field
The application relates to the technical field of electric automobile control, in particular to a torque filtering method and device.
Background
With the continuous development of society, the living standard of people is continuously improved, the demand of people for automobiles is also larger and larger, and electric automobiles using electric energy as power are produced due to the shortage of energy and the increasingly serious problem of environmental pollution caused by traditional automobiles.
Generally, a vehicle control unit in an electric vehicle is used as a core of motor torque control, and after calculating a target torque of the electric vehicle according to signals such as a current vehicle speed and a current accelerator pedal stepping depth, the vehicle control unit performs torque filtering processing on the target torque to obtain a required torque, and then sends the required torque to a motor controller, so as to control a motor to output the required torque and drive an electric locomotive to run.
At present, when the vehicle control unit performs torque filtering processing on a target torque, a torque zero-crossing interval of a motor is not considered, so that the absolute value of the difference value of the required torque values obtained by two adjacent torque filtering processing is too large before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval, the condition that an electric vehicle is suddenly accelerated (or suddenly decelerated) can be caused, and the driving experience of a driver of the electric vehicle can be influenced.
Disclosure of Invention
The embodiment of the application aims to provide a torque filtering method and a torque filtering device, and mainly aims to avoid the situation that the absolute value of the difference value of the required torque values obtained by two adjacent times of torque filtering processing is too large before and after the intersection point of a torque zero-crossing interval and a non-torque zero-crossing interval, so that the driving experience of an electric automobile driver is improved.
In order to solve the above technical problem, an embodiment of the present application provides the following technical solutions:
in a first aspect, the present application provides a torque filtering method, comprising:
judging whether a historical required torque value is in a preset torque zero-crossing interval or not, wherein the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process;
if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method;
according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value, correcting the first filtering torque value to obtain a corrected filtering torque value;
determining the corrected filtered torque value as a current required torque value.
Optionally, the method further includes:
if the historical required torque value is within the preset torque zero-crossing interval, acquiring a torque filtering processing period, a preset torque gradient and a current target torque value;
calculating a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value;
determining the second filtered torque value as the current required torque value.
Optionally, the calculating the first filtered torque value by using a first-order inertia filtering method includes:
acquiring a preset torque filter coefficient and a current target torque value;
and calculating the first filtering torque value according to the historical required torque value, the preset torque filtering coefficient and the current target torque value.
Optionally, before the modifying the first filtered torque value according to the torque slope corresponding to the first filtered torque value and a preset slope threshold to obtain a modified filtered torque value, the method includes:
acquiring a torque filtering processing period;
and calculating a torque slope corresponding to the first filtering torque value according to the first filtering torque value, the historical required torque value and the torque filtering processing period.
Optionally, when the torque slope is positive; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a first preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is larger than a first preset slope threshold value or not;
if the torque slope is larger than the first preset slope threshold, calculating the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is smaller than or equal to the first preset slope threshold value, determining the first filtering torque value as the corrected filtering torque value.
Optionally, when the torque slope is negative; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a second preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is smaller than a second preset slope threshold value or not;
if the torque slope is smaller than the second preset slope threshold, calculating the corrected filtering torque value according to the second preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is greater than or equal to the second preset slope threshold, determining the first filtering torque value as the corrected filtering torque value.
Optionally, the method further includes:
setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in a target torque range, wherein the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
In a second aspect, the present application also provides a torque filter device comprising:
the device comprises a judging unit, a judging unit and a judging unit, wherein the judging unit is used for judging whether a historical required torque value is in a preset torque zero-crossing interval or not, and the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process;
the first calculation unit is used for calculating a first filtering torque value by adopting a first-order inertia filtering method when the judgment unit judges that the historical required torque value is outside the preset torque zero-crossing interval;
the correction unit is used for correcting the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value so as to obtain a corrected filtering torque value;
a first determination unit for determining the corrected filtered torque value as a current required torque value.
Optionally, the apparatus further comprises:
the first obtaining unit is used for obtaining a torque filtering processing period, a preset torque gradient and a current target torque value when the judging unit judges that the historical required torque value is in the preset torque zero-crossing interval;
the second calculation unit is used for calculating a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value;
a second determination unit configured to determine the second filtered torque value as the current demand torque value.
Optionally, the first computing unit includes:
the first acquisition module is used for acquiring a preset torque filter coefficient and a current target torque value;
and the first calculation module is used for calculating the first filtering torque value according to the historical required torque value, the preset torque filter coefficient and the current target torque value.
Optionally, the apparatus further comprises:
the second obtaining unit is used for obtaining a torque filtering processing period before the correcting unit corrects the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value so as to obtain a corrected filtering torque value;
and the third calculating unit is used for calculating a torque slope corresponding to the first filtering torque value according to the first filtering torque value, the historical required torque value and the torque filtering processing period.
Optionally, when the torque slope is positive; the correction unit includes:
the second obtaining module is used for obtaining a first preset slope threshold corresponding to the first filtering torque value;
the first judgment module is used for judging whether the torque slope is larger than the first preset slope threshold value or not;
the second calculation module is used for calculating the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical required torque value when the first judgment module judges that the torque slope is larger than the first preset slope threshold;
and the first determining module is used for determining the first filtering torque value as the corrected filtering torque value when the first judging module judges that the torque slope is smaller than or equal to the first preset slope threshold value.
Optionally, when the torque slope is negative; the correction unit includes:
the third obtaining module is used for obtaining a second preset slope threshold corresponding to the first filtering torque value;
the second judgment module is used for judging whether the torque slope is smaller than a second preset slope threshold value or not;
a third calculating module, configured to calculate the corrected filtered torque value according to the second preset slope threshold, the torque filtering processing period, and the historical required torque value when the second determining module determines that the torque slope is smaller than the second preset slope threshold;
a second determining module for determining the first filtered torque value as the corrected filtered torque value when the second determining module determines that the torque slope is greater than or equal to the second preset slope threshold.
Optionally, the apparatus further comprises:
the device comprises a setting unit, a calculating unit and a judging unit, wherein the setting unit is used for setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in a target torque range, and the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
In a third aspect, an embodiment of the present application provides a storage medium including a stored program, wherein when the program runs, an apparatus on which the storage medium is controlled to execute the torque filtering method of the first aspect.
In a fourth aspect, embodiments of the present application provide a torque filtering apparatus, the apparatus comprising a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the torque filtering method of the first aspect.
By means of the technical scheme, the technical scheme provided by the application at least has the following advantages:
the application provides a torque filtering method and a device, compared with the prior art that when torque filtering processing is carried out on target torque, the torque zero-crossing interval of a motor is not considered, the method can obtain a required torque value (namely a historical required torque value) obtained after the torque filtering processing in the previous torque filtering processing process by a vehicle control unit when the torque filtering processing is carried out, judge whether the historical required torque value is in the preset torque zero-crossing interval or not, calculate a first-order inertia filtering torque value when the historical required torque value is out of the preset torque zero-crossing interval, modify the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value so as to obtain a modified filtering torque value, finally determine the modified filtering torque value as the current required torque value, and send the current required torque value to a motor controller, thereby controlling the motor to output the current required torque value; and when the historical required torque value is within a preset torque zero-crossing interval, calculating a second filtering torque value by adopting a first-order inertia filtering method or a zero-crossing interval gradient filtering method, directly determining the second filtering torque value as a current required torque value, and finally sending the current required torque value to the motor controller so as to control the motor to output the current required torque value. When the historical required torque value is outside the preset torque zero-crossing interval, the vehicle control unit corrects the first filtering torque value calculated by the first-order inertia filtering method, and determines the obtained corrected filtering torque value as the current required torque value, so that the situation that the absolute value of the difference value of the required torque values obtained by the two adjacent times of torque filtering processing is too large before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval can be effectively avoided, and the driving experience of an electric vehicle driver can be improved.
The foregoing description is only an overview of the technical solutions of the present application, and the present application can be implemented according to the content of the description in order to make the technical means of the present application more clearly understood, and the following detailed description of the present application is given in order to make the above and other objects, features, and advantages of the present application more clearly understandable.
Drawings
The above and other objects, features and advantages of exemplary embodiments of the present application will become readily apparent from the following detailed description read in conjunction with the accompanying drawings. Several embodiments of the present application are illustrated by way of example and not by way of limitation in the figures of the accompanying drawings and in which like reference numerals refer to similar or corresponding parts and in which:
FIG. 1 is a flow chart illustrating a torque filtering method provided by an embodiment of the present application;
FIG. 2 is a flow chart illustrating another torque filtering method provided by an embodiment of the present application;
3 a-3 b illustrate a first predetermined slope threshold curve and a second predetermined slope threshold curve provided by an embodiment of the present application;
FIG. 4 is a block diagram illustrating a torque filter apparatus according to an embodiment of the present disclosure;
fig. 5 is a block diagram illustrating another torque filter device provided in the embodiments of the present application.
Detailed Description
Exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. While exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application may be embodied in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the disclosure to those skilled in the art.
It is to be noted that, unless otherwise specified, technical or scientific terms used herein shall have the ordinary meaning as understood by those skilled in the art to which this application belongs.
An embodiment of the present application provides a torque filtering method, as shown in fig. 1, the method includes:
101. and judging whether the historical required torque value is in a preset torque zero-crossing interval or not.
The historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process; the preset torque zero crossing may be, but is not limited to: [ -30Nm, 30Nm ], [ -35Nm, 35Nm ], [ -40Nm, 40Nm ], etc.
In the embodiment of the application, the execution subject in each step is a vehicle control unit VCU operating in an electric vehicle. When the VCU of the vehicle control unit performs the torque filtering processing, firstly, a required torque value (namely, a historical required torque value) obtained after the torque filtering processing in the previous torque filtering processing process needs to be obtained, and whether the historical required torque value is in a preset torque zero-crossing interval is judged, so that the subsequent VCU performs the torque filtering processing in different torque filtering modes according to whether the historical required torque value is in the preset torque zero-crossing interval or outside the preset torque zero-crossing interval, and the absolute value of the difference value of the required torque values obtained by the torque filtering processing of two adjacent times is ensured not to be too large.
102. And if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method.
In this embodiment of the application, when the vehicle control unit determines that the historical required torque value is outside the preset torque zero-crossing interval through step 101, the first-order inertia filtering method may be adopted to calculate the first filtering torque value, that is, the preset torque filtering coefficient and the current target torque value are obtained first, and then the first filtering torque value is calculated according to the historical required torque value, the preset torque filtering coefficient and the current target torque value, where the current target torque value specifically is: and the vehicle control unit calculates a torque value according to signals such as the current vehicle speed and the current accelerator pedal stepping depth.
103. And correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value.
In this embodiment of the application, after the vehicle controller calculates the first filtering torque value by using the first-order inertia filtering method in step 102, the vehicle controller needs to correct the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold, so as to obtain a corrected filtering torque value.
104. The corrected filtered torque value is determined as the current required torque value.
In this embodiment, after obtaining the corrected filtering torque value in step 103, the vehicle control unit may determine the corrected filtering torque value as the current required torque value, and send the current required torque value to the motor controller, so as to control the motor to output the current required torque value.
It should be noted that, in an actual application process, when the corrected filter torque value is within the preset torque zero-crossing interval, the vehicle controller may determine a boundary value of the preset torque zero-crossing interval adjacent to the corrected filter torque value as the current required torque value, or may directly correct the filter torque value to determine the current required torque value, for example, the preset torque zero-crossing interval is [ -30Nm, 30Nm ], the corrected filter torque value obtained by the current torque filtering processing is 29.7Nm, the vehicle controller may determine 30Nm as the current required torque value, or determine 29.7Nm as the current required torque value, which is not specifically limited in this embodiment of the present application.
Further, in this embodiment of the application, when the vehicle control unit determines that the historical required torque value is within the preset torque zero-crossing interval, the vehicle control unit may calculate a second filtering torque value by using a first-order inertia filtering method or a zero-crossing gradient filtering method, directly determine the second filtering torque value as the current required torque value, and send the current required torque value to the motor controller, so as to control the motor to output the current required torque value.
The embodiment of the present application provides a torque filtering method, which, compared with the prior art that when a torque filtering process is performed on a target torque, a torque zero-crossing interval of a motor is not considered, in the present embodiment of the present application, when the torque filtering process is performed, a vehicle controller obtains a required torque value (i.e., a historical required torque value) obtained after the torque filtering process is performed in a previous torque filtering process, and determines whether the historical required torque value is within the preset torque zero-crossing interval, when the historical required torque value is outside the preset torque zero-crossing interval, a first-order inertia filtering method is adopted to calculate a first filtering torque value, and the first filtering torque value is corrected according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value, so as to obtain a corrected filtering torque value, and finally the corrected filtering torque value is determined as the current required torque value, sending the current required torque value to a motor controller so as to control the motor to output the current required torque value; and when the historical required torque value is within a preset torque zero-crossing interval, calculating a second filtering torque value by adopting a first-order inertia filtering method or a zero-crossing interval gradient filtering method, directly determining the second filtering torque value as a current required torque value, and finally sending the current required torque value to the motor controller so as to control the motor to output the current required torque value. When the historical required torque value is outside the preset torque zero-crossing interval, the vehicle control unit corrects the first filtering torque value calculated by the first-order inertia filtering method, and determines the obtained corrected filtering torque value as the current required torque value, so that the situation that the absolute value of the difference value of the required torque values obtained by the two adjacent times of torque filtering processing is too large before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval can be effectively avoided, and the driving experience of an electric vehicle driver can be improved.
For purposes of more detailed description below, embodiments of the present application provide another torque filtering method, as shown in fig. 2 in particular, the method includes:
201. and setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in the target torque range.
The target torque range is the torque range of the motor of the electric automobile; the first preset slope threshold corresponding to any one torque value in the target torque range is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
In the embodiment of the application, in order to enable the vehicle control unit to obtain the preset slope threshold corresponding to the first filtering torque value according to the first filtering torque value and the torque slope corresponding to the first filtering torque value after determining that the historical required torque value is outside the preset torque zero-crossing interval and calculating the first filtering torque value by using a first-order inertia filtering method, the vehicle control unit needs to preset a first preset slope threshold and a second preset slope threshold corresponding to each torque value within a target torque range.
Further, in the embodiment of the present application, after setting the first preset slope threshold and the second preset slope threshold corresponding to each torque value in the completed target torque range, a first preset slope threshold curve may be drawn according to a first preset slope threshold corresponding to each torque value within the target torque range, specifically, as shown in fig. 3a, the first preset slope threshold curve may be a first preset slope threshold curve formed by first preset slope thresholds corresponding to a plurality of torque values, where the target torque range is [ ANm, BNm ], the preset torque zero-crossing interval is [ -CNm, CNm ], in the subsequent step, when the vehicle control unit determines that the torque slope corresponding to the first filtering torque value is a positive value, the vehicle control unit can obtain a first preset slope threshold corresponding to the first filtering torque value according to the first preset slope threshold curve; a second preset slope threshold curve may also be drawn according to a second preset slope threshold corresponding to each torque value within the target torque range, where the second preset slope threshold curve may be specifically as shown in fig. 3b, the target torque range is [ ANm, BNm ], the preset torque zero-crossing interval is [ -CNm, CNm ], and the curve b is a second preset slope threshold curve composed of second preset slope thresholds corresponding to a plurality of torque values, and in the subsequent step, when the vehicle controller determines that the torque slope corresponding to the first filtering torque value is a negative value, the vehicle controller may obtain the second preset slope threshold corresponding to the first filtering torque value according to the second preset slope threshold curve.
202. And judging whether the historical required torque value is in a preset torque zero-crossing interval or not.
In step 202, it may be determined whether the historical required torque value is within the preset torque zero-crossing interval, refer to the description of the corresponding portion in fig. 1, and this embodiment of the present application will not be described herein again.
203a, if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method.
In the embodiment of the application, when the vehicle control unit determines that the historical required torque value is outside the preset torque zero-crossing interval through step 202, the first-order inertia filtering method may be adopted to calculate the first filtering torque value. How the vehicle controller calculates the first filtered torque value using the first-order inertia filtering method will be described in detail below.
(1) Acquiring a preset torque filter coefficient and a current target torque value, wherein the current target torque value specifically comprises the following steps: and the vehicle control unit calculates a torque value according to signals such as the current vehicle speed and the current accelerator pedal stepping depth.
(2) And calculating a first filtering torque value according to the historical required torque value, the preset torque filtering coefficient and the current target torque value.
In this embodiment of the application, after obtaining the preset torque filter coefficient and the current target torque value, the vehicle control unit may calculate a first filter torque value according to the historical required torque value, the preset torque filter coefficient and the current target torque value, that is, substitute the historical required torque value, the preset torque filter coefficient and the current target torque value into a first preset formula, thereby calculating the first filter torque value, where the first preset formula is specifically as follows:
Tq(n)＝z*Tar(n)+(1-z)*Tq(n-1)
wherein, Tq(n)Is a first filter torque value, z is a preset torque filter coefficient, Tar(n)Is the current target torque value, Tq(n-1)Is the historical demanded torque value.
204a, calculating the torque slope corresponding to the first filtering torque value.
In the embodiment of the application, after the vehicle control unit calculates the first filtering torque value by using a first-order inertia filtering method, a torque slope corresponding to the first filtering torque value needs to be calculated. Specifically, in this step, the vehicle controller may calculate a torque slope corresponding to the first filtering torque value by using the following method: acquiring a torque filtering processing period, wherein the torque filtering processing period is the time length required by carrying out torque filtering processing for one time; according to the first filtering torque value, the historical demand torque value and the torque filtering processing period, calculating a torque slope corresponding to the first filtering torque value, namely substituting the first filtering torque value, the historical demand torque value and the torque filtering processing period into a second preset formula, so as to calculate the torque slope corresponding to the first filtering torque value, wherein the second preset formula is as follows:
k(n)＝(Tq(n)-Tq(n-1))/T
wherein k is(n)Is the torque slope, T, corresponding to the first filtered torque valueq(n)Is a first filtered torque value, Tq(n-1)T is the torque filtering processing period.
205a, according to the torque slope corresponding to the first filtered torque value and the preset slope threshold, performing correction processing on the first filtered torque value to obtain a corrected filtered torque value.
In this embodiment of the application, after the vehicle control unit calculates the torque slope corresponding to the first filtering torque value, the vehicle control unit needs to correct the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold, so as to obtain a corrected filtering torque value. Hereinafter, how the vehicle controller corrects the first filtered torque value according to the torque slope corresponding to the first filtered torque value and the preset slope threshold, so as to obtain the corrected filtered torque value will be described in detail.
(1a) When the torque slope corresponding to the first filtering torque value is a positive value, acquiring a first preset slope threshold corresponding to the first filtering torque value, wherein the first preset slope threshold corresponding to the first filtering torque value is as follows: when the torque slope corresponding to the first filtering torque value is a positive value, a preset slope threshold corresponding to the first filtering torque value is set.
(2a) And judging whether the torque slope corresponding to the first filtering torque value is larger than a first preset slope threshold corresponding to the first filtering torque value.
(3a) If the torque slope corresponding to the first filtering torque value is greater than a first preset slope threshold corresponding to the first filtering torque value, calculating a modified filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical demand torque value, namely substituting the first preset slope threshold, the torque filtering processing period and the historical demand torque value into a third preset formula, so as to calculate the modified filtering torque value, wherein the third preset formula is specifically as follows:
Tx(n)＝kx1*T+Tq(n-1)
wherein, Tx(n)To correct the filter torque value, kx1A first preset slope threshold corresponding to the first filtering torque value, T is a torque filtering processing period, Tq(n-1)Is the historical demanded torque value.
(4a) And if the torque slope corresponding to the first filtering torque value is smaller than or equal to a first preset slope threshold corresponding to the first filtering torque value, determining the first filtering torque value as a corrected filtering torque value.
(1b) When the torque slope corresponding to the first filtering torque value is a negative value, acquiring a second preset slope threshold corresponding to the first filtering torque value, wherein the second preset slope threshold corresponding to the first filtering torque value is as follows: when the torque slope corresponding to the first filtering torque value is a negative value, the preset slope threshold corresponding to the first filtering torque value is set.
(2b) And judging whether the torque slope corresponding to the first filtering torque value is smaller than a second preset slope threshold corresponding to the first filtering torque value.
(3b) If the torque slope corresponding to the first filtering torque value is smaller than a second preset slope threshold corresponding to the first filtering torque value, calculating a modified filtering torque value according to the second preset slope threshold, the torque filtering processing period and the historical demand torque value, namely substituting the second preset slope threshold, the torque filtering processing period and the historical demand torque value into a fourth preset formula, so as to calculate the modified filtering torque value, wherein the fourth preset formula is specifically as follows:
Tx(n)＝kx2*T+Tq(n-1)
wherein, Tx(n)To correct the filter torque value, kx2A second preset slope threshold corresponding to the first filtering torque value, T is a torque filtering processing period, Tq(n-1)Is the historical demanded torque value.
(4b) And if the torque slope corresponding to the first filtering torque value is greater than or equal to a second preset slope threshold corresponding to the first filtering torque value, determining the first filtering torque value as a corrected filtering torque value.
206a, the corrected filtered torque value is determined as the current required torque value.
In step 206a, the corrected filtered torque value is determined as the current required torque value, which may refer to the description of the corresponding portion in fig. 1, and the embodiment of the present application will not be described herein again.
For the embodiment of the application, in step 203b parallel to step 203a, if the historical required torque value is within the preset torque zero-crossing interval, the torque filtering processing period, the preset torque gradient and the current target torque value are obtained, and the second filtering torque value is calculated according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value.
In this embodiment of the application, when the vehicle control unit determines that the historical required torque value is within the preset torque zero-crossing interval through step 202, it needs to obtain a torque filtering processing period, a preset torque gradient, and a current target torque value, and calculate a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient, and the current target torque value, that is, when the current target torque value is greater than the historical required torque value, the torque filtering processing period, and the preset torque gradient are substituted into a fifth preset formula, so as to calculate the second filtering torque value, where the fifth preset formula is specifically as follows:
Tq(n)＝Tq(n-1)+T*R
wherein, Tq(n)Is a second filtered torque value, Tq(n-1)Setting the historical required torque value as T, setting the torque filtering processing period as T and setting the torque gradient as R;
when the current target torque value is smaller than the historical required torque value, substituting the historical required torque value, the torque filtering processing period and the preset torque gradient into a sixth preset formula so as to calculate a second filtering torque value, wherein the sixth preset formula is as follows:
Tq(n)＝Tq(n-1)-T*R
wherein, Tq(n)Is a second filtered torque value, Tq(n-1)Setting the historical required torque value as T, setting the torque filtering processing period as T and setting the torque gradient as R;
when the current target torque value is equal to the historical required torque value, the historical required torque value is determined as a second filtered torque value.
204b, determining the second filtered torque value as the current required torque value.
In this embodiment, after the vehicle control unit calculates the second filtered torque value in step 203b, the vehicle control unit may determine the second filtered torque value as the current required torque value, and send the current required torque value to the motor controller, so as to control the motor to output the current required torque value.
It should be noted that, in an actual application process, when the second filtered torque value is within the non-preset torque zero-crossing interval, the vehicle controller may determine a preset torque zero-crossing interval boundary value adjacent to the second filtered torque value as the current required torque value, or may directly determine the second filtered torque value as the current required torque value, for example, the preset torque zero-crossing interval is [ -30Nm, 30Nm ], the second filtered torque value obtained by the current torque filtering is 30.3Nm, the vehicle controller may determine 30Nm as the current required torque value, or determine 30.3Nm as the current required torque value, which is not specifically limited in this embodiment of the present application.
In order to achieve the above object, according to another aspect of the present application, an embodiment of the present application further provides a storage medium, where the storage medium includes a stored program, where the program is executed to control a device on which the storage medium is located to execute the above torque filtering method.
In order to achieve the above object, according to another aspect of the present application, an embodiment of the present application further provides a torque filtering apparatus, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the torque filtering method described above.
Further, as an implementation of the method shown in fig. 1 and fig. 2, another embodiment of the present application further provides a torque filtering apparatus. The embodiment of the apparatus corresponds to the embodiment of the method, and for convenience of reading, details in the embodiment of the apparatus are not repeated one by one, but it should be clear that the apparatus in the embodiment can correspondingly implement all the contents in the embodiment of the method. The device is applied to avoid the situation that the absolute value of the difference value of the required torque values obtained by two adjacent times of torque filtering processing is overlarge before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval, and specifically as shown in fig. 4, the device comprises:
the judging unit 301 is configured to judge whether a historical required torque value is within a preset torque zero-crossing interval, where the historical required torque value is a required torque value obtained after torque filtering processing in a previous torque filtering processing process;
a first calculating unit 302, configured to calculate a first filtering torque value by using a first-order inertia filtering method when the determining unit 301 determines that the historical required torque value is outside the preset torque zero-crossing interval;
a correcting unit 303, configured to perform correction processing on the first filtered torque value according to a torque slope corresponding to the first filtered torque value and a preset slope threshold, so as to obtain a corrected filtered torque value;
a first determination unit 304 for determining the corrected filtered torque value as the current required torque value.
Further, as shown in fig. 5, the apparatus further includes:
a first obtaining unit 305, configured to obtain a torque filtering processing period, a preset torque gradient, and a current target torque value when the determining unit 301 determines that the historical required torque value is within the preset torque zero-crossing interval;
a second calculating unit 306, configured to calculate a second filtered torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient, and the current target torque value;
a second determining unit 307, configured to determine the second filtered torque value as the current demand torque value.
Further, as shown in fig. 5, the first calculation unit 302 includes:
a first obtaining module 3021, configured to obtain a preset torque filter coefficient and a current target torque value;
a first calculating module 3022, configured to calculate the first filtered torque value according to the historical required torque value, the preset torque filter coefficient and the current target torque value.
Further, as shown in fig. 5, the apparatus further includes:
a second obtaining unit 308, configured to obtain a torque filtering processing cycle before the correcting unit 303 corrects the first filtered torque value according to a torque slope corresponding to the first filtered torque value and a preset slope threshold value, so as to obtain a corrected filtered torque value;
a third calculating unit 309, configured to calculate a torque slope corresponding to the first filtered torque value according to the first filtered torque value, the historical required torque value, and the torque filtering processing period.
Further, as shown in fig. 5, when the torque slope is a positive value; the correction unit 303 includes:
a second obtaining module 3031, configured to obtain a first preset slope threshold corresponding to the first filtering torque value;
a first determining module 3032, configured to determine whether the torque slope is greater than the first preset slope threshold;
a second calculating module 3033, configured to calculate the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period, and the historical required torque value when the first determining module 3032 determines that the torque slope is greater than the first preset slope threshold;
a first determining module 3034, configured to determine the first filtered torque value as the modified filtered torque value when the first determining module 3032 determines that the torque slope is less than or equal to the first preset slope threshold.
Further, as shown in fig. 5, when the torque slope is a negative value; the correction unit 303 includes:
a third obtaining module 3035, configured to obtain a second preset slope threshold corresponding to the first filtering torque value;
a second determining module 3036, configured to determine whether the torque slope is smaller than the second preset slope threshold;
a third calculating module 3037, configured to calculate the corrected filtered torque value according to the second preset slope threshold, the torque filtering processing period, and the historical required torque value when the second determining module 3036 determines that the torque slope is smaller than the second preset slope threshold;
a second determination module 3038 is configured to determine the first filtered torque value as the modified filtered torque value when the second determination module 3036 determines that the torque slope is greater than or equal to the second preset slope threshold.
Further, as shown in fig. 5, the apparatus further includes:
the setting unit 310 is configured to set a first preset slope threshold and a second preset slope threshold corresponding to each torque value within a target torque range, where the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
The embodiment of the application provides a torque filtering method and a torque filtering device, compared with the prior art that when torque filtering processing is performed on a target torque, a torque zero-crossing interval of a motor is not considered, when the torque filtering processing is performed, a vehicle controller can obtain a required torque value (namely a historical required torque value) obtained after the torque filtering processing is performed in the previous torque filtering processing process, judge whether the historical required torque value is in the preset torque zero-crossing interval or not, calculate a first-order inertia filtering torque value by adopting a first-order inertia filtering method when the historical required torque value is out of the preset torque zero-crossing interval, correct the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value, thereby obtaining a corrected filtering torque value, and finally determine the corrected filtering torque value as the current required torque value, sending the current required torque value to a motor controller so as to control the motor to output the current required torque value; and when the historical required torque value is within a preset torque zero-crossing interval, calculating a second filtering torque value by adopting a first-order inertia filtering method or a zero-crossing interval gradient filtering method, directly determining the second filtering torque value as a current required torque value, and finally sending the current required torque value to the motor controller so as to control the motor to output the current required torque value. When the historical required torque value is outside the preset torque zero-crossing interval, the vehicle control unit corrects the first filtering torque value calculated by the first-order inertia filtering method, and determines the obtained corrected filtering torque value as the current required torque value, so that the situation that the absolute value of the difference value of the required torque values obtained by the two adjacent times of torque filtering processing is too large before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval can be effectively avoided, and the driving experience of an electric vehicle driver can be improved.
The torque filtering device comprises a processor and a memory, wherein the judging unit, the first calculating unit, the correcting unit, the first determining unit and the like are stored in the memory as program units, and the processor executes the program units stored in the memory to realize corresponding functions.
The processor comprises a kernel, and the kernel calls the corresponding program unit from the memory. The kernel can be set to be one or more than one, and the condition that the absolute value of the difference value of the required torque values obtained by two adjacent torque filtering processes is overlarge before and after the intersection point of the torque zero-crossing interval and the non-torque zero-crossing interval is avoided by adjusting kernel parameters.
The embodiment of the application provides a storage medium, which comprises a stored program, wherein when the program runs, the device on which the storage medium is located is controlled to execute the torque filtering method.
The storage medium may include volatile memory in a computer readable medium, Random Access Memory (RAM) and/or nonvolatile memory such as Read Only Memory (ROM) or flash memory (flash RAM), and the memory includes at least one memory chip.
Embodiments of the present application further provide a torque filtering apparatus, which includes a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the torque filtering method described above.
The embodiment of the application provides equipment, the equipment comprises a processor, a memory and a program which is stored on the memory and can run on the processor, and the following steps are realized when the processor executes the program:
judging whether a historical required torque value is in a preset torque zero-crossing interval or not, wherein the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process;
if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method;
according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value, correcting the first filtering torque value to obtain a corrected filtering torque value;
determining the corrected filtered torque value as a current required torque value.
Further, the method further comprises:
if the historical required torque value is within the preset torque zero-crossing interval, acquiring a torque filtering processing period, a preset torque gradient and a current target torque value;
calculating a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value;
determining the second filtered torque value as the current required torque value.
Further, the calculating the first filtering torque value by using a first-order inertia filtering method includes:
acquiring a preset torque filter coefficient and a current target torque value;
and calculating the first filtering torque value according to the historical required torque value, the preset torque filtering coefficient and the current target torque value.
Further, before the correcting the first filtered torque value according to the torque slope corresponding to the first filtered torque value and a preset slope threshold value to obtain a corrected filtered torque value, the method includes:
acquiring a torque filtering processing period;
and calculating a torque slope corresponding to the first filtering torque value according to the first filtering torque value, the historical required torque value and the torque filtering processing period.
Further, when the torque slope is a positive value; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a first preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is larger than a first preset slope threshold value or not;
if the torque slope is larger than the first preset slope threshold, calculating the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is smaller than or equal to the first preset slope threshold value, determining the first filtering torque value as the corrected filtering torque value.
Further, when the torque slope is negative; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a second preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is smaller than a second preset slope threshold value or not;
if the torque slope is smaller than the second preset slope threshold, calculating the corrected filtering torque value according to the second preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is greater than or equal to the second preset slope threshold, determining the first filtering torque value as the corrected filtering torque value.
Further, the method further comprises:
setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in a target torque range, wherein the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
The present application further provides a computer program product adapted to perform program code for initializing the following method steps when executed on a data processing device: judging whether a historical required torque value is in a preset torque zero-crossing interval or not, wherein the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process; if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method; according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value, correcting the first filtering torque value to obtain a corrected filtering torque value; determining the corrected filtered torque value as a current required torque value.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The present application is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the application. It will be understood that each flow and/or block of the flow diagrams and/or block diagrams, and combinations of flows and/or blocks in the flow diagrams and/or block diagrams, can be implemented by computer program instructions. These computer program instructions may be provided to a processor of a general purpose computer, special purpose computer, embedded processor, or other programmable data processing apparatus to produce a machine, such that the instructions, which execute via the processor of the computer or other programmable data processing apparatus, create means for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing apparatus to function in a particular manner, such that the instructions stored in the computer-readable memory produce an article of manufacture including instruction means which implement the function specified in the flowchart flow or flows and/or block diagram block or blocks.
These computer program instructions may also be loaded onto a computer or other programmable data processing apparatus to cause a series of operational steps to be performed on the computer or other programmable apparatus to produce a computer implemented process such that the instructions which execute on the computer or other programmable apparatus provide steps for implementing the functions specified in the flowchart flow or flows and/or block diagram block or blocks.
In a typical configuration, a computing device includes one or more processors (CPUs), input/output interfaces, network interfaces, and memory.
The memory may include forms of volatile memory in a computer readable medium, Random Access Memory (RAM) and/or non-volatile memory, such as Read Only Memory (ROM) or flash memory (flash RAM). The memory is an example of a computer-readable medium.
Computer-readable media, including both non-transitory and non-transitory, removable and non-removable media, may implement information storage by any method or technology. The information may be computer readable instructions, data structures, modules of a program, or other data. Examples of computer storage media include, but are not limited to, phase change memory (PRAM), Static Random Access Memory (SRAM), Dynamic Random Access Memory (DRAM), other types of Random Access Memory (RAM), Read Only Memory (ROM), Electrically Erasable Programmable Read Only Memory (EEPROM), flash memory or other memory technology, compact disc read only memory (CD-ROM), Digital Versatile Discs (DVD) or other optical storage, magnetic cassettes, magnetic tape magnetic disk storage or other magnetic storage devices, or any other non-transmission medium that can be used to store information that can be accessed by a computing device. As defined herein, a computer readable medium does not include a transitory computer readable medium such as a modulated data signal and a carrier wave.
It should also be noted that the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in the process, method, article, or apparatus that comprises the element.
As will be appreciated by one skilled in the art, embodiments of the present application may be provided as a method, system, or computer program product. Accordingly, the present application may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present application may take the form of a computer program product embodied on one or more computer-usable storage media (including, but not limited to, disk storage, CD-ROM, optical storage, and the like) having computer-usable program code embodied therein.
The above are merely examples of the present application and are not intended to limit the present application. Various modifications and changes may occur to those skilled in the art. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present application should be included in the scope of the claims of the present application.

Claims (16)

1. A method of torque filtering, comprising:
judging whether a historical required torque value is in a preset torque zero-crossing interval or not, wherein the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process;
if the historical required torque value is outside the preset torque zero-crossing interval, calculating a first filtering torque value by adopting a first-order inertia filtering method;
according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value, correcting the first filtering torque value to obtain a corrected filtering torque value;
determining the corrected filtered torque value as a current required torque value.
2. The method of claim 1, further comprising:
if the historical required torque value is within the preset torque zero-crossing interval, acquiring a torque filtering processing period, a preset torque gradient and a current target torque value;
calculating a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value;
determining the second filtered torque value as the current required torque value.
3. The method of claim 1, wherein said calculating a first filtered torque value using first order inertial filtering comprises:
acquiring a preset torque filter coefficient and a current target torque value;
and calculating the first filtering torque value according to the historical required torque value, the preset torque filtering coefficient and the current target torque value.
4. The method according to claim 1, wherein before the modifying the first filtered torque value according to the torque slope corresponding to the first filtered torque value and a preset slope threshold value to obtain a modified filtered torque value, the method comprises:
acquiring a torque filtering processing period;
and calculating a torque slope corresponding to the first filtering torque value according to the first filtering torque value, the historical required torque value and the torque filtering processing period.
5. The method of claim 4, wherein when the torque slope is a positive value; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a first preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is larger than a first preset slope threshold value or not;
if the torque slope is larger than the first preset slope threshold, calculating the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is smaller than or equal to the first preset slope threshold value, determining the first filtering torque value as the corrected filtering torque value.
6. The method of claim 4, wherein when the torque slope is negative; the correcting the first filtering torque value according to the torque slope corresponding to the first filtering torque value and a preset slope threshold value to obtain a corrected filtering torque value includes:
acquiring a second preset slope threshold corresponding to the first filtering torque value;
judging whether the torque slope is smaller than a second preset slope threshold value or not;
if the torque slope is smaller than the second preset slope threshold, calculating the corrected filtering torque value according to the second preset slope threshold, the torque filtering processing period and the historical required torque value;
and if the torque slope is greater than or equal to the second preset slope threshold, determining the first filtering torque value as the corrected filtering torque value.
7. The method according to any one of claims 1-6, further comprising:
setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in a target torque range, wherein the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
8. A torque filter device, comprising:
the device comprises a judging unit, a judging unit and a judging unit, wherein the judging unit is used for judging whether a historical required torque value is in a preset torque zero-crossing interval or not, and the historical required torque value is a required torque value obtained after torque filtering processing in the previous torque filtering processing process;
the first calculation unit is used for calculating a first filtering torque value by adopting a first-order inertia filtering method when the judgment unit judges that the historical required torque value is outside the preset torque zero-crossing interval;
the correction unit is used for correcting the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value so as to obtain a corrected filtering torque value;
a first determination unit for determining the corrected filtered torque value as a current required torque value.
9. The apparatus of claim 8, further comprising:
the first obtaining unit is used for obtaining a torque filtering processing period, a preset torque gradient and a current target torque value when the judging unit judges that the historical required torque value is in the preset torque zero-crossing interval;
the second calculation unit is used for calculating a second filtering torque value according to the historical required torque value, the torque filtering processing period, the preset torque gradient and the current target torque value;
a second determination unit configured to determine the second filtered torque value as the current demand torque value.
10. The apparatus of claim 8, wherein the first computing unit comprises:
the first acquisition module is used for acquiring a preset torque filter coefficient and a current target torque value;
and the first calculation module is used for calculating the first filtering torque value according to the historical required torque value, the preset torque filter coefficient and the current target torque value.
11. The apparatus of claim 8, further comprising:
the second obtaining unit is used for obtaining a torque filtering processing period before the correcting unit corrects the first filtering torque value according to a torque slope corresponding to the first filtering torque value and a preset slope threshold value so as to obtain a corrected filtering torque value;
and the third calculating unit is used for calculating a torque slope corresponding to the first filtering torque value according to the first filtering torque value, the historical required torque value and the torque filtering processing period.
12. The apparatus of claim 11, wherein when the torque slope is a positive value; the correction unit includes:
the second obtaining module is used for obtaining a first preset slope threshold corresponding to the first filtering torque value;
the first judgment module is used for judging whether the torque slope is larger than the first preset slope threshold value or not;
the second calculation module is used for calculating the corrected filtering torque value according to the first preset slope threshold, the torque filtering processing period and the historical required torque value when the first judgment module judges that the torque slope is larger than the first preset slope threshold;
and the first determining module is used for determining the first filtering torque value as the corrected filtering torque value when the first judging module judges that the torque slope is smaller than or equal to the first preset slope threshold value.
13. The apparatus of claim 11, wherein when the torque slope is negative; the correction unit includes:
the third obtaining module is used for obtaining a second preset slope threshold corresponding to the first filtering torque value;
the second judgment module is used for judging whether the torque slope is smaller than a second preset slope threshold value or not;
a third calculating module, configured to calculate the corrected filtered torque value according to the second preset slope threshold, the torque filtering processing period, and the historical required torque value when the second determining module determines that the torque slope is smaller than the second preset slope threshold;
a second determining module for determining the first filtered torque value as the corrected filtered torque value when the second determining module determines that the torque slope is greater than or equal to the second preset slope threshold.
14. The apparatus according to any one of claims 8-13, further comprising:
the device comprises a setting unit, a calculating unit and a judging unit, wherein the setting unit is used for setting a first preset slope threshold and a second preset slope threshold corresponding to each torque value in a target torque range, and the first preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a positive value; the second preset slope threshold corresponding to the torque value is a preset slope threshold corresponding to the torque value when the torque slope corresponding to the torque value is a negative value.
15. A storage medium, characterized in that the storage medium comprises a stored program, wherein the apparatus in which the storage medium is located is controlled to perform the torque filtering method according to any one of claims 1 to 7 when the program is run.
16. A torque filtering device, wherein the vehicle control unit comprises a storage medium; and one or more processors, the storage medium coupled with the processors, the processors configured to execute program instructions stored in the storage medium; the program instructions when executed perform the torque filtering method of any one of claims 1 to 7.
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CN112987812A (en) * 2021-02-24 2021-06-18 深圳市优必选科技股份有限公司 Torque control method and device, terminal equipment and storage medium
CN112987812B (en) * 2021-02-24 2021-12-10 深圳市优必选科技股份有限公司 Torque control method and device, terminal equipment and storage medium
CN113276689A (en) * 2021-05-21 2021-08-20 江铃汽车股份有限公司 Torque filtering method of pure electric vehicle
CN113276689B (en) * 2021-05-21 2022-05-10 江铃汽车股份有限公司 Torque filtering method of pure electric vehicle
CN116118525A (en) * 2023-04-03 2023-05-16 成都赛力斯科技有限公司 Motor torque zero crossing control method and device, electronic equipment and new energy automobile
CN116118525B (en) * 2023-04-03 2023-06-23 成都赛力斯科技有限公司 Motor torque zero crossing control method and device, electronic equipment and new energy automobile

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