CN115320406A - Control method for reducing shaking of starting or sudden acceleration and sudden deceleration of pure electric vehicle - Google Patents
Control method for reducing shaking of starting or sudden acceleration and sudden deceleration of pure electric vehicle Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
Abstract
The invention discloses a control method for reducing shaking of starting or sudden acceleration and sudden deceleration of a pure electric vehicle, which comprises the following steps: acquiring finished automobile torque input information T vcu (ii) a Inputting the torque of the whole vehicle into information T vcu Carrying out torque resonance elimination processing to obtain actual input torque information T of the motor cmd (ii) a The actual input torque information T of the motor is converted into the actual input torque information T cmd Carrying out torque slope processing to obtain a final motor torque output value T e And the final motor torque output value T is compared e Passed to the MTPA module. The invention processes the torque instruction through the technical scheme of the system transfer function, thereby changing the resonance point of the natural frequency of the vehicle body, reducing the vehicle shaking problem caused by the fact that the torque of the motor is the same as the natural frequency of the vehicle body, improving the riding comfort of a user, realizing simply and effectively, and avoiding the complex transfer function calculation of the power transfer path of the whole vehicle.
Description
Technical Field
The invention relates to the technical field of electric vehicles, in particular to a control method for reducing starting or rapid acceleration and rapid deceleration jittering of a pure electric vehicle, a control device for reducing starting or rapid acceleration and rapid deceleration jittering of the pure electric vehicle and a vehicle.
Background
The electric automobile has the advantages of high efficiency, energy conservation, low noise, zero emission and the like, so the electric automobile is a development trend of new energy automobiles in the future. Along with the gradual improvement of environmental protection consciousness of people, electric automobile receives people's favor more and more. The pure electric vehicle has vehicle shaking conditions in a starting or rapid acceleration and rapid deceleration stage, so that the motor torque is step torque, when the whole vehicle torque command is the step torque, the step torque command contains various harmonic torques, and when a certain harmonic torque is the same as the natural frequency of a vehicle body, a resonance phenomenon exists, so that the vehicle shaking conditions are generated in the starting or rapid acceleration and rapid deceleration stage of the whole vehicle. The problem of jitter not only seriously affects the driving comfort of the electric automobile, but also reduces the working performance and the service life of a transmission system. Therefore, how to suppress the shaking of the electric automobile and slow the shaking of the whole automobile becomes a problem to be solved urgently in the field of motor driving.
Disclosure of Invention
The invention aims to provide a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle, and at least one technical problem is solved.
The invention provides the following scheme:
according to one aspect of the invention, the control method for reducing the shaking of starting or quick acceleration and quick deceleration of the pure electric vehicle comprises the following steps:
acquiring finished automobile torque input information T vcu ；
Inputting the torque of the whole vehicle into information T vcu Carrying out torque resonance elimination processing to obtain the actual input torque information T of the motor cmd ；
The actual input torque information T of the motor is converted into the actual input torque information T cmd Carrying out torque slope processing to obtain a final motor torque output value T e And the final motor torque output value T is calculated e To the MTPA module.
Optionally, inputting the vehicle torque into information T vcu Performing a torque resonance elimination process, therebyObtaining actual input torque information T of motor cmd The method comprises the following steps:
acquiring the resonance frequency of the step torque according to the torque input information of the whole vehicle;
acquiring the natural frequency of a vehicle body;
judging whether the natural frequency of the vehicle body is the same as the resonance frequency of the step torque or not, if so, judging that the natural frequency of the vehicle body is the same as the resonance frequency of the step torque
Processing the resonance frequency of the step torque so as to obtain the actual input torque information T of the motor cmd 。
Optionally, the actual input torque information T of the motor is used cmd Carrying out torque slope processing to obtain final motor torque output value T e And the final motor torque output value T is calculated e The delivery to the MTPA module includes:
acquiring a torque slope combination;
according to the actual input torque information T of the motor cmd Obtaining Delta T cmd ；
According to the delta T cmd And torque slope combination to obtain the final torque output slope delta T e ；
According to the final torque output slope Delta T e Obtaining the final motor torque output value T e 。
Optionally, the torque slope combination comprises a torque-up limiting slope Δ T A ；
Said according to said Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
judging the variation trend of the torque command, if the torque command is in the ascending trend, judging that the torque command is in the ascending trend
Determining the torque slope DeltaT cmd Whether or not to exceed the torque-up limit gradient DeltaT A If yes, limiting the torque rise to a slope Delta T A As torque output slope Δ T e 。
Alternatively, the determination torque slope Δ T cmd Whether or not to exceed the torque-up limit gradient DeltaT A If not, the torque gradient delta T is determined cmd As torque output slope Δ T e 。
Optionally, the torque slope combination comprises a torque down limit slope Δ T B ；
Said according to said Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
judging the variation trend of the torque command, if the torque command is in the descending trend, then
Determining the torque slope DeltaT cmd Whether or not the torque down limit gradient is equal to or greater than the torque down limit gradient Delta T B If yes, limiting the torque drop by a slope delta T B As torque output slope Δ T e 。
Alternatively, the determination torque slope Δ T cmd Whether or not the torque down limit gradient is equal to or greater than the torque down limit gradient Delta T B If not, the torque gradient delta T is determined cmd As torque output slope Δ T e 。
Optionally, the actual input torque information T of the motor is used cmd Carrying out torque slope processing to obtain final motor torque output value T e And the final motor torque output value T is compared e The delivery to the MTPA module includes:
acquiring a current time point;
according to the current time point and the torque output slope delta T e Searching corresponding output torque to obtain the final motor torque output value T e ；
The final motor torque output value T is compared e Passed to the MTPA module.
The application also provides a control device for reducing starting or rapid acceleration and rapid deceleration shaking of a pure electric vehicle, which comprises:
the vehicle torque input information acquisition module is used for acquiring vehicle torque input information;
the torque resonance processing module is used for processing the torque input information of the whole vehicle so as to obtain the actual input torque information of the motor;
and the torque slope processing module is used for processing the actual input torque information of the motor so as to obtain a final motor torque output value.
The application also provides a vehicle based on the control device for reducing starting or rapid acceleration and rapid deceleration shaking of the pure electric vehicle.
Compared with the prior art, the invention has the following advantages:
the invention provides a scheme for increasing a system transfer function, solves the problem of vehicle shaking caused by a motor generating a torque command with the same resonance frequency as a vehicle by controlling a torque command of the whole vehicle, further improves the driving comfort of the electric vehicle, reduces mechanical resonance generated during shaking due to the inhibition of the shaking of the electric vehicle, further reduces the abrasion of hardware of the electric vehicle, improves the working performance and the service life of a transmission system, is simple and effective to realize, and avoids complex transfer function calculation of a power transfer path of the whole vehicle.
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In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings used in the embodiments or the prior art descriptions will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings can be obtained by those skilled in the art without creative efforts.
Fig. 1 is a schematic flowchart of a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
FIG. 2 is a schematic torque command processing flow diagram of a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
fig. 3 is a schematic amplitude-frequency characteristic diagram of a control method for reducing starting or rapid acceleration and rapid deceleration jitters of a pure electric vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of a phase-frequency characteristic of a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
FIG. 5 is a schematic diagram illustrating slope limitation in a control method for reducing shaking during starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
FIG. 6 is a schematic motor control diagram of a control method for reducing starting or rapid acceleration and rapid deceleration jittering of a pure electric vehicle according to an embodiment of the present invention;
fig. 7 is a structural diagram of an electronic device for implementing a control method for reducing starting or rapid acceleration and rapid deceleration shaking of a pure electric vehicle according to the present invention.
Detailed Description
The technical solutions of the present invention will be described clearly and completely with reference to the accompanying drawings, and it should be understood that the described embodiments are some, but not all embodiments of the present invention. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.
Fig. 1 is a schematic flowchart of a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
as shown in fig. 1, a control method for reducing shaking of starting or sudden acceleration and sudden deceleration of a pure electric vehicle includes:
step 1: acquiring finished automobile torque input information T vcu ；
Step 2: inputting the torque of the whole vehicle into information T vcu Carrying out torque resonance elimination processing to obtain actual input torque information T of the motor cmd ；
And step 3: inputting the actual torque information T into the motor cmd Carrying out torque slope processing to obtain final motor torque output value T e And outputs the final motor torque value T e To the MTPA module.
Compared with the prior art, the invention has the following advantages:
the invention provides a scheme for increasing a system transfer function, solves the problem of vehicle shaking caused by a motor generating a torque command with the same resonance frequency as a vehicle by controlling a torque command of the whole vehicle, further improves the driving comfort of the electric vehicle, reduces mechanical resonance generated during shaking due to the inhibition of the shaking of the electric vehicle, further reduces the abrasion of hardware of the electric vehicle, improves the working performance and the service life of a transmission system, is simple and effective to realize, and avoids complex transfer function calculation of a power transfer path of the whole vehicle.
In the embodiment, the torque of the whole vehicle is input into the information T vcu Carrying out torque resonance elimination processing to obtain the actual input torque information T of the motor cmd The method comprises the following steps:
acquiring the resonance frequency of the step torque according to the torque input information of the whole vehicle;
acquiring the natural frequency of a vehicle body;
judging whether the natural frequency of the vehicle body is the same as the resonance frequency of the step torque, if so, judging that the natural frequency of the vehicle body is the same as the resonance frequency of the step torque
Processing the resonance frequency of the step torque to obtain the actual input torque information T of the motor cmd 。
In the present embodiment, the torque information T is actually input to the motor cmd Carrying out torque slope processing to obtain final motor torque output value T e And outputs the final motor torque value T e The delivery to the MTPA module includes:
acquiring a torque slope combination;
according to actual input torque information T of the motor cmd Obtaining Delta T cmd ；
According to Δ T cmd And torque slope combination to obtain the final torque output slope delta T e ；
According to the final torque output slope Delta T e Obtaining the final motor torque output value T e 。
In the present embodiment, the torque slope combination includes the torque-up limit slope Δ T A ；
According to Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
judging the variation trend of the torque command, if the torque command is in the ascending trend, judging that the torque command is in the ascending trend
Determining the torque slope DeltaT cmd Whether or not the torque rising limit gradient Delta T is greater than or equal to A If so, the torque rise is limited by the slope Δ T A As torque output slope Δ T e 。
In the present embodiment, the torque slope Δ T is determined cmd Whether or not to exceed the torque-up limit gradient DeltaT A If not, the torque gradient delta T is determined cmd As torque output slope Δ T e 。
In the present embodiment, the torque slope combination includes the torque down limit slope Δ T B ；
According to Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
determination of Torque command T cmd If the torque command is down, the torque command is changed to a low trend
Determining the torque slope Δ T cmd Whether or not the torque down limit gradient is equal to or greater than the torque down limit gradient Delta T B If yes, limiting the torque drop by a slope delta T B As torque output slope Δ T e 。
In the present embodiment, the torque slope Δ T is determined cmd Whether or not the torque down limit gradient is equal to or greater than the torque down limit gradient Delta T B If not, the torque gradient delta T is determined cmd As torque output slope Δ T e 。
In the present embodiment, the actual input torque information T of the motor is set cmd Carrying out torque slope processing to obtain final motor torque output value T e And outputs the final motor torque value T e The delivery to the MTPA module includes:
acquiring a current time point;
based on the current time and the torque output slope DeltaT e Searching corresponding output torque to obtain the final motor torque output value T e ；
The final motor torque output value T is obtained e Passed to the MTPA module.
The embodiment also provides a control device for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle, which comprises: the system comprises a whole vehicle torque input information acquisition module, a torque resonance processing module and a torque slope processing module;
the whole vehicle torque input information acquisition module is used for acquiring the whole vehicle torque input information;
the torque resonance processing module is used for processing the torque input information of the whole vehicle so as to obtain the actual input torque information of the motor;
the torque slope processing module is used for processing the actual input torque information of the motor so as to obtain a final motor torque output value.
It should be noted that, although the present system only discloses the basic function modules such as the vehicle torque input information acquisition module, the torque resonance processing module, the torque slope processing module, etc., it is not meant to limit the present device to the above basic function modules, and on the contrary, the present invention is to express that, on the basis of the above basic function modules, one skilled in the art can arbitrarily add one or more function modules in combination with the prior art to form an infinite number of embodiments or technical solutions, that is, the present system is open rather than closed, and the protection scope of the present invention claims is considered to be limited to the above disclosed basic function modules because the present embodiment only discloses individual basic function modules.
FIG. 2 is a schematic torque command processing flow diagram of a control method for reducing shaking of starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
fig. 3 is a schematic amplitude-frequency characteristic diagram of a control method for reducing starting or rapid acceleration and rapid deceleration jitters of a pure electric vehicle according to an embodiment of the present invention;
FIG. 4 is a schematic diagram of phase frequency characteristics of a control method for reducing starting or rapid acceleration and rapid deceleration jitters of a pure electric vehicle according to an embodiment of the present invention;
referring to fig. 2, torque command processing of a control method for reducing shaking of starting or sudden acceleration and sudden deceleration of a pure electric vehicle comprises the following steps:
acquiring finished automobile torque input information T vcu ；
Inputting the torque of the whole vehicle into information T vcu Sent to a torque resonance processing module for torque resonance elimination processing, thereby obtainingGet electric motor actual input torque information T cmd ；
Inputting the actual torque information T into the motor cmd Sending the torque slope value to a torque slope processing module for torque slope processing, thereby obtaining a final motor torque output value T e 。
Specifically, please see the following formula:
K p is a current loop proportional term coefficient, T r Is the current loop integration time, T d For delay time, R, corresponding to carrier frequency period s Is the stator resistance, S is the complex variable of the system, omega n Is the system resonance frequency point. Formula 1 is a permanent magnet synchronous motor control transfer function; equation 2 is a transfer function of the torque resonance processing module, and the amplitude-frequency characteristic is shown in fig. 3, and the phase-frequency characteristic is shown in fig. 4.
In the embodiment, the parameter setting of the torque resonance processing module depends on the natural resonant frequency of the actual finished automobile control system, when the permanent magnet synchronous motor control system has no torque processing module, the resonant frequency of the finished automobile in resonance is measured through step torque, the resonant frequency is the resonant frequency which should be changed by the motor torque command processing module, the numerator term in the formula 2 is used for offsetting the denominator term of the permanent magnet synchronous motor control transfer function in the formula 1, and therefore only the current loop proportion term coefficient K is changed in the following process p Current loop integration time T r Delay time T corresponding to carrier frequency period d The system resonance frequency point can be changed.
FIG. 5 is a schematic diagram illustrating slope limitation in a control method for reducing shaking during starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
the torque slope processing shown in fig. 5 includes:
acquiring a torque slope combination;
according to actual input torque information T of the motor cmd Obtaining Delta T cmd ；
According to Δ T cmd And torque slope combination to obtain the final torque output slope delta T e ；
According to the final torque output slope Delta T e Obtaining the final motor torque output value T e 。
Specifically, the torque slope processing determines whether the torque is in an upward trend or a downward trend based on a change in the motor torque, and if the torque is increased, the torque command slope is not allowed to exceed the torque increase limit slope Δ T at the maximum A (ii) a If the torque decreases, the maximum gradient of the torque command is not allowed to exceed the torque decrease limit gradient Delta T B 。
Simultaneous torque rise limiting slope Δ T A And torque down limit slope Δ T B The method has the advantages that the response requirement of the whole vehicle on a motor control system is met, and the final purpose of torque slope processing is to meet the requirement of the whole vehicle on torque responsiveness and reduce vehicle shaking of the pure electric vehicle in the starting or rapid acceleration and rapid deceleration stages. Wherein, the first and the second end of the pipe are connected with each other,
torque up limit slope Δ T A The calculation formula of (a) is as follows:
T At1 representing a rise-limiting torque, T, at a first time T1 At2 Representing the rise-limiting torque at the second point in time t 2.
Torque down limiting slope Δ T B The calculation formula of (a) is as follows:
T Bt1 representing a falling limiting torque, T, at a first point in time T1 Bt2 Representing the decreasing limit torque at the second point in time t 2.
ΔT cmd For the motor torque command slope, the specific calculation method is as follows:
acquiring actual input torque information T of the motor at a first time point T1 cmdt1 ；
Acquiring the actual input torque information T of the motor at the second time point T2 cmdt2 ；
According to the actual input torque information T of the motor at the first time point T1 cmdt1 And the actual input torque information T of the motor at the second time point T2 cmdt2 Calculating a motor torque command slope DeltaT cmd The calculation formula is as follows:
judging the variation trend of the torque command, if the torque command is in the ascending trend, judging that the torque command is in the ascending trend
Determining the torque slope DeltaT cmd Whether or not to exceed the torque-up limit gradient DeltaT A If so, the torque rise is limited by the slope Δ T A As torque output slope Δ T e ；
If the torque slope Δ T cmd Less than torque rise limit slope Δ T A Then the torque slope Δ T is adjusted cmd As torque output slope Δ T e 。
Judging the variation trend of the torque command, if the torque command is in the descending trend, judging that the torque command is in the descending trend
Determining the torque slope DeltaT cmd Whether or not the torque down limit gradient is equal to or greater than the torque down limit gradient Delta T B If so, the torque drop is limited by the slope Δ T B As torque output slope Δ T e ；
If the torque slope Δ T cmd Less than the torque-down limit slope Δ T B Then the torque slope Δ T is set cmd As torque output slope Δ T e 。
FIG. 6 is a schematic motor control diagram illustrating a control method for reducing shaking during starting or rapid acceleration and rapid deceleration of a pure electric vehicle according to an embodiment of the present invention;
referring to fig. 6, the torque input information T of the entire vehicle is acquired vcu Inputting the torque of the whole vehicle into the information T vcu Carrying out torque resonance elimination processing to obtain actual input torque information T of the motor cmd Then inputting the actual torque information T of the motor cmd Obtaining a final motor torque output value T after torque slope processing e And outputs the final motor torque value T e And transferring to an MTPA module, wherein the MTPA module specifically comprises:
acquiring a current time point;
based on the current time and the torque output slope DeltaT e Searching corresponding output torque to obtain the final motor torque output value T e ；
The final motor torque output value T is calculated e And transmitting the current to an MTPA module, decoupling the current into dq axis current through the MTPA module, and performing closed-loop control by using the decoupled dq axis current as a target value and applying rotor magnetic field orientation vector control.
Fig. 7 is a structural diagram of an electronic device for implementing a control method for reducing starting or rapid acceleration and rapid deceleration jitters of a pure electric vehicle according to the present invention.
Referring to fig. 7, the present application further provides an electronic device comprising: the system comprises a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory complete mutual communication through the communication bus; the memory stores a computer program which, when executed by the processor, causes the processor to execute the steps of the control method for reducing the shake of the pure electric vehicle during starting or accelerating and decelerating.
The application also provides a computer readable storage medium, which stores a computer program executable by an electronic device, and when the computer program runs on the electronic device, the electronic device executes the steps of the control method for reducing the shake of the pure electric vehicle during starting or rapid acceleration and rapid deceleration.
The communication bus mentioned in the electronic device may be a Peripheral Component Interconnect (PCI) bus, an Extended Industry Standard Architecture (EISA) bus, or the like. The communication bus may be divided into an address bus, a data bus, a control bus, etc. For ease of illustration, only one thick line is shown, but this is not intended to represent only one bus or type of bus.
The electronic device includes a hardware layer, an operating system layer running on top of the hardware layer, and an application layer running on top of the operating system. The hardware layer includes hardware such as a Central Processing Unit (CPU), a Memory Management Unit (MMU), and a Memory. The operating system may be any one or more computer operating systems that implement control of the electronic device through a Process (Process), such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a windows operating system. In the embodiment of the present invention, the electronic device may be a handheld device such as a smart phone and a tablet computer, or an electronic device such as a desktop computer and a portable computer, which is not particularly limited in the embodiment of the present invention.
The execution main body of the electronic device control in the embodiment of the present invention may be the electronic device, or a functional module capable of calling a program and executing the program in the electronic device. The electronic device may obtain the firmware corresponding to the storage medium, the firmware corresponding to the storage medium is provided by a vendor, and the firmware corresponding to different storage media may be the same or different, which is not limited herein. After the electronic device acquires the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium is burned into the storage medium. The process of burning the firmware into the storage medium can be implemented by adopting the prior art, and is not described in the embodiment of the present invention.
The electronic device may further acquire a reset command corresponding to the storage medium, where the reset command corresponding to the storage medium is provided by a vendor, and the reset commands corresponding to different storage media may be the same or different, which is not limited herein.
At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device may respond to the reset command corresponding to the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command may be implemented in the prior art, and is not described in detail in the embodiment of the present invention.
For convenience of description, the above devices are described as being divided into various units and modules by functions, respectively. Of course, the functions of the units and modules may be implemented in one or more software and/or hardware when implementing the present application.
It will be understood by those skilled in the art that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this invention belongs. It will be further understood that terms, such as those defined in commonly used dictionaries, should be interpreted as having a meaning that is consistent with their meaning in the context of the prior art and will not be interpreted in an idealized or overly formal sense unless expressly so defined herein.
For simplicity of explanation, the method embodiments are described as a series of acts or combinations, but those skilled in the art will appreciate that the embodiments are not limited by the order of acts, as some steps may occur in other orders or concurrently in accordance with the embodiments. Further, those skilled in the art will appreciate that the embodiments described in the specification are presently preferred and that no particular act is required to implement the invention.
From the above description of the embodiments, it is clear to those skilled in the art that the present application can be implemented by software plus a necessary general hardware platform. Based on such understanding, the technical solutions of the present application may be embodied in the form of a software product, which may be stored in a storage medium, such as a ROM/RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which may be a personal computer, a server, or a network device, etc.) to execute the method according to the embodiments or some parts of the embodiments.
The invention discloses a vehicle of a control method for reducing starting or rapid acceleration and rapid deceleration jittering of a pure electric vehicle on the basis of electronic equipment and a storage medium corresponding to the control method and the control device for reducing starting or rapid acceleration and rapid deceleration jittering of the pure electric vehicle, which specifically comprises the following steps:
the electronic equipment is used for realizing a control method for reducing starting or rapid acceleration and rapid deceleration shaking of the pure electric vehicle;
the processor runs the program, and executes the step of the control method for reducing the starting or rapid acceleration and rapid deceleration jitter of the pure electric vehicle from the data output by the electronic equipment when the program runs;
and the storage medium is used for storing a program, and the program executes the steps of the control method for reducing the starting or rapid acceleration and rapid deceleration jitter of the pure electric vehicle on the data output by the electronic equipment during running.
Finally, it should be noted that: the above embodiments are only used to illustrate the technical solution of the present invention, and not to limit the same; while the invention has been described in detail and with reference to the foregoing embodiments, it will be understood by those skilled in the art that: the technical solutions described in the foregoing embodiments may still be modified, or some or all of the technical features may be equivalently replaced; and the modifications or the substitutions do not make the essence of the corresponding technical solutions depart from the scope of the technical solutions of the embodiments of the present invention.
Claims (10)
1. A control method for reducing starting or rapid acceleration and rapid deceleration jitters of a pure electric vehicle is characterized by comprising the following steps of:
acquiring finished automobile torque input information T vcu ；
Inputting the torque of the whole vehicle into information T vcu Carrying out torque resonance elimination processing to obtain actual input torque information T of the motor cmd ；
The actual input torque information T of the motor is obtained cmd Carrying out torque slope processing to obtain final motor torque output value T e And the final motor torque output value T is compared e Passed to the MTPA module.
2. The control method for reducing starting or sudden acceleration and sudden deceleration jitter of pure electric vehicle according to claim 1, wherein the torque of the whole vehicle is input into the information T vcu Carrying out torque resonance elimination processing to obtain the actual input torque information T of the motor cmd The method comprises the following steps:
acquiring the resonance frequency of the step torque according to the torque input information of the whole vehicle;
acquiring the natural frequency of a vehicle body;
judging whether the natural frequency of the vehicle body is the same as the resonance frequency of the step torque or not, if so, judging that the natural frequency of the vehicle body is the same as the resonance frequency of the step torque
Processing the resonance frequency of the step torque so as to obtain the actual input torque information T of the motor cmd 。
3. The control method for reducing shaking of pure electric vehicle during starting or sudden acceleration and sudden deceleration as claimed in claim 2, wherein said actual torque information T input by said motor is used cmd Carrying out torque slope processing to obtain final motor torque output value T e And the final motor torque output value T is calculated e The delivery to the MTPA module includes:
acquiring a torque slope combination;
according to the actual input torque information T of the motor cmd Obtaining Delta T cmd ；
According to the delta T cmd And torque slope combination to obtain the final torque output slope delta T e ；
According to the final torque output slope Delta T e Obtaining the final motor torque output value T e 。
4. The control method for reducing shake of starting or sudden acceleration and deceleration of pure electric vehicle as claimed in claim 3, wherein said combination of torque slopes comprises a torque-up limiting slope Δ T A ；
Said according to said Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
judging the variation trend of the torque command, if the torque command is in the ascending trend, judging that the torque command is in the ascending trend
Determining the torque slope Δ T cmd Whether or not the torque rising limit gradient Delta T is greater than or equal to A If so, the torque rise is limited by the slope Δ T A As torque output slope Δ T e 。
5. The control method for reducing shake of pure electric vehicle during starting or sudden acceleration and sudden deceleration as claimed in claim 4, wherein the determining torque slope Δ T cmd Whether or not to exceed the torque-up limit gradient DeltaT A If not, then
Will torque slope Δ T cmd As torque output slope Δ T e 。
6. The control method for reducing jerk in starting or accelerating and decelerating of pure electric vehicle according to claim 3, wherein the combination of torque slopes comprises a torque down limit slope Δ T B ；
Said according to said Δ T cmd And torque slope combination to obtain the final torque output slope delta T e The method comprises the following steps:
judging the variation trend of the torque command, if the torque command is in the descending trend, then
Determining the torque slope DeltaT cmd Whether or not to exceed the torque down limit slope DeltaT B If so, the torque drop is limited by the slope Δ T B As torque output slope Δ T e 。
7. The control method for reducing shake of pure electric vehicle during starting or sudden acceleration and sudden deceleration as claimed in claim 6, wherein said determining torque slope Δ T cmd Whether or not to exceed the torque down limit slope DeltaT B If not, then
Will torque slope Δ T cmd As torque output slope Δ T e 。
8. The control method for reducing starting or sudden acceleration and sudden deceleration jitters of the pure electric vehicle according to any one of claims 1 to 7, characterized in that the actual input torque information T of the motor is used cmd Carrying out torque slope processing to obtain final motor torque output value T e And the final motor torque output value T is calculated e The delivery to the MTPA module includes:
acquiring a current time point;
according to the current time point and the torque output slope delta T e Searching corresponding output torque to obtain the final motor torque output value T e ；
The final motor torque output value T is compared e Passed to the MTPA module.
9. A control device for reducing shaking caused by starting or sudden acceleration and sudden deceleration of a pure electric vehicle is characterized by comprising:
the vehicle torque input information acquisition module is used for acquiring vehicle torque input information;
the torque resonance processing module is used for processing the torque input information of the whole vehicle so as to obtain the actual input torque information of the motor;
and the torque slope processing module is used for processing the actual input torque information of the motor so as to obtain a final motor torque output value.
10. A vehicle comprising the control device for reducing jerk during start-up or rapid acceleration/deceleration of a full electric vehicle as claimed in claim 9.
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| CN202211097554.9A CN115320406A (en) | 2022-09-08 | 2022-09-08 | Control method for reducing shaking of starting or sudden acceleration and sudden deceleration of pure electric vehicle |
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