CN114633634B - Motor gear-shifting control method, device, computer equipment and storage medium - Google Patents
Motor gear-shifting control method, device, computer equipment and storage medium Download PDFInfo
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- CN114633634B CN114633634B CN202210176629.6A CN202210176629A CN114633634B CN 114633634 B CN114633634 B CN 114633634B CN 202210176629 A CN202210176629 A CN 202210176629A CN 114633634 B CN114633634 B CN 114633634B
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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
- B60L15/2054—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 by controlling transmissions or clutches
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The application relates to a motor off-hook control method, a motor off-hook control device, a computer device, a storage medium and a computer program product. The method comprises the following steps: acquiring the angular acceleration of the gear motor, judging the absolute value of the angular acceleration of the gear motor and a preset value, if the absolute value of the angular acceleration of the gear motor is smaller than the preset value, the motor torque output rule is that the torque varies sinusoidally with time or varies arcsine with time, if the absolute value of the angular acceleration of the gear motor is not smaller than the preset value, the motor noise torque is obtained, the motor torque output rule is that the torque varies sinusoidally with time or varies arcsine with time, and the gear picking control is carried out on the motor according to the motor torque output rule. By adopting the method, the actual torque deviation of the back taper gear component force and the smaller torque request value can be offset gradually, the smooth gear picking is ensured, the gear can be picked smoothly under the condition that the angular acceleration of the gear motor is larger, and the gear picking control success rate is improved.
Description
Technical Field
The present application relates to the field of vehicle control technology, and in particular, to a motor gear shift removal control method, apparatus, computer device, storage medium, and computer program product.
Background
With the widespread use of all-electric vehicles and motor-driven hybrid vehicles, a two-motor multi-speed drive scheme is becoming the mainstream of motor drive. The double-motor multi-gear driving scheme can realize no power interruption in the gear shifting process, and one motor can continue power driving in the gear shifting process, so that the driving smoothness of the vehicle is greatly improved. However, because the rotational inertia of the motor is large, and in the gear shifting process of one of the motors, the motor may have large angular acceleration, so that the motor has meshing load in the gear shifting process, the gear shifting is difficult, in addition, in the motor transmission meshing mechanism, the engaged gear ring is usually designed into inverted conical teeth so as to prevent the gear ring from being disengaged, and the component force of the gear sleeve in the meshing direction is additionally increased, so that the difficulty of gear shifting of the shifting fork is increased.
The existing motor gear-off control method is to adjust the gear engagement gap based on the rotation speed of the vehicle to realize motor gear-off control, however, the motor gear-off control method needs higher gear manufacturing precision, and has the problem of low motor gear-off success rate under the dynamic condition of higher angular velocity.
Disclosure of Invention
Based on the foregoing, there is a need to provide a motor gear-off control method, a device, a computer apparatus, a computer readable storage medium and a computer program product capable of improving the motor gear-off success rate, aiming at the technical problem that the motor gear-off success rate is not high in the conventional motor gear-off control method.
In a first aspect, the present application provides a motor off-shift control method. The method comprises the following steps:
acquiring the angular acceleration of the gear motor;
judging the absolute value of the angular acceleration of the gear motor and the preset value;
if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time;
if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation;
and performing off-shift control on the motor according to the motor torque output rule.
In one embodiment, before determining the magnitude of the absolute value of the gear motor angular acceleration and the preset value, the method further includes:
filtering the angular acceleration of the in-gear motor by adopting a filtering algorithm to obtain an angular acceleration filtering value;
judging the absolute value of the angular acceleration of the gear motor and the preset value further comprises:
And judging the absolute value of the angular acceleration filtering value of the gear motor and the preset value.
In one embodiment, if the absolute value of the angular acceleration of the in-gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or that the torque varies arcsinusoidally with time, and if the absolute value of the angular acceleration of the in-gear motor is not smaller than the preset value, the motor noise torque is obtained, and determining that the motor torque output rule is that the torque varies sinusoidally with time or that the torque varies arcsinusoidally with time includes:
if the absolute value of the gear motor angular acceleration filtering value is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time;
and if the absolute value of the gear motor angular acceleration filtering value is not smaller than a preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque changes like sine with time or the torque changes like arcsine with time.
In one embodiment, if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time, including:
if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, acquiring the system request torque and the vehicle speed;
Inquiring and acquiring a driving torque threshold value and a sliding torque threshold value according to the system request torque and the vehicle speed;
if the system request torque is larger than the driving torque threshold value and the gear motor angular acceleration is larger than zero, the motor torque output rule is that the torque varies sinusoidally with time;
if the system request torque is smaller than the sliding torque threshold value and the gear motor angular acceleration is smaller than zero, the motor torque output rule is that the torque varies arcsine along with time;
if the system requested torque is less than the drive torque threshold and greater than the slip torque threshold, the motor torque output rule is a sinusoidal variation of torque over time.
In one embodiment, if the absolute value of the angular acceleration of the gear motor is not less than a preset value, determining the motor torque output rule as a sinusoidal-like change in torque over time or an arcsinusoidal-like change in torque over time includes:
if the angular acceleration of the gear motor is greater than zero, determining that the motor torque output rule is that the torque varies like sine along with time;
if the motor angular acceleration in gear is less than zero, the motor torque output rule is determined to be that the torque changes like an arcsine along with time.
In one embodiment, after the motor is subjected to the off-shift control according to the motor torque output rule, the method further comprises:
Judging whether the picking is successful;
if the gear is not removed, returning to the step of judging the absolute value of the angular acceleration of the gear motor and the preset value;
if the gear is successfully removed, pushing a gear removal success prompt message.
In a second aspect, the application further provides a motor gear-shifting control device. The device comprises:
the data acquisition module is used for acquiring the angular acceleration of the in-gear motor;
the angular acceleration judging module is used for judging the absolute value of the angular acceleration of the gear motor and the magnitude of a preset value;
the first torque output module is used for outputting a motor torque rule that the torque varies sinusoidally with time or varies arcsinusoidally with time if the absolute value of the angular acceleration of the gear motor is smaller than a preset value;
the second torque output module is used for obtaining motor noise torque if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, determining that the motor torque output rule is that the torque changes like sine with time or changes like arcsine with time, wherein the torque like sine changes is obtained based on the torque of motor noise compensation sine change, and the torque like arcsine change is obtained based on the torque of motor noise compensation arcsine change;
And the gear-off control module is used for performing gear-off control on the motor according to the motor torque output rule.
In a third aspect, the present application also provides a computer device. The computer device comprises a memory storing a computer program and a processor which when executing the computer program performs the steps of:
acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
In a fourth aspect, the present application also provides a computer-readable storage medium. The computer readable storage medium having stored thereon a computer program which when executed by a processor performs the steps of:
Acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
In a fifth aspect, the present application also provides a computer program product. The computer program product comprises a computer program which, when executed by a processor, implements the steps of:
acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
According to the motor gear-picking control method, the device, the computer equipment, the storage medium and the computer program product, under the condition that the angular acceleration of the gear motor is smaller, as the gear meshing transmission has larger back taper gear component force, gear-picking control is carried out on the motor through a motor torque output rule which varies sinusoidally or arcsinusoidally along with time, the actual torque deviation of the back taper gear component force and a smaller torque request value can be offset gradually, the gear-picking is ensured to be carried out smoothly, and the gear-picking control success rate is improved; in the case of larger gear motor angular acceleration, by using the method of compensating the torque changing along with the time sine or the arcsine by motor noise torque, a pair of gears meshed in the dynamic operation process of the motor generate gaps in a short time, so that the gear sleeve is convenient to separate in the gear shifting process of the shifting fork, and therefore, the gear can be smoothly shifted under the condition of larger gear motor angular acceleration, and the gear shifting control success rate is further improved.
Drawings
FIG. 1 is an application environment diagram of a motor off-hook control method in one embodiment;
FIG. 2 is a flow chart of a motor off-hook control method in one embodiment;
FIG. 3 is a flow chart of a motor off-hook control method in one embodiment;
FIG. 4 is a flow chart of a motor off-hook control method according to another embodiment;
FIG. 5 is a flow chart of a motor off-hook control method according to another embodiment;
FIG. 6 is a schematic diagram of a motor torque sinusoidal over time with motor torque at steady state in one embodiment;
FIG. 7 is a schematic diagram of a motor torque versus time in a dynamic manner for an embodiment;
FIG. 8 is a flow chart of a motor off-shift method for a motor under dynamic state in one embodiment;
FIG. 9 is a block diagram of a motor off-hook control device in one embodiment;
fig. 10 is an internal structural view of a computer device in one embodiment.
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application.
The motor gear-shifting control method provided by the embodiment of the application can be applied to an application environment shown in fig. 1. Wherein the terminal 102 communicates with the motor 104 via a network. The data storage system may store data that the terminal 102 needs to process. The data storage system may be integrated on the terminal 102 or may be located on a cloud or other network server. The terminal 102 acquires the angular acceleration of the in-gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; the motor 104 is off-shift controlled according to motor torque output rules. The terminal 102 may be, but not limited to, various personal computers, notebook computers, smart phones, tablet computers, internet of things devices, and portable wearable devices, where the internet of things devices may be smart speakers, smart televisions, smart air conditioners, smart vehicle devices, and the like. The portable wearable device may be a smart watch, smart bracelet, headset, or the like.
In one embodiment, as shown in fig. 2, a motor off-hook control method is provided, and the method is applied to the terminal 102 in fig. 1 for illustration, and includes the following steps:
s100, acquiring the angular acceleration of the in-gear motor.
The gear motor is in gear engagement transmission, the double-motor multi-gear drive can realize larger torque output of the system and simultaneously meet higher system efficiency of a full-speed range of the system, power is not interrupted in a gear shifting process, namely, one motor can continue to be driven by power in the gear shifting process, because the rotational inertia of the motor is larger, the motor possibly has larger angular acceleration, the motor has meshing load conditions in the gear shifting process, and gear shifting is difficult.
Specifically, the angular acceleration of the gear motor in the system is acquired in real time during the driving process of the vehicle.
S200, judging the absolute value of the angular acceleration of the gear motor and the magnitude of a preset value.
The motor angular acceleration has a direction, the motor angular acceleration is a positive value when the gear motor is driven, the motor angular acceleration is a negative value when the gear motor is braked in a decelerating way, and the absolute value of the gear motor angular acceleration is required to be taken when the gear motor is compared with a preset value, and the absolute value of the gear motor angular acceleration is compared with the preset value.
Specifically, the absolute value of the angular acceleration of the gear motor and the magnitude of a preset value are judged.
And S300, if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time.
If the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the gear motor is considered to work in a relatively stable state at present, the engagement gear ring is usually designed into an inverted cone gear in the motor transmission engagement mechanism so as to prevent the gear ring from being disengaged, and the component force in the gear sleeve engagement direction in the engagement state is additionally increased, so that the difficulty of gear shifting of the shifting fork is additionally increased.
Specifically, if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time.
And S400, if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque is similar to sinusoidal variation over time or the torque is similar to arcsine variation over time, wherein the torque similar to sinusoidal variation is obtained based on the torque of motor noise torque compensation sinusoidal variation, and the torque similar to arcsine variation is obtained based on the torque of motor noise torque compensation arcsine variation.
If the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, the current gear motor works in a more intense acceleration and deceleration state or the vehicle system is under a larger gradient road condition, and the system is in a more intense dynamic motion process, and in order to overcome meshing torque of motor transmission in the dynamic motion process, motor noise torque is introduced, and motor noise torque is compensated for motor output torque which varies sinusoidally with time or varies arcsine with time, so that a fluctuation torque mechanism of the control motor in the dynamic process is larger than a motor torque extremum in a stable process, fluctuation is also obvious, a pair of gears meshed by the motor in the dynamic operation process can generate a gap in a short time, separation between tooth sleeves in the shifting fork gear picking process is facilitated, and the gear picking success rate is improved.
Specifically, if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine over time or the torque varies like arcsine over time, the torque like sine variation is obtained based on the torque of motor noise torque compensation sinusoidal variation, and the torque like arcsine variation is obtained based on the torque of motor noise torque compensation arcsine variation.
When the absolute value of the angular acceleration of the gear motor is not less than the preset value, the gear motor needs to overcome not only the component force and part of sliding friction resistance of the inverted cone teeth in the tooth sleeve moving direction, but also the inertia torque generated by the moment of inertia in the acceleration or deceleration process of the motor, so that the S400 can also be: and if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, obtaining motor inertia torque and motor noise torque, and determining motor torque output rules to be that the torque is similar to sinusoidal variation over time or similar to arcsine variation over time, wherein the torque similar to sinusoidal variation is obtained based on the motor inertia torque and motor noise torque compensating sinusoidal variation, and the torque similar to arcsine variation is obtained based on the motor inertia torque and motor noise torque compensating arcsine variation. The method for calculating the inertia torque of the motor comprises the following steps: j=i×ω ζ2, I being the motor inertia and ω being the motor angular acceleration.
S500, performing off-shift control on the motor according to a motor torque output rule.
When receiving a gear-picking request of a gear-in motor, the system enters a gear-picking control state, the motor torque is output according to a motor torque output rule, a meshed pair of gears generate a gap in a short time, and a gear sleeve is separated in the gear-picking process of a shifting fork, so that the gear-picking control of the motor is realized.
Specifically, the motor is subjected to off-shift control according to a motor torque output rule.
In the motor gear-shifting control method, under the condition that the angular acceleration of the gear motor is smaller, as gear meshing transmission has larger back taper gear component force, gear-shifting control is carried out on the motor through a motor torque output rule which varies with time in a sine or arcsine manner, so that the actual torque deviation of the back taper gear component force and a smaller torque request value can be gradually counteracted, the gear shifting is ensured to be carried out smoothly, and the gear-shifting control success rate is improved; in the case of larger gear motor angular acceleration, by using the method of compensating the torque changing along with the time sine or the arcsine by motor noise torque, a pair of gears meshed in the dynamic operation process of the motor generate gaps in a short time, so that the gear sleeve is convenient to separate in the gear shifting process of the shifting fork, and therefore, the gear can be smoothly shifted under the condition of larger gear motor angular acceleration, and the gear shifting control success rate is further improved.
In one embodiment, before determining the magnitude of the absolute value of the gear motor angular acceleration and the preset value, the method further includes: filtering the angular acceleration of the in-gear motor by adopting a filtering algorithm to obtain an angular acceleration filtering value; judging the absolute value of the angular acceleration of the gear motor and the preset value further comprises: and judging the absolute value of the angular acceleration filtering value of the gear motor and the preset value.
In this embodiment, before the absolute value of the angular acceleration of the gear motor is determined and the magnitude of the preset value, a filtering algorithm is adopted to perform filtering processing on the angular acceleration of the gear motor to obtain an angular acceleration filtering value. Further, the absolute value of the angular acceleration filtering value of the gear motor and the magnitude of the preset value can be judged.
According to the scheme of the embodiment, the angular acceleration of the gear motor is subjected to filtering processing through the filtering algorithm to obtain the angular acceleration filtering value, then the absolute value of the angular acceleration filtering value of the gear motor and the preset value are judged, after the angular acceleration of the gear motor is subjected to filtering processing, the signal noise can be prevented from being too large, the system is guaranteed to have relatively good real-time performance, and smooth gear picking is facilitated.
In another embodiment, if the absolute value of the angular acceleration of the in-gear motor is less than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or that the torque varies arcsinusoidally with time, and if the absolute value of the angular acceleration of the in-gear motor is not less than a preset value, the motor noise torque is obtained, and determining that the motor torque output rule is that the torque varies sinusoidally with time or that the torque varies arcsinusoidally with time includes: if the absolute value of the gear motor angular acceleration filtering value is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; and if the absolute value of the gear motor angular acceleration filtering value is not smaller than a preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque changes like sine with time or the torque changes like arcsine with time. The motor noise torque is obtained through theoretical analysis and calibration practice by considering response performance of motor control torque output, system interaction communication delay and mechanical system actual performance.
In this embodiment, after the magnitude of the angular acceleration of the in-gear motor and the preset value after the filtering processing is determined, if the absolute value of the filtered value of the angular acceleration of the in-gear motor is smaller than the preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; and if the absolute value of the gear motor angular acceleration filtering value is not smaller than a preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque changes like sine with time or the torque changes like arcsine with time.
According to the scheme of the embodiment, the method for determining the motor torque output rule according to the comparison result of the angular acceleration of the gear motor after filtering processing and the preset value can eliminate the influence of excessive noise of the angular acceleration signal of the gear motor on the motor torque output rule setting, is favorable for smooth gear removal, and improves the gear removal success rate of the motor.
In one embodiment, as shown in fig. 3, if the absolute value of the angular acceleration of the gear motor is smaller than the preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time, including:
s310, if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, acquiring the system request torque and the vehicle speed;
s320, inquiring and acquiring a driving torque threshold value and a sliding torque threshold value according to the system request torque and the vehicle speed;
s330, if the system request torque is greater than the drive torque threshold and the gear motor angular acceleration is greater than zero, the motor torque output rule is that the torque varies sinusoidally with time;
s340, if the system request torque is smaller than the sliding torque threshold value and the gear motor angular acceleration is smaller than zero, the motor torque output rule is that the torque varies arcsine with time;
s350, if the system request torque is smaller than the driving torque threshold and larger than the sliding torque threshold, the motor torque output rule is that the torque varies sinusoidally with time.
In this embodiment, if the absolute value of the angular acceleration of the gear motor is smaller than the preset value, the system request torque and the vehicle speed are obtained, and based on the current system request torque and the current vehicle speed, the one-dimensional linear table of the torque required by the system for driving and the one-dimensional linear table of the torque required by the system for sliding are queried, and the driving torque threshold value and the sliding torque threshold value are obtained, so as to determine that the state of the system is the driving acceleration state or the braking deceleration state. And the one-dimensional linear table of the torque required by the system driving is used for carrying out stable-speed running of each vehicle speed point under the condition that the vehicle system is fully loaded, and the required driving torque of the vehicle is counted to obtain. And carrying out stable-speed running of each vehicle speed point on a one-dimensional linear table of the torque required by the sliding of the system under the condition of no load of the vehicle system, and counting the driving torque required by the vehicle to obtain. Further, if the system request torque is greater than the driving torque threshold value and the gear motor angular acceleration is greater than zero, the state of the system is considered to be a driving acceleration state, and in the motor gear picking process, the motor torque output rule is that the torque varies sinusoidally along with time; if the system request torque is smaller than the sliding torque threshold value and the gear motor angular acceleration is smaller than zero, the state of the system is considered to be a braking and decelerating state, and in the motor gear picking process, the motor torque output rule is that the torque varies arcsine along with time; if the system request torque is less than the drive torque threshold and greater than the slip torque threshold, then the motor torque output rule is that the torque varies sinusoidally over time, regardless of whether the in-gear motor angular acceleration is greater than zero or less than zero.
According to the scheme of the embodiment, the driving torque threshold value and the sliding torque threshold value are inquired and obtained through the system request torque and the vehicle speed, the system request torque and the driving torque threshold value and the sliding torque threshold value are compared, and the state of the system is judged to be a driving acceleration state or a braking deceleration state through comparing the angular acceleration of the shift motor with zero, so that the motor torque output rule is determined to be the sine change of the torque with time or the arcsine change of the torque with time.
In one embodiment, as shown in fig. 4, if the absolute value of the angular acceleration of the gear motor is not less than the preset value, determining the motor torque output rule as a sinusoidal-like change in torque over time or an arcsinusoidal-like change in torque over time includes:
s420, if the angular acceleration of the gear motor is larger than zero, determining that the motor torque output rule is that the torque varies like sine along with time;
S440, if the motor angular acceleration in gear is smaller than zero, determining that the motor torque output rule is that the torque changes like an arcsine along with time.
In this embodiment, if the absolute value of the angular acceleration of the gear motor is not less than the preset value, it is determined whether the angular acceleration of the gear motor is greater than zero, if the angular acceleration of the gear motor is greater than zero, it is determined that the torque output rule is that the torque varies like a sine with time, and if the angular acceleration of the gear motor is less than zero, it is determined that the torque output rule is that the torque varies like an arcsine with time.
According to the scheme of the embodiment, when the absolute value of the angular acceleration of the gear motor is not smaller than the preset value, whether the angular acceleration of the gear motor is larger than zero is judged, whether the state of the system is driving acceleration or braking deceleration can be determined, different motor torque output rules are adopted in different system states, smooth gear picking can be guaranteed, and the gear picking success rate is further improved.
In one embodiment, as shown in fig. 5, after the motor is subjected to the off-shift control according to the motor torque output rule, the method further includes:
s620, judging whether the picking is successful;
s640, if the gear shift is failed, returning to the step of judging the absolute value of the angular acceleration of the gear motor and the preset value;
And S660, pushing a shift-out success prompt message if the shift-out is successful.
In this embodiment, after the gear-picking control is performed on the motor according to the motor torque output rule, whether the gear-picking is successful is determined, if the gear-picking fails, the step of determining the absolute value of the angular acceleration of the gear motor and the preset value is returned, the next gear-picking control is continued until the gear-picking is successful, if the gear-picking is successful, the gear-picking success prompt message is pushed, and the gear-picking control is ended.
According to the scheme of the embodiment, through judging whether the gear picking is successful or not, if the gear picking is failed, the step of judging the absolute value of the angular acceleration of the gear motor and the preset value is returned, and the next gear picking control is restarted.
In one embodiment, the motor off-shift control method may further acquire a vehicle running acceleration, specifically, acquire the vehicle running acceleration; judging the absolute value of the running acceleration of the vehicle and the preset value; if the absolute value of the running acceleration of the vehicle is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the vehicle running acceleration is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque is similar to sine change over time or the torque is similar to arcsine change over time, the torque similar to sine change is obtained based on the torque of motor noise compensation sine change, and the torque similar to arcsine change is obtained based on the torque of motor noise compensation arcsine change; and performing off-shift control on the motor according to the motor torque output rule.
According to the scheme of the embodiment, the motor gear-shifting control method can further achieve gear-shifting control on the motor through the motor torque output rule changing with time sine or arcsine under the conditions that the vehicle running acceleration is obtained and the vehicle running acceleration is smaller, and because gear meshing transmission has larger back taper gear component force, actual torque deviation of the back taper gear component force and smaller torque request value can be offset gradually, gear shifting is guaranteed to be carried out smoothly, and gear-shifting control success rate is improved; the method of compensating the torque which varies with the sine or the arcsine of time by the noise torque of the motor under the condition of larger vehicle running acceleration ensures that a pair of gears meshed in the dynamic running process of the motor generate gaps in a short time, thereby being convenient for separating gear sleeves in the shifting fork gear-picking process, and smoothly picking gears under the condition of larger vehicle running acceleration, and further improving the success rate of gear-picking control.
In order to describe the motor gear-off control method and effect in detail, the following description will explain one of the most detailed embodiments:
the method comprises the steps of obtaining the angular acceleration of the in-gear motor, filtering the angular acceleration of the in-gear motor by adopting a first-order inertia filtering algorithm Y (n) =alpha X (n) + (1-alpha) Y (n-1), obtaining an angular acceleration filtering value, and selecting a filtering coefficient alpha of 0.33, wherein the coefficient value can prevent signal noise from being overlarge, and ensures relatively good real-time performance of the system.
Judging the absolute value of the angular acceleration filtering value of the in-gear motor and the preset value, if the absolute value of the angular acceleration filtering value of the in-gear motor is smaller than the preset value, considering that the current in-gear motor works in a stable state, acquiring a system request torque and a vehicle speed, inquiring and acquiring a driving torque threshold value and a sliding torque threshold value according to the system request torque and the vehicle speed, and if the system request torque is larger than the driving torque threshold value and the angular acceleration of the in-gear motor is larger than zero, determining that the torque output rule of the motor is sinusoidal change along with time; if the system request torque is smaller than the sliding torque threshold value and the gear motor angular acceleration is smaller than zero, the motor torque output rule is that the torque varies arcsine along with time; if the system request torque is less than the drive torque threshold and greater than the slip torque threshold, the motor torque output rule is a sinusoidal variation of torque over time, as shown in fig. 6, which is a schematic diagram of the sinusoidal variation of motor torque over time in a steady state of the motor.
If the absolute value of the angular acceleration filtering value of the gear motor is not smaller than a preset value, the current gear motor is considered to work in a more violent acceleration and deceleration state or a vehicle system is in a larger gradient road condition and is called a dynamic working state, the inertia torque and the noise torque of the motor are obtained, and if the angular acceleration of the gear motor is larger than zero, the torque output rule of the motor is determined to be similar to sine change of the torque along with time; if the angular acceleration of the gear motor is smaller than zero, determining that the motor torque output rule is that the torque changes like an arcsine along with time, the torque which changes like a sine is obtained based on the motor inertia torque and the torque which changes like an arcsine, the torque which changes like an arcsine is obtained based on the motor inertia torque and the torque which changes like an arcsine, the noise torque which is introduced is controlled in a mode of changing once every two communication cycles, the jump amplitude is identical with the extremum of the sine, and a schematic diagram which shows that the motor torque changes like a sine along with time under dynamic state is shown in fig. 7.
And (3) carrying out gear removal control on the motor according to a motor torque output rule, judging whether gear removal is successful, returning to the step of judging the absolute value of the angular acceleration of the gear motor and a preset value if gear removal is failed, and pushing a gear removal success prompt message if gear removal is successful, wherein a flow diagram of a motor gear removal method under dynamic state is shown in fig. 8.
According to the scheme of the embodiment, under the condition that the angular acceleration of the gear motor is smaller, as the gear meshing transmission has larger back taper gear component force, the gear picking control is carried out on the motor through a motor torque output rule which varies sinusoidally or arcsinusoidally along with time, so that the actual torque deviation of the back taper gear component force and a smaller torque request value can be gradually counteracted, the gear picking is ensured to be carried out smoothly, and the success rate of the gear picking control is improved; in the case of larger gear motor angular acceleration, by using the method of compensating the torque changing along with the time sine or the arcsine by motor noise torque, a pair of gears meshed in the dynamic operation process of the motor generate gaps in a short time, so that the gear sleeve is convenient to separate in the gear shifting process of the shifting fork, and therefore, the gear can be smoothly shifted under the condition of larger gear motor angular acceleration, and the gear shifting control success rate is further improved.
It should be understood that, although the steps in the flowcharts related to the embodiments described above are sequentially shown as indicated by arrows, these steps are not necessarily sequentially performed in the order indicated by the arrows. The steps are not strictly limited to the order of execution unless explicitly recited herein, and the steps may be executed in other orders. Moreover, at least some of the steps in the flowcharts described in the above embodiments may include a plurality of steps or a plurality of stages, which are not necessarily performed at the same time, but may be performed at different times, and the order of the steps or stages is not necessarily performed sequentially, but may be performed alternately or alternately with at least some of the other steps or stages.
Based on the same inventive concept, the embodiment of the application also provides a motor gear-off control device for realizing the motor gear-off control method. The implementation of the solution provided by the device is similar to the implementation described in the above method, so the specific limitation in the embodiments of the motor off-hook control device or devices provided below may be referred to the limitation of the motor off-hook control method hereinabove, and will not be repeated herein.
In one embodiment, as shown in fig. 9, there is provided a motor off-shift control device 700 including: a data acquisition module 710, an angular acceleration determination module 720, a first torque output module 730, a second torque output module 740, and an off-shift control module 750, wherein:
the data acquisition module 710 is configured to acquire an in-gear motor angular acceleration.
The angular acceleration judging module 720 is configured to judge the absolute value of the angular acceleration of the gear motor and a preset value.
The first torque output module 730 is configured to, if the absolute value of the angular acceleration of the in-gear motor is smaller than a preset value, make the motor torque output rule be a sinusoidal variation of torque with time or an arcsinusoidal variation of torque with time.
And the second torque output module 740 is configured to obtain a motor noise torque if the absolute value of the angular acceleration of the in-gear motor is not less than a preset value, determine that the motor torque output rule is that the torque varies like a sine over time or that the torque varies like an arcsine over time, and the torque that varies like a sine is obtained based on the torque that varies like an arcsine that is compensated for by the motor noise torque, and the torque that varies like an arcsine is obtained based on the torque that varies like an arcsine that is compensated for by the motor noise torque.
The gear-off control module 750 is configured to perform gear-off control on the motor according to a motor torque output rule.
According to the motor gear-shifting control device, under the condition that the angular acceleration of the gear motor is smaller, as gear meshing transmission has larger back taper gear component force, gear shifting control is carried out on the motor through a motor torque output rule which varies sinusoidally or arcsinusoidally along with time, so that actual torque deviation of the back taper gear component force and a smaller torque request value can be gradually counteracted, gear shifting is ensured to be carried out smoothly, and the gear shifting control success rate is improved; in the case of larger gear motor angular acceleration, by using the method of compensating the torque changing along with the time sine or the arcsine by motor noise torque, a pair of gears meshed in the dynamic operation process of the motor generate gaps in a short time, so that the gear sleeve is convenient to separate in the gear shifting process of the shifting fork, and therefore, the gear can be smoothly shifted under the condition of larger gear motor angular acceleration, and the gear shifting control success rate is further improved.
In one embodiment, the angular acceleration judging module 720 further includes an angular acceleration filtering module, where the angular acceleration filtering module is configured to perform filtering processing on the angular acceleration of the in-gear motor by using a filtering algorithm to obtain an angular acceleration filtering value; the angular acceleration judging module 720 is further configured to judge the magnitude of the absolute value of the filtered value of the angular acceleration of the in-gear motor and a preset value.
In one embodiment, the first torque output module 730 and the second torque output module 740 are further configured to, if the absolute value of the angular acceleration filtering value of the in-gear motor is smaller than a preset value, apply a motor torque output rule that the torque varies sinusoidally with time or varies arcsinusoidally with time; and if the absolute value of the gear motor angular acceleration filtering value is not smaller than a preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque changes like sine with time or the torque changes like arcsine with time.
In one embodiment, the first torque output module 730 is further configured to obtain the system requested torque and the vehicle speed if the absolute value of the angular acceleration of the in-gear motor is less than a preset value; inquiring and acquiring a driving torque threshold value and a sliding torque threshold value according to the system request torque and the vehicle speed; if the system request torque is larger than the driving torque threshold value and the gear motor angular acceleration is larger than zero, the motor torque output rule is that the torque varies sinusoidally with time; if the system request torque is smaller than the sliding torque threshold value and the gear motor angular acceleration is smaller than zero, the motor torque output rule is that the torque varies arcsine along with time; if the system requested torque is less than the drive torque threshold and greater than the slip torque threshold, the motor torque output rule is a sinusoidal variation of torque over time.
In one embodiment, the second torque output module 740 is further configured to determine the motor torque output rule as a sinusoidal-like change in torque over time if the in-gear motor angular acceleration is greater than zero; if the motor angular acceleration in gear is less than zero, the motor torque output rule is determined to be that the torque changes like an arcsine along with time.
In one embodiment, the shift-off control module 750 further includes a cyclic shift-off control module, where the cyclic shift-off control module is configured to determine whether shift-off is successful; if the gear is not removed, returning to the step of judging the absolute value of the angular acceleration of the gear motor and the preset value; if the gear is successfully removed, pushing a gear removal success prompt message.
All or part of the modules in the motor gear-shifting control device can be realized by software, hardware and a combination thereof. The above modules may be embedded in hardware or may be independent of a processor in the computer device, or may be stored in software in a memory in the computer device, so that the processor may call and execute operations corresponding to the above modules.
In one embodiment, a computer device is provided, which may be a server, and the internal structure of which may be as shown in fig. 10. The computer device includes a processor, a memory, an Input/Output interface (I/O) and a communication interface. The processor, the memory and the input/output interface are connected through a system bus, and the communication interface is connected to the system bus through the input/output interface. Wherein the processor of the computer device is configured to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, computer programs, and a database. The internal memory provides an environment for the operation of the operating system and computer programs in the non-volatile storage media. The database of the computer device is used to store motor angular acceleration, motor torque, vehicle speed, and system requested torque. The input/output interface of the computer device is used to exchange information between the processor and the external device. The communication interface of the computer device is used for communicating with an external terminal through a network connection. The computer program, when executed by a processor, implements a motor off-hook control method.
It will be appreciated by those skilled in the art that the structure shown in FIG. 10 is merely a block diagram of some of the structures associated with the present inventive arrangements and is not limiting of the computer device to which the present inventive arrangements may be applied, and that a particular computer device may include more or fewer components than shown, or may combine some of the components, or have a different arrangement of components.
In one embodiment, a computer device is provided comprising a memory and a processor, the memory having stored therein a computer program, the processor when executing the computer program performing the steps of:
acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
In one embodiment, a computer readable storage medium is provided having a computer program stored thereon, which when executed by a processor, performs the steps of:
acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value; if the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
In one embodiment, a computer program product is provided comprising a computer program which, when executed by a processor, performs the steps of:
acquiring the angular acceleration of the gear motor; judging the absolute value of the angular acceleration of the gear motor and the preset value;
If the absolute value of the angular acceleration of the gear motor is smaller than a preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time; if the absolute value of the angular acceleration of the gear motor is not smaller than a preset value, motor noise torque is obtained, and the motor torque output rule is determined to be that the torque varies like sine along with time or the torque varies like arcsine along with time, wherein the torque like sine variation is obtained based on the torque of motor noise compensation sine variation, and the torque like arcsine variation is obtained based on the torque of motor noise compensation arcsine variation; and performing off-shift control on the motor according to the motor torque output rule.
It should be noted that, the user information (including but not limited to user equipment information, user personal information, etc.) and the data (including but not limited to data for analysis, stored data, presented data, etc.) related to the present application are information and data authorized by the user or sufficiently authorized by each party, and the collection, use and processing of the related data need to comply with the related laws and regulations and standards of the related country and region.
Those skilled in the art will appreciate that implementing all or part of the above described methods may be accomplished by way of a computer program stored on a non-transitory computer readable storage medium, which when executed, may comprise the steps of the embodiments of the methods described above. Any reference to memory, database, or other medium used in embodiments provided herein may include at least one of non-volatile and volatile memory. The nonvolatile Memory may include Read-Only Memory (ROM), magnetic tape, floppy disk, flash Memory, optical Memory, high density embedded nonvolatile Memory, resistive random access Memory (ReRAM), magnetic random access Memory (Magnetoresistive Random Access Memory, MRAM), ferroelectric Memory (Ferroelectric Random Access Memory, FRAM), phase change Memory (Phase Change Memory, PCM), graphene Memory, and the like. Volatile memory can include random access memory (Random Access Memory, RAM) or external cache memory, and the like. By way of illustration, and not limitation, RAM can be in the form of a variety of forms, such as static random access memory (Static Random Access Memory, SRAM) or dynamic random access memory (Dynamic Random Access Memory, DRAM), and the like. The databases referred to in the embodiments provided herein may include at least one of a relational database and a non-relational database. The non-relational database may include, but is not limited to, a blockchain-based distributed database, and the like. The processor referred to in the embodiments provided in the present application may be a general-purpose processor, a central processing unit, a graphics processor, a digital signal processor, a programmable logic unit, a data processing logic unit based on quantum computing, or the like, but is not limited thereto.
The technical features of the above embodiments may be arbitrarily combined, and all possible combinations of the technical features in the above embodiments are not described for brevity of description, however, as long as there is no contradiction between the combinations of the technical features, they should be considered as the scope of the description.
The foregoing examples illustrate only a few embodiments of the application and are described in detail herein without thereby limiting the scope of the application. It should be noted that it will be apparent to those skilled in the art that several variations and modifications can be made without departing from the spirit of the application, which are all within the scope of the application. Accordingly, the scope of the application should be assessed as that of the appended claims.
Claims (9)
1. A motor off-shift control method, characterized by comprising:
acquiring the angular acceleration of the gear motor;
judging the absolute value of the angular acceleration of the in-gear motor and a preset value;
if the absolute value of the angular acceleration of the in-gear motor is smaller than the preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time;
If the absolute value of the angular acceleration of the in-gear motor is not smaller than the preset value, motor noise torque is obtained, and a motor torque output rule is determined to be similar sinusoidal variation of torque or similar arcsine variation of torque with time, wherein the similar sinusoidal variation of torque is obtained by compensating the sinusoidal variation of torque based on the motor noise torque, and the similar arcsine variation of torque is obtained by compensating the arcsine variation of torque based on the motor noise torque;
and performing off-shift control on the motor according to the motor torque output rule.
2. The motor off-shift control method according to claim 1, characterized in that the judging the magnitude of the absolute value and the preset value of the on-shift motor angular acceleration further includes:
filtering the angular acceleration of the in-gear motor by adopting a filtering algorithm to obtain an angular acceleration filtering value;
the judging of the absolute value and the preset value of the angular acceleration of the in-gear motor further comprises the following steps:
and judging the absolute value of the angular acceleration filtering value of the in-gear motor and the preset value.
3. The motor off-shift control method according to claim 2, wherein if the absolute value of the in-shift motor angular acceleration is smaller than the preset value, the motor torque output rule is a sinusoidal variation of torque with time or an arcsinusoidal variation of torque with time, and if the absolute value of the in-shift motor angular acceleration is not smaller than the preset value, the motor noise torque is obtained, and determining the motor torque output rule is a sinusoidal-like variation of torque with time or an arcsinusoidal-like variation of torque with time includes:
If the absolute value of the angular acceleration filtering value of the in-gear motor is smaller than the preset value, the motor torque output rule is that the torque varies sinusoidally with time or the torque varies arcsinusoidally with time;
and if the absolute value of the in-gear motor angular acceleration filtering value is not smaller than the preset value, obtaining motor noise torque, and determining a motor torque output rule to be that the torque changes like sine with time or the torque changes like arcsine with time.
4. The motor off-shift control method according to claim 1, wherein if the absolute value of the in-shift motor angular acceleration is smaller than the preset value, the motor torque output rule is a sinusoidal variation of torque with time or an arcsinusoidal variation of torque with time, comprising:
if the absolute value of the angular acceleration of the in-gear motor is smaller than the preset value, acquiring a system request torque and a vehicle speed;
inquiring and acquiring a driving torque threshold value and a sliding torque threshold value according to the system request torque and the vehicle speed;
if the system request torque is greater than the driving torque threshold value and the in-gear motor angular acceleration is greater than zero, the motor torque output rule is that the torque varies sinusoidally with time;
If the system request torque is smaller than the sliding torque threshold value and the in-gear motor angular acceleration is smaller than zero, the motor torque output rule is that the torque varies arcsine with time;
and if the system request torque is smaller than the driving torque threshold and larger than the sliding torque threshold, the motor torque output rule is that the torque varies sinusoidally with time.
5. The motor off-shift control method according to claim 1, wherein if the absolute value of the in-shift motor angular acceleration is not smaller than the preset value, determining that the motor torque output rule is a sinusoidal-like change in torque over time or an arcsinusoidal-like change in torque over time includes:
if the angular acceleration of the in-gear motor is greater than zero, determining that the motor torque output rule is that the torque varies like sine along with time;
and if the angular acceleration of the in-gear motor is smaller than zero, determining that the motor torque output rule is that the torque changes like an arcsine along with time.
6. The motor off-shift control method according to claim 1, characterized by further comprising, after the off-shift control of the motor according to the motor torque output rule:
judging whether the picking is successful;
If the gear is not removed, returning to the step of judging the absolute value of the angular acceleration of the gear motor and the preset value;
if the gear is successfully removed, pushing a gear removal success prompt message.
7. A motor off-shift control device, characterized by comprising:
the data acquisition module is used for acquiring the angular acceleration of the in-gear motor;
the angular acceleration judging module is used for judging the absolute value of the angular acceleration of the in-gear motor and the magnitude of a preset value;
the first torque output module is used for outputting a rule that the torque varies sinusoidally with time or varies arcsinusoidally with time if the absolute value of the angular acceleration of the in-gear motor is smaller than the preset value;
the second torque output module is used for obtaining motor noise torque if the absolute value of the angular acceleration of the in-gear motor is not smaller than the preset value, determining motor torque output rules to be similar sinusoidal variation of torque with time or similar arcsine variation of torque with time, wherein the similar sinusoidal variation of torque is obtained by compensating the sinusoidal variation of torque based on the motor noise torque, and the similar arcsine variation of torque is obtained by compensating the arcsine variation of torque based on the motor noise torque;
And the gear-off control module is used for performing gear-off control on the motor according to the motor torque output rule.
8. A computer device comprising a memory and a processor, the memory storing a computer program, characterized in that the processor implements the steps of the method of any of claims 1 to 6 when the computer program is executed.
9. A computer readable storage medium, on which a computer program is stored, characterized in that the computer program, when being executed by a processor, implements the steps of the method of any of claims 1 to 6.
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