CN113602101A - Control method and device for inhibiting motor shake and vehicle - Google Patents
Control method and device for inhibiting motor shake and vehicle Download PDFInfo
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- CN113602101A CN113602101A CN202110884995.2A CN202110884995A CN113602101A CN 113602101 A CN113602101 A CN 113602101A CN 202110884995 A CN202110884995 A CN 202110884995A CN 113602101 A CN113602101 A CN 113602101A
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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
- B60L3/00—Electric devices on electrically-propelled vehicles for safety purposes; Monitoring operating variables, e.g. speed, deceleration or energy consumption
- B60L3/12—Recording operating variables ; Monitoring of operating variables
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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
- B60L2240/10—Vehicle control parameters
- B60L2240/12—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
- B60L2240/421—Speed
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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
The invention discloses a control method and a control device for inhibiting motor shake and a vehicle, wherein the method comprises the following steps: acquiring a vehicle speed test value and a motor rotating speed of a vehicle; obtaining a vehicle speed jitter amount based on a vehicle speed test value and the motor rotating speed; obtaining a vehicle speed shaking amount change rate based on the vehicle speed test value and the vehicle speed shaking amount; obtaining a target torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate; and compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the torque of a vehicle motor based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, brake pedal signal, gear signal and vehicle speed signal. The method can accurately compensate the target torque under different working conditions to obtain the motor torque with higher precision, thereby being beneficial to better inhibiting the motor shake.
Description
Technical Field
The invention relates to the technical field of electric automobiles, in particular to a control method and device for inhibiting motor shake and a vehicle.
Background
With the increasing depletion of petroleum resources, new energy automobiles get extensive attention of automobile manufacturers and related technicians in the global scope, and particularly, with the continuous development of new energy automobile industry in recent years, the new energy automobile technology also gets sufficient progress. The new energy automobile is different from the traditional fuel oil automobile in that a driving system of the new energy automobile consists of a driving motor and a battery system, so that the driving motor and a power battery are widely concerned as key parts of the new energy automobile.
Compared with the engine of the traditional fuel vehicle, the driving system of the new energy automobile mainly comprises the driving motor, the torque response of the driving motor is rapid, the motor works in an electric mode and a power generation mode, and the working conditions of the motor can be frequently switched. A transmission system formed by the motor, the reduction box and the driving shaft is represented as an inertia and elastic under-damping system, the transmission system is in rigid connection, and larger tooth gaps exist among gears. When the running condition of the vehicle is changed violently, the longitudinal shaking of the whole vehicle can be caused, the shaking phenomenon can influence the feeling of a driver, and meanwhile, the electric driving system can be damaged.
Aiming at the problem of jitter of an electric drive system of a new energy automobile, the current methods for inhibiting the jitter of the electric drive system mainly comprise two types: one is by installing a damping shock absorber, but this technique will increase the corresponding hardware cost and is less applicable to the current products. In another method, the active damping control function of the motor controller is added, and the method only needs to add corresponding functions on software without adding extra hardware, so that the technical method is a main technical means for solving the problem of the electric drive system jitter at present. However, the existing anti-shake control method does not consider the shaking problem of the vehicle under various different working conditions, so that the anti-shake capability is limited.
Disclosure of Invention
The embodiment of the application provides a control method and device for inhibiting motor shake and a vehicle, the method can determine a target torque compensation amount according to the speed of change of the vehicle shake amount, and accurately compensate target torques under different working conditions based on the target torque compensation amount to obtain a motor torque with higher precision, so that the motor shake can be better inhibited.
In a first aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a control method for suppressing motor jitter, comprising: acquiring a vehicle speed test value and a motor rotating speed of a vehicle; obtaining a vehicle speed jitter amount based on the vehicle speed test value and the motor rotating speed; obtaining a vehicle speed jitter amount change rate based on the vehicle speed test value and the vehicle speed jitter amount; obtaining a target torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate; and compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, brake pedal signal, gear signal and vehicle speed signal.
Preferably, after obtaining the vehicle speed shake amount, the method further includes: acquiring an accelerator pedal signal of the vehicle; obtaining an anti-shake switch signal value based on the accelerator pedal signal and the vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that the anti-shake function of the vehicle is in an on or off state; the obtaining of the target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate includes: obtaining a reference torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate; and obtaining the target torque compensation amount based on the reference torque compensation amount and the anti-shake switch signal value.
Preferably, the obtaining an anti-shake switch signal value based on an accelerator pedal signal of the vehicle and the vehicle speed shake amount includes: obtaining an acceleration rate of change based on an accelerator pedal signal of the vehicle; if the acceleration change rate is larger than or equal to a preset change rate threshold, determining whether the vehicle speed shaking amount is larger than or equal to a preset shaking amount threshold, if so, taking a first preset value as an anti-shaking switch signal value, wherein the first preset value indicates that the anti-shaking function is in an on state, and if not, taking a second preset value as an anti-shaking switch signal value, wherein the second preset value indicates that the anti-shaking function is in an off state.
Preferably, the obtaining a reference torque compensation amount based on the vehicle speed test value and the vehicle speed shake amount change rate includes: and searching in a preset database based on the vehicle speed test value and the vehicle speed jitter amount change rate to obtain corresponding reference torque compensation amount, wherein the preset database stores corresponding reference torque compensation amounts under different vehicle speed test values and different vehicle speed jitter amount change rates.
Preferably, the obtaining a vehicle speed test value of the vehicle includes: and processing the acquired vehicle motor torque, the motor rotor position and the motor rotating speed through a Kalman state observer to obtain the vehicle speed test value.
Preferably, the obtaining the vehicle speed shake amount based on the vehicle speed test value and the motor rotation speed includes: and calculating a difference value between the vehicle speed test value and the motor rotating speed to obtain a vehicle speed jitter amount.
Preferably, the vehicle speed shaking amount includes vehicle speed shaking amounts of a plurality of sampling points within a preset time period, and obtaining a rate of change of the vehicle speed shaking amount based on the vehicle speed test value and the vehicle speed shaking amount includes: obtaining vehicle speed jitter variation based on the vehicle speed jitter amounts of the plurality of sampling points; and taking the ratio of the vehicle speed jitter variation to the vehicle speed test value as the vehicle speed jitter variation rate.
In a second aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a control apparatus for suppressing motor judder, comprising:
the acquisition module is used for acquiring a vehicle speed test value and a motor rotating speed of a vehicle;
the jitter amount acquisition module is used for acquiring the vehicle speed jitter amount based on the vehicle speed test value and the motor rotating speed;
the change rate acquisition module is used for acquiring the change rate of the vehicle speed jitter amount based on the vehicle speed test value and the vehicle speed jitter amount;
the compensation quantity obtaining module is used for obtaining a target torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate;
and the torque control module is used for compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, the collected brake pedal signal, the collected gear signal and the collected vehicle speed signal.
Preferably, the apparatus further comprises:
the switch signal acquisition module is used for acquiring an accelerator pedal signal of the vehicle; obtaining an anti-shake switch signal value based on the accelerator pedal signal and the vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that the anti-shake function of the vehicle is in an on or off state;
the compensation amount obtaining module comprises:
the first obtaining submodule is used for obtaining a reference torque compensation quantity based on the vehicle speed test value and the change rate of the vehicle speed jitter quantity;
and the second obtaining submodule is used for obtaining the target torque compensation quantity based on the reference torque compensation quantity and the anti-shake switch signal value.
In a third aspect, the present invention provides the following technical solutions through an embodiment of the present invention:
a vehicle, comprising: memory, a processor and a computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of the first aspect when executing the program.
One or more technical solutions provided in the embodiments of the present application have at least the following technical effects or advantages:
according to the control method and device for inhibiting the motor shake and the vehicle, the vehicle speed shake amount is obtained by obtaining the vehicle speed test value and the motor rotating speed of the vehicle, and the vehicle speed shake amount reflects the change situation of the vehicle speed. And obtaining the change rate of the vehicle speed shaking amount based on the vehicle speed test value and the vehicle speed shaking amount, namely obtaining the speed of the change of the shaking amount of the vehicle. And then obtaining a target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate, compensating the target torque through the target torque compensation amount to obtain a compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, the collected brake pedal signal, the collected gear signal and the collected vehicle speed signal. The target torque compensation amount is obtained based on the vehicle speed test value and the vehicle speed jitter amount change rate, the target torque compensation amount can be determined according to the speed of the vehicle jitter amount change, the target torques under different working conditions are accurately compensated based on the target torque compensation amount, so that the motor torque with higher precision is obtained, and the motor jitter can be better inhibited.
Drawings
In order to more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings needed to be used in the description of the embodiments are briefly introduced below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and it is obvious for those skilled in the art to obtain other drawings based on the drawings without creative efforts.
Fig. 1 is a flowchart of a control method for suppressing motor jitter according to an embodiment of the present invention;
FIG. 2 is a schematic diagram of a structure for obtaining compensated torque according to an embodiment of the present invention;
fig. 3 is a schematic diagram of obtaining a signal value of an anti-shake switch according to an embodiment of the present invention;
fig. 4 is a schematic structural diagram of a control device for suppressing motor jitter according to an embodiment of the present invention;
fig. 5 is a schematic structural diagram of a vehicle according to an embodiment of the present invention.
Detailed Description
The embodiment of the application provides a control method and device for inhibiting motor shake and a vehicle, the method can determine a target torque compensation amount according to the speed of change of the vehicle shake amount, and accurately compensate target torques under different working conditions based on the target torque compensation amount to obtain a motor torque with higher precision, so that the motor shake can be better inhibited.
In order to better understand the technical solution, the technical solution will be described in detail with reference to the drawings and the specific embodiments.
It should be noted that, in order to eliminate vehicle vibration, the conventional method is to filter the actual motor speed, eliminate fluctuation of the motor speed signal, and control the actual motor speed signal to approach the filtered speed signal, so as to eliminate the short-time fluctuation of the motor speed and eliminate vehicle vibration.
However, the actual vehicle speed is dynamically changed with the vehicle speed during running, and it is difficult to satisfy the intention of the driver with the filtered motor speed as the target speed. In addition, the rotating speed filtering is calculated in a first-order filter mode, and the rotating speed signal has a delay phenomenon due to the adoption of the first-order filter, so that the driving feeling of a driver is influenced. In addition, the rotating speed signal is extracted by adopting the filter, the rotating speed fluctuation component is extracted, and then the closed-loop control is carried out by the proportional integral derivative PID, so that the torque fluctuation is controlled within a certain range.
In a first aspect, an embodiment of the present invention provides a control method for suppressing motor jitter, specifically, as shown in fig. 1, the control method includes the following steps S101 to S105.
And step S101, acquiring a vehicle speed test value and a motor rotating speed of the vehicle.
In a specific implementation process, as shown in fig. 2, obtaining a vehicle speed test value of a vehicle may include: and processing the acquired vehicle motor torque, the motor rotor position and the motor rotating speed through a Kalman state observer to obtain the vehicle speed test value. The Kalman state observer is a nonlinear state observer.
Specifically, since the vehicle is disturbed by various non-deterministic factors during the driving process, random noise is carried in the signals measured by the vehicle sensors, and therefore, in order to ensure the accuracy of the signals, the vehicle speed signals need to be processed by using a kalman state observer. The Kalman state observer is an optimal estimation method, mainly comprises two processes of prediction and correction, and comprises the following basic steps: state one-step prediction, state estimation calculation, a filter gain matrix, a one-step prediction error variance matrix and an estimation error variance matrix.
According to the method, the vehicle motor torque, the motor rotor position and the motor rotating speed are firstly obtained through the vehicle control unit, the vehicle motor torque, the motor rotor position and the motor rotating speed are input into the Kalman state observer, and a vehicle speed test value is obtained through a state estimation method of the Kalman state observer.
It should be noted that the vehicle speed test value can be accurately obtained by using the kalman state observer, the obtained vehicle speed test value has low noise, and the finally obtained target torque compensation amount is more accurate. Compared with the low-pass filter and the high-pass filter, the signal hysteresis phenomenon can be obviously reduced, and the dynamic response is better. In addition, due to the characteristics of the Kalman state observer, the Kalman state observer is adopted, a vehicle speed test value can be obtained in an off-line state, and the Kalman gain can be a fixed value in the off-line state, so that the calculation amount of the motor controller can be reduced.
And step S102, obtaining the vehicle speed jitter amount based on the vehicle speed test value and the motor rotating speed.
In an embodiment, as shown in fig. 2, obtaining the vehicle speed shake amount based on the vehicle speed test value and the motor speed includes: and solving a difference value between the vehicle speed test value and the motor rotating speed to obtain a vehicle speed jitter amount.
Specifically, before the vehicle speed test value and the collected motor speed are subtracted, the obtained motor speed needs to be converted into the vehicle speed based on the relationship between the vehicle speed and the vehicle speed, that is, the vehicle speed is obtained by multiplying the collected engine speed, the current speed ratio of the transmission and the wheel circumference. It should be noted that the current speed ratio of the transmission here depends on the current gear of the vehicle. And after the vehicle speed is obtained based on the formula, calculating a difference value between the vehicle speed test value and the converted vehicle speed to obtain the vehicle speed jitter.
And step S103, obtaining the change rate of the vehicle speed shaking amount based on the vehicle speed test value and the vehicle speed shaking amount.
In a specific embodiment, as shown in fig. 2, the vehicle speed shaking amount may include vehicle speed shaking amounts at a plurality of sampling points within a preset time period, and obtaining the vehicle speed shaking amount change rate based on the vehicle speed test value and the vehicle speed shaking amount may include: obtaining vehicle speed jitter variation based on the vehicle speed jitter amounts of the plurality of sampling points; and taking the ratio of the vehicle speed jitter variation to the vehicle speed test value as the vehicle speed jitter variation rate.
Specifically, the motor speed signals are collected in a preset time period, the vehicle speed shaking amount of the vehicle at a plurality of motor speeds is obtained, and a plurality of vehicle speed shaking amounts are obtained, wherein the plurality of motor speeds are motor speeds at a plurality of collection moments in the preset time period. And calculating a difference value between the vehicle speed shaking amount V1 at the current acquisition moment and the vehicle speed shaking amount V2 at the previous acquisition moment to obtain a vehicle speed shaking amount variation quantity delta V, and then performing ratio operation on the vehicle speed shaking amount variation quantity delta V and a vehicle speed observation value VehSpd to obtain a vehicle speed shaking amount variation rate Vrate. Specifically, the vehicle speed shake amount change rate calculation method comprises the following steps:
Vrate＝(V2-V1)/VehSpd
and step S104, obtaining a target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate.
In an embodiment, the corresponding target torque compensation amount may be obtained by searching in a preset database based on the vehicle speed test value and the change rate of the vehicle speed shake amount, where the preset database stores corresponding target torque compensation amounts under different vehicle speed test values and different change rates of the vehicle speed shake amount.
Specifically, the data in the preset database may be a three-dimensional array, and the three-dimensional array is obtained in a calibration manner in a specific application. In the actual calibration process, the optimal target torque compensation amount at different vehicle speed test values and different vehicle speed jitter amount change rates can be determined by adjusting the target torque compensation amount to obtain the minimum motor jitter amount according to the influence of the vehicle speed test value and the vehicle speed jitter amount change rate on the target torque compensation amount.
Further, considering that the actual motor shake is mainly at starting and low speed, the calibrated vehicle speed is mainly low speed, the change rate of the vehicle speed shake amount is not limited, and the vehicle speed shake amount may cover three intervals of low, medium and high, so that other working condition points may be selected to be obtained by interpolation in order to reduce the calibration workload. Specifically, the target torque compensation amount obtained based on the vehicle speed test value and the jitter amount change rate of different vehicle speeds is intercepted to obtain a plurality of representative target torque compensation amounts, a relevant curve graph is drawn based on the target torque compensation amount, the curve is smoothed, the curve graph is filled, and the filled value can be used as other working condition points, so that the calibration workload is effectively reduced.
Of course, as another alternative embodiment, the reference torque compensation amount under the current vehicle speed test value and the vehicle speed shake amount change rate may also be obtained through real-time calculation, for example: and obtaining a reference torque compensation amount through PID control.
Further, as shown in fig. 2, in order to enable the anti-shake function of the vehicle to be turned on when anti-shake is required, and to achieve more accurate control, after obtaining the vehicle speed shake amount, the method may further include:
acquiring an accelerator pedal signal of a vehicle; obtaining an anti-shake switch signal value based on an accelerator pedal signal and a vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that an anti-shake function of a vehicle is in an on or off state; obtaining the target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate, which may include: obtaining a reference torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate; and obtaining a target torque compensation amount based on the reference torque compensation amount and the anti-shake switch signal value.
In an embodiment, obtaining the anti-shake switch signal value based on the accelerator pedal signal and the vehicle speed shake amount may specifically include: obtaining an acceleration rate change based on an accelerator pedal signal of the vehicle; and if the acceleration change rate is larger than or equal to a preset change rate threshold value, judging whether the vehicle speed shaking amount is larger than or equal to a preset shaking amount threshold value, if so, taking a first preset value as an anti-shaking switch signal value, wherein the first preset value indicates that the anti-shaking function is in an on state, and if not, taking a second preset value as an anti-shaking switch signal value, wherein the second preset value indicates that the anti-shaking function is in an off state.
Specifically, after the accelerator pedal signal of the vehicle is acquired by the vehicle controller, as shown in fig. 3, the accelerator pedal signal at the current time t0 and the accelerator pedal signal at the last time t1, which are acquired within a preset time period, are calculated to obtain an acceleration change rate K, the acceleration change rate K is compared with a preset change rate threshold K0, if the acceleration change rate K is greater than or equal to the preset change rate threshold K0, the vehicle speed jitter amount V is compared with a preset jitter amount threshold V0, and if V is less than V0, a Microcontroller Unit (MCU) requests the vehicle controller to send an anti-shake function closing instruction, that is, a "0" signal instruction, and the anti-shake function is to be in a closed state (a second preset value). If the vehicle speed shaking amount V is greater than or equal to the preset shaking amount threshold V0, the MCU requests the vehicle controller to send an anti-shaking function start instruction, i.e., "1" signal instruction, and the anti-shaking function is to be in an on state (the first preset value). It should be noted that the preset change rate threshold K0 and the preset shake amount threshold V0 may be obtained by calibrating the vehicle.
Specifically, as shown in fig. 2, deriving the reference torque compensation amount based on the vehicle speed test value and the rate of change in the vehicle speed shake amount may include: and searching in a preset database based on the vehicle speed test value and the change rate of the vehicle speed jitter amount to obtain corresponding reference torque compensation amount, wherein the preset database stores corresponding reference torque compensation amounts under different vehicle speed test values and different change rates of the vehicle speed jitter amount.
Similarly, the data in the preset database may be a three-dimensional array, and the three-dimensional array is obtained in a calibration manner in a specific application. In the actual calibration process, the optimal reference torque compensation amount at different vehicle speed test values and different vehicle speed jitter amount change rates can be determined by adjusting the reference torque compensation amount to obtain the minimum motor jitter amount according to the influence of the vehicle speed test value and the vehicle speed jitter amount change rate on the reference torque compensation amount.
Further, after the reference torque compensation amount is obtained by looking up a table in a preset database, as shown in fig. 2, the anti-shake switch signal value is multiplied by the reference torque compensation amount to obtain the target torque compensation amount. When the anti-shake switch signal value is the switch opening signal value, the obtained target torque compensation amount is zero, and torque compensation is not needed at present; and when the anti-shake switch signal value is the switch-off signal value, compensating the target torque of the motor based on the target torque compensation amount.
And S105, compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, the collected brake pedal signal, the collected gear signal and the collected vehicle speed signal.
In a specific embodiment, an accelerator pedal signal, a brake pedal signal, a gear signal and a vehicle speed signal of a vehicle are acquired through a vehicle control unit, a target torque of the vehicle is determined based on the acquired accelerator pedal signal, brake pedal signal, gear signal and vehicle speed signal, and the target torque at the moment needs to be compensated under the action of a target torque compensation amount to obtain a compensated torque. Specifically, as shown in fig. 2, the target torque and the target torque compensation amount are subjected to a difference operation to obtain a compensated torque. The motor controller controls the torque of the vehicle motor by converting the compensated torque into a three-phase current value, so that the torque of the motor is corrected.
The control method for inhibiting the motor shake provided by the embodiment of the application has the following advantages: 1. according to the method and the device, the vehicle speed test value can be accurately obtained by adopting the Kalman state observer, the noise of the obtained vehicle speed test value is low, and therefore the accurate target torque compensation quantity can be obtained. 2. The torque compensation amount is obtained in a table look-up mode, and the target torque required under different working conditions can be accurately compensated in a calibration mode. In addition, the target torque compensation amount can be determined according to the speed of the vehicle speed jitter amount change, so that the compensation torque with higher precision is obtained, and a better jitter suppression effect is achieved. 3. When the target torque compensation quantity is calibrated, the calibration process can cover different working conditions, the change rate of the vehicle speed jitter quantity is low, medium and high, the required target torque compensation quantity is calibrated according to the working conditions, and the function of jitter suppression in a full rotating speed range can be realized.
In summary, according to the control method for suppressing the motor shake provided by the embodiment of the present application, the target torque compensation amount can be determined according to the speed of the change of the vehicle shake amount, and the target torques under different working conditions are accurately compensated based on the target torque compensation amount, so as to obtain the motor torque with higher precision, so that the torque fluctuation of the motor is controlled within a certain range, thereby being beneficial to better suppressing the motor shake.
In a second aspect, based on the same inventive concept, the present embodiment provides a control apparatus for suppressing motor shake, as shown in fig. 4, including:
the acquiring module 401 is used for acquiring a vehicle speed test value and a motor rotating speed of a vehicle;
a jitter amount obtaining module 402, configured to obtain a vehicle speed jitter amount based on a vehicle speed test value and a motor rotation speed;
a change rate obtaining module 403, configured to obtain a change rate of the vehicle speed shaking amount based on the vehicle speed test value and the vehicle speed shaking amount;
a compensation amount obtaining module 404, configured to obtain a target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate;
and a torque control module 405, configured to compensate the target torque by the target torque compensation amount to obtain a compensated torque, and control a vehicle motor torque based on the compensated torque, where the target torque is determined based on the collected accelerator pedal signal, the collected brake pedal signal, the collected gear signal, and the collected vehicle speed signal.
As an alternative embodiment, the apparatus further comprises:
the switch signal acquisition module is used for acquiring an accelerator pedal signal of a vehicle;
obtaining an anti-shake switch signal value based on an accelerator pedal signal and a vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that an anti-shake function of a vehicle is in an on or off state;
the compensation amount obtaining module 404 includes:
the first obtaining submodule is used for obtaining a reference torque compensation quantity based on a vehicle speed test value and a vehicle speed jitter quantity change rate;
and the second obtaining submodule is used for obtaining the target torque compensation quantity based on the reference torque compensation quantity and the anti-shake switch signal value.
As an alternative embodiment, the switching signal obtaining module includes:
the change rate obtaining sub-module is used for obtaining the change rate of the acceleration degree based on an accelerator pedal signal of the vehicle;
and the judging submodule is used for judging whether the vehicle speed shaking amount is greater than or equal to a preset shaking amount threshold value or not if the acceleration change rate is greater than or equal to the preset change rate threshold value, if so, taking a first preset value as an anti-shaking switch signal value, wherein the first preset value represents that the anti-shaking function is in an on state, and if not, taking a second preset value as an anti-shaking switch signal value, wherein the second preset value represents that the anti-shaking function is in an off state.
As an optional embodiment, the first obtaining sub-module is specifically configured to: and searching in a preset database based on the vehicle speed test value and the vehicle speed jitter amount change rate to obtain corresponding reference torque compensation amount, wherein the preset database stores corresponding reference torque compensation amounts under different vehicle speed test values and different vehicle speed jitter amount change rates.
As an optional embodiment, the obtaining module 401 is specifically configured to: and processing the acquired vehicle motor torque, the motor rotor position and the motor rotating speed through a Kalman state observer to obtain a vehicle speed test value.
As an optional embodiment, the jitter amount obtaining module 402 is specifically configured to: and solving a difference value between the vehicle speed test value and the motor rotating speed to obtain a vehicle speed jitter amount.
As an alternative embodiment, the vehicle speed jitter amount includes vehicle speed jitter amounts of a plurality of sampling points within a preset time period, and the change rate obtaining module 403 includes:
the variation obtaining submodule is used for obtaining vehicle speed jitter variation based on the vehicle speed jitter amounts of the plurality of sampling points;
and the change rate obtaining submodule is used for taking the ratio of the vehicle speed jitter variation to the vehicle speed test value as the vehicle speed jitter amount change rate.
The above modules may be implemented by software codes, and in this case, the modules may be stored in a memory of the control device. The above modules may also be implemented by hardware, such as an integrated circuit chip.
The implementation principle and the generated technical effect of the control device for suppressing the motor shake provided by the embodiment of the invention are the same as those of the foregoing method embodiment, and for the sake of brief description, no mention is made in the device embodiment, and reference may be made to the corresponding contents in the foregoing method embodiment.
In a third aspect, based on the same inventive concept, the present embodiment provides a vehicle 500, as shown in fig. 5, including: a voice module 504, a memory 501, a processor 502 and a computer program 503 stored on the memory and executable on the processor, wherein the processor 501, when executing the program, implements the steps of the control method for suppressing motor shake as described in the foregoing first aspect.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This invention is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the invention pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the invention being indicated by the following claims.
As will be appreciated by one skilled in the art, embodiments of the present invention may be provided as a method, system, or computer program product. Accordingly, the present invention may take the form of an entirely hardware embodiment, an entirely software embodiment or an embodiment combining software and hardware aspects. Furthermore, the present invention 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 invention is described with reference to flowchart illustrations and/or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. 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.
While preferred embodiments of the present invention have been described, additional variations and modifications in those embodiments may occur to those skilled in the art once they learn of the basic inventive concepts. Therefore, it is intended that the appended claims be interpreted as including preferred embodiments and all such alterations and modifications as fall within the scope of the invention.
It will be apparent to those skilled in the art that various changes and modifications may be made in the present invention without departing from the spirit and scope of the invention. Thus, if such modifications and variations of the present invention fall within the scope of the claims of the present invention and their equivalents, the present invention is also intended to include such modifications and variations.
Claims (10)
1. A control method for suppressing motor judder, comprising:
acquiring a vehicle speed test value and a motor rotating speed of a vehicle;
obtaining a vehicle speed jitter amount based on the vehicle speed test value and the motor rotating speed;
obtaining a vehicle speed jitter amount change rate based on the vehicle speed test value and the vehicle speed jitter amount;
obtaining a target torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate;
and compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, brake pedal signal, gear signal and vehicle speed signal.
2. The method of claim 1, wherein after obtaining the vehicle speed dither amount, further comprising:
acquiring an accelerator pedal signal of the vehicle;
obtaining an anti-shake switch signal value based on the accelerator pedal signal and the vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that the anti-shake function of the vehicle is in an on or off state;
the obtaining of the target torque compensation amount based on the vehicle speed test value and the vehicle speed jitter amount change rate includes:
obtaining a reference torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate;
and obtaining the target torque compensation amount based on the reference torque compensation amount and the anti-shake switch signal value.
3. The method of claim 2, wherein said deriving an anti-shake switch signal value based on an accelerator pedal signal of said vehicle and said amount of vehicle speed shake comprises:
obtaining an acceleration rate of change based on an accelerator pedal signal of the vehicle;
if the acceleration change rate is larger than or equal to a preset change rate threshold, determining whether the vehicle speed shaking amount is larger than or equal to a preset shaking amount threshold, if so, taking a first preset value as an anti-shaking switch signal value, wherein the first preset value indicates that the anti-shaking function is in an on state, and if not, taking a second preset value as an anti-shaking switch signal value, wherein the second preset value indicates that the anti-shaking function is in an off state.
4. The method according to claim 2, wherein said deriving a reference torque compensation amount based on the vehicle speed test value and the rate of change in the vehicle speed shake amount comprises:
and searching in a preset database based on the vehicle speed test value and the vehicle speed jitter amount change rate to obtain corresponding reference torque compensation amount, wherein the preset database stores corresponding reference torque compensation amounts under different vehicle speed test values and different vehicle speed jitter amount change rates.
5. The method of claim 1, wherein said obtaining a vehicle speed test value for a vehicle comprises:
and processing the acquired vehicle motor torque, the motor rotor position and the motor rotating speed through a Kalman state observer to obtain the vehicle speed test value.
6. The method of claim 1, wherein deriving the vehicle speed dither amount based on the vehicle speed test value and the motor speed comprises:
and calculating a difference value between the vehicle speed test value and the motor rotating speed to obtain a vehicle speed jitter amount.
7. The method according to claim 1, wherein the vehicle speed shake amount includes vehicle speed shake amounts at a plurality of sampling points within a preset time period, and the obtaining a rate of change of the vehicle speed shake amount based on the vehicle speed test value and the vehicle speed shake amount comprises:
obtaining vehicle speed jitter variation based on the vehicle speed jitter amounts of the plurality of sampling points;
and taking the ratio of the vehicle speed jitter variation to the vehicle speed test value as the vehicle speed jitter variation rate.
8. A control apparatus for suppressing motor judder, comprising:
the acquisition module is used for acquiring a vehicle speed test value and a motor rotating speed of a vehicle;
the jitter amount acquisition module is used for acquiring the vehicle speed jitter amount based on the vehicle speed test value and the motor rotating speed;
the change rate acquisition module is used for acquiring the change rate of the vehicle speed jitter amount based on the vehicle speed test value and the vehicle speed jitter amount;
the compensation quantity obtaining module is used for obtaining a target torque compensation quantity based on the vehicle speed test value and the vehicle speed jitter quantity change rate;
and the torque control module is used for compensating the target torque through the target torque compensation amount to obtain compensated torque, and controlling the vehicle motor torque based on the compensated torque, wherein the target torque is determined based on the collected accelerator pedal signal, the collected brake pedal signal, the collected gear signal and the collected vehicle speed signal.
9. The apparatus of claim 8, further comprising:
the switch signal acquisition module is used for acquiring an accelerator pedal signal of the vehicle;
obtaining an anti-shake switch signal value based on the accelerator pedal signal and the vehicle speed shake amount, wherein the anti-shake switch signal value is used for representing that the anti-shake function of the vehicle is in an on or off state;
the compensation amount obtaining module comprises:
the first obtaining submodule is used for obtaining a reference torque compensation quantity based on the vehicle speed test value and the change rate of the vehicle speed jitter quantity;
and the second obtaining submodule is used for obtaining the target torque compensation quantity based on the reference torque compensation quantity and the anti-shake switch signal value.
10. A vehicle, characterized by comprising: memory, processor and computer program stored on the memory and executable on the processor, the processor implementing the steps of the method of any one of claims 1 to 7 when executing the program.
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| CN114435137A (en) * | 2022-01-21 | 2022-05-06 | 岚图汽车科技有限公司 | Active short circuit control method, device, equipment and medium of motor controller |
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