CN115940697B - Noise elimination method and device for motor-driven vehicle, electronic equipment and medium - Google Patents
Noise elimination method and device for motor-driven vehicle, electronic equipment and medium Download PDFInfo
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- CN115940697B CN115940697B CN202211615385.3A CN202211615385A CN115940697B CN 115940697 B CN115940697 B CN 115940697B CN 202211615385 A CN202211615385 A CN 202211615385A CN 115940697 B CN115940697 B CN 115940697B
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Abstract
The disclosure provides a noise elimination method, a device, electronic equipment and a medium of a motor-driven vehicle. The vehicle comprises 2N motors, N is an integer greater than or equal to 1, and the noise elimination method of the motor-driven vehicle comprises the following steps: acquiring position information of a rotor in an adjacent motor; and adjusting the positions of the rotors of the adjacent motors according to the position information, wherein the adjusted positions of the rotors of the adjacent motors meet the condition of opposite phases. Thus, order noise generated by the motor of the vehicle can be reduced, and meshing noise generated by gears in the motor transmission can be reduced by the special design of the number of teeth of the gears and the position of the rotor.
Description
Technical Field
The disclosure relates to the technical field of motor control, and in particular relates to a noise elimination method, a device, electronic equipment and a medium for a motor-driven vehicle.
Background
With the rapid development of electric vehicles, electric vehicles are becoming popular, wherein an electric driving system of an electric vehicle is one of noise sources of the electric vehicle in the driving process, and the electric driving system comprises a motor, a motor-driven transmission device and the like.
In the related art, the microphone adopts acoustic signals to eliminate meshing noise, only meshing noise generated by the gear box can be eliminated, order noise generated by motor harmonic current cannot be eliminated, and the microphone is arranged in space and is difficult to bear severe environments such as water, salt fog, vibration, high temperature and the like which may be generated in an actual vehicle.
Disclosure of Invention
The embodiment of the disclosure provides a noise elimination method and device of a motor-driven vehicle, electronic equipment, medium and the vehicle.
An embodiment of a first aspect of the present disclosure proposes a noise cancellation method of a motor-driven vehicle, the vehicle including 2N of the motors, the N being an integer greater than or equal to 1, the method comprising: acquiring position information of a rotor in an adjacent motor; and adjusting the position of the rotor of the adjacent motor according to the position information, wherein the adjusted position of the rotor of the adjacent motor meets the condition of opposite phase.
In one embodiment of the present disclosure, the adjacent motor includes a first motor and a second motor, the position information includes a rotor phase, and adjusting a position of a rotor of the adjacent motor according to the position information includes: acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phase in the position information; based on the first phase difference, a position of the first rotor and/or a position of the second rotor is adjusted.
In one embodiment of the present disclosure, before the adjusting the position of the rotor of the adjacent motor according to the position information, the method further includes: and determining that the position of the rotor of the adjacent motor does not meet the phase reversal condition according to the position information of the rotor of the adjacent motor.
In one embodiment of the present disclosure, the determining that the position of the rotor of the adjacent motor does not satisfy the phase reversal condition according to the position information of the rotor of the adjacent motor includes: acquiring a first phase difference between the first rotor and the second rotor according to the position information of the rotors of the adjacent motors; and if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the phase reversal condition.
In one embodiment of the present disclosure, the adjusting the position of the first rotor and/or the position of the second rotor based on the first phase difference includes: acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and a target phase difference, wherein the target phase difference is in the preset angle range; and adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
In one embodiment of the present disclosure, the adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference includes: acquiring an offset index of the vehicle based on the target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle; adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset indicator indicating that the vehicle is within a preset offset range; and adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor in response to the offset indicator indicating that the vehicle is not within a preset offset range.
In one embodiment of the present disclosure, the adjusting the position of the first rotor and/or the position of the second rotor based on the maximum set torque difference between the first motor and the second motor includes: acquiring a third phase difference between the first rotor and the second rotor after adjustment; and in response to the third phase difference not being within the preset angle range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
A second aspect of the present disclosure proposes a noise canceling device of a motor-driven vehicle, the vehicle including 2N of the motors, the N being an integer greater than or equal to 1, the device comprising: the acquisition module is used for acquiring the position information of the rotor in the adjacent motor; and the adjusting module is used for adjusting the position of the rotor of the adjacent motor according to the position information, wherein the adjusted position of the rotor of the adjacent motor meets the condition of opposite phase.
In one embodiment of the present disclosure, the adjacent motor includes a first motor and a second motor, the position information includes a rotor phase, and the adjustment module is further configured to: acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phase in the position information; based on the first phase difference, a position of the first rotor and/or a position of the second rotor is adjusted.
In one embodiment of the present disclosure, the apparatus further comprises: and the determining module is used for determining that the position of the rotor of the adjacent motor does not meet the opposite phase condition according to the position information of the rotor of the adjacent motor before the position of the rotor of the adjacent motor is adjusted according to the position information.
In one embodiment of the disclosure, the determining module is further configured to: acquiring a first phase difference between the first rotor and the second rotor according to the position information of the rotors of the adjacent motors; and if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the phase reversal condition.
In one embodiment of the present disclosure, the adjustment module is further configured to: acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and a target phase difference, wherein the target phase difference is in the preset angle range; and adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
In one embodiment of the present disclosure, the adjustment module is further configured to: acquiring an offset index of the vehicle based on the target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle; adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset indicator indicating that the vehicle is within a preset offset range; and adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor in response to the offset indicator indicating that the vehicle is not within a preset offset range.
In one embodiment of the present disclosure, the adjustment module is further configured to: acquiring a third phase difference between the first rotor and the second rotor after adjustment; and in response to the third phase difference not being within the preset angle range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
An embodiment of a third aspect of the present disclosure provides an electronic device, including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement the method for noise cancellation of a motor driven vehicle according to the embodiment of the first aspect of the present disclosure.
An embodiment of a fourth aspect of the present disclosure proposes a non-transitory computer-readable storage medium, which when executed by a processor of an electronic device, enables the electronic device to perform the noise cancellation method of the motor-driven vehicle proposed by the embodiment of the first aspect of the present disclosure.
A fifth aspect of the present disclosure provides a vehicle, including the noise cancellation device of the motor driven vehicle set forth in the second aspect of the present disclosure or the electronic device set forth in the third aspect of the present disclosure, and the noise cancellation method of the motor driven vehicle set forth in the first aspect of the present disclosure is performed by the noise cancellation device of the motor driven vehicle set forth in the second aspect of the present disclosure or the electronic device set forth in the third aspect of the present disclosure.
The technical scheme provided by the embodiment of the disclosure at least brings the following beneficial effects: the phase of the rotor in the adjacent motor is opposite by adjusting the position of the rotor in the adjacent motor, so that the phase-opposite order noise generated by the adjacent motor can be offset, thereby reducing the order noise generated by the motor of the vehicle.
Additional aspects and advantages of the disclosure will be set forth in part in the description which follows, and in part will be obvious from the description, or may be learned by practice of the disclosure.
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The foregoing and/or additional aspects and advantages of the present disclosure will become apparent and readily appreciated from the following description of the embodiments, taken in conjunction with the accompanying drawings, in which:
fig. 1 is a flowchart of a method for eliminating noise of a motor-driven vehicle according to an embodiment of the present disclosure;
FIG. 2 is a schematic diagram of meshing noise cancellation provided by embodiments of the present disclosure;
FIG. 3 is a flow chart of another method for noise cancellation in a motor-driven vehicle according to an embodiment of the present disclosure;
FIG. 4 is a flow chart of another method for noise cancellation in a motor-driven vehicle according to an embodiment of the present disclosure;
FIG. 5 is a rotor phase display provided by an embodiment of the present disclosure;
FIG. 6 is another rotor phase display provided by an embodiment of the present disclosure;
FIG. 7 is a flow chart of another method for noise cancellation in a motor-driven vehicle according to an embodiment of the present disclosure;
fig. 8 is an application example diagram of a noise canceling method of a motor driven vehicle according to an embodiment of the present disclosure;
FIG. 9 is an application example diagram of another noise cancellation method for a motor-driven vehicle according to an embodiment of the present disclosure;
FIG. 10 is a flow chart of another method for noise cancellation in a motor-driven vehicle according to an embodiment of the present disclosure;
FIG. 11 is a schematic diagram of a simulation of a method of noise cancellation for a motor-driven vehicle;
fig. 12 is a schematic structural view of a noise canceling device of a motor driven vehicle according to an embodiment of the present disclosure;
fig. 13 is a schematic structural view of an electronic device according to an embodiment of the present disclosure.
Detailed Description
Reference will now be made in detail to exemplary embodiments, examples of which are illustrated in the accompanying drawings. When the following description refers to the accompanying drawings, the same numbers in different drawings refer to the same or similar elements, unless otherwise indicated. The implementations described in the following exemplary embodiments do not represent all implementations consistent with the embodiments of the present disclosure. Rather, they are merely examples of apparatus and methods consistent with aspects of embodiments of the present disclosure as detailed in the accompanying claims.
The terminology used in the embodiments of the disclosure is for the purpose of describing particular embodiments only and is not intended to be limiting of the embodiments of the disclosure. As used in this disclosure of embodiments and the appended claims, the singular forms "a," "an," and "the" are intended to include the plural forms as well, unless the context clearly indicates otherwise. It should also be understood that the term "and/or" as used herein refers to and encompasses any or all possible combinations of one or more of the associated listed items.
It should be understood that although the terms first, second, third, etc. may be used in embodiments of the present disclosure to describe various information, these information should not be limited to these terms. These terms are only used to distinguish one type of information from another. For example, the first information may also be referred to as second information, and similarly, the second information may also be referred to as first information, without departing from the scope of embodiments of the present disclosure. The words "if" and "if" as used herein may be interpreted as "at … …" or "at … …" or "in response to a determination", depending on the context.
Embodiments of the present disclosure are described in detail below, examples of which are illustrated in the accompanying drawings, wherein like or similar reference numerals refer to the like or similar elements throughout. The embodiments described below by referring to the drawings are exemplary and intended for the purpose of explaining the present disclosure and are not to be construed as limiting the present disclosure.
The following describes a noise canceling method, apparatus, electronic device, medium, and vehicle of a motor-driven vehicle of an embodiment of the present disclosure with reference to the accompanying drawings.
Fig. 1 is a flowchart of a noise canceling method of a motor driven vehicle according to an embodiment of the present disclosure. As shown in fig. 1, the method comprises the steps of:
s101, acquiring position information of rotors in adjacent motors.
Wherein the vehicle comprises 2N motors, N is an integer greater than or equal to 1.
In order to improve the operability of the vehicle, a plurality of motors may be used to drive the vehicle, and the embodiment of the disclosure is applicable to a vehicle with a number of motors of 2N, for example, a dual-motor-driven vehicle, a four-motor-driven vehicle, and the like, for a dual-motor precursor vehicle, two motors are adjacently arranged at the precursor positions of the vehicle, and are respectively used to drive two front wheels of the vehicle; for a dual-motor rear-drive vehicle, two motors are adjacently arranged at the rear-drive position of the vehicle and are respectively used for driving two rear wheels of the vehicle; for a four-motor driven vehicle, four motors are arranged in a front driving position and a rear driving position of the vehicle in pairs, respectively, to drive four wheels of the vehicle. The adjacent arrangement modes can be left-right adjacent arrangement, front-back adjacent arrangement, upper-lower adjacent arrangement or the like, and are not limited in any way.
In some embodiments, the position information of the rotor in the adjacent motor may be obtained by adopting a rotor initial pre-positioning method, a low-frequency rotation voltage injection method, an inductance parameter matrix method, a series of equal-amplitude reverse voltage pulse methods, six groups of equal-width voltage pulse methods, or a high-frequency signal injection method.
And S102, adjusting the positions of the rotors of the adjacent motors according to the position information, wherein the adjusted positions of the rotors of the adjacent motors meet the condition of opposite phases.
The embodiments of the present disclosure will be explained below by taking a two-motor drive vehicle as an example:
in the process of straight running of the vehicle, the rotation speeds of the two adjacent motors are the same so as to ensure that the rotation speeds of the left wheel and the right wheel are the same, and the frequencies of order noises generated by the two adjacent motors are the same at the moment. In addition, in order to achieve better noise cancellation, in some embodiments, two adjacent motors may be mounted in the same housing.
Further, in the process of straight running of the vehicle, as the rotation speeds of the two adjacent motors are the same, the frequencies of meshing noises generated by the transmission devices (including but not limited to gearboxes and the like) respectively driven by the two adjacent motors are also the same, after the positions of the rotors in the two adjacent motors are adjusted to enable the positions of the rotors in the two adjacent motors to meet the opposite phase conditions, the meshing noises generated by the transmission devices respectively driven by the two adjacent motors also meet the opposite phase conditions, wherein the meshing noises meeting the opposite phase conditions can cancel each other, so that the purpose of reducing the meshing noises can be achieved.
The following description will be made by taking a two-stage speed reducer (i.e., a rotating device) commonly used in electric vehicles as an example:
as shown in fig. 2, the output shaft of the motor is used as the input shaft of the gear box, and after being meshed by the first-stage gear pair, the torque is transmitted to the intermediate shaft; after being meshed by the second-stage gear pair, torque is transmitted to an output shaft and then connected with wheels through a half shaft.
The pole pair number of the motors is P, the number of teeth of the gears of the input shaft is n1, the number of teeth of the two gears of the intermediate shaft is n2 and n3 respectively, the number of teeth of the gears of the output shaft is n4, and the positions of the magnetic steel, the rotor shaft and the gears of the input shaft of the left motor and the right motor are fixed through mechanical design. As long as n1/P is odd or near odd, the first stage engagement noise can be reduced; as long as n1/n2 n3/P is odd or near odd, the second stage meshing noise can be reduced.
In the embodiment of the disclosure, position information of a rotor in a motor is acquired, and positions of the rotors of adjacent motors are adjusted according to the position information, wherein the adjusted positions of the rotors of the adjacent motors meet a phase opposition condition. In the embodiment of the disclosure, by adjusting the positions of the rotors of the adjacent motors, the phases of the rotors in the adjacent motors are opposite, so that the order noises generated by the adjacent motors and the phases of the adjacent motors are opposite can be offset, thereby reducing the order noises generated by the vehicle motors.
Fig. 3 is a flowchart of a noise cancellation method of a motor-driven vehicle according to an embodiment of the present disclosure, as shown in fig. 3, a process for adjusting a position of a rotor of an adjacent motor according to position information, including the following steps:
s301, acquiring position information of rotors in adjacent motors.
The detailed process of step S301 may be referred to as a related description in step S101, and will not be repeated here.
S302, determining that the position of the rotor of the adjacent motor does not meet the phase reversal condition according to the position information of the rotor of the adjacent motor.
Wherein the adjacent motor comprises a first motor and a second motor, and the position information comprises a rotor phase.
S303, acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phases in the position information.
S304, adjusting the position of the first rotor and/or the position of the second rotor based on the first phase difference.
In the process of straight running of the vehicle, a first phase of a first rotor of the first motor and a second phase of a second rotor of the second motor can be obtained, whether the first phase of the first rotor and the second phase of the second rotor meet the condition of opposite phases or not is judged, and if so, the position of the first rotor and/or the position of the second rotor do not need to be adjusted; if not, calculating the difference between the first phase and the second phase to obtain a first phase difference between the first rotor and the second rotor, and then adjusting the position of the first rotor and/or the position of the second rotor based on the first phase difference, so that the phase difference between the adjusted position of the first rotor and the adjusted position of the second rotor meets the opposite phase condition, and the purpose of eliminating noise is achieved.
In the embodiment of the disclosure, position information of a rotor in a motor is acquired, a condition that the position of the rotor of an adjacent motor does not meet a phase opposition condition is determined according to the position information of the rotor of the adjacent motor, a first phase difference between a first rotor of a first motor and a second rotor of a second motor is acquired according to the rotor phase in the position information, and the position of the first rotor and/or the position of the second rotor is adjusted based on the first phase difference. In the embodiment of the disclosure, by judging whether the positions of the rotors of the adjacent motors meet the phase reversal condition or not and adjusting the position of the first rotor and/or the position of the second rotor when the phase reversal condition is met, the positions of the first rotor and the second rotor can be accurately cooperated in the running process of the vehicle, so that the order noise generated by the motors of the vehicle is reduced, and the meshing noise generated by gears in a motor transmission device is reduced.
Fig. 4 is a flowchart of a method for eliminating noise of a motor-driven vehicle according to an embodiment of the present disclosure, and further with reference to fig. 4, a process for determining whether a phase reversal condition is satisfied is explained based on the above embodiment, which includes the following steps:
S401, acquiring a first phase difference between a first rotor and a second rotor according to position information of rotors of adjacent motors.
Wherein the adjacent motors include a first motor and a second motor, and the position information includes a first phase of a first rotor of the first motor and a second phase of a second rotor of the second motor.
S402, if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition.
S403, if the first phase difference is in the preset angle range, determining that the position of the first rotor and the position of the second rotor meet the opposite phase condition.
Wherein, the preset angle range is 180 degrees+/- θ degrees, θ can be set according to actual needs, and the preset angle range is not limited in any way.
After obtaining the first phase of the first rotor of the first motor and the second phase of the second rotor of the second motor, a difference value between the first phase and the second phase can be calculated, a first phase difference between the first rotor and the second rotor is obtained, whether the first phase difference is within a preset angle range is judged, if not, it is determined that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition, for example, fig. 5; if so, it is determined that the position of the first rotor and the position of the second rotor satisfy the phase inversion condition, such as fig. 6.
It should be noted that, referring to fig. 6, when the first phase difference between the rotors of two adjacent motors is 180 °, the noise cancellation method of the motor-driven vehicle provided by the present disclosure may achieve an optimal noise cancellation effect.
In the embodiment of the disclosure, according to the position information of the rotors of the adjacent motors, a first phase difference between the first rotor and the second rotor is obtained, if the first phase difference is not in a preset angle range, it is determined that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition, and if the first phase difference is in the preset angle range, it is determined that the position of the first rotor and the position of the second rotor meet the opposite phase condition. In the embodiment of the disclosure, by judging whether the first phase of the first rotor and the second phase of the second rotor meet the condition of opposite phases, a decision basis is provided for whether to adjust the position of the rotor so as to avoid misadjustment.
Fig. 7 is a flowchart of a noise canceling method of a motor driven vehicle according to an embodiment of the present disclosure, and further illustrates an adjustment process of a position of a first rotor and/or a position of a second rotor with reference to fig. 7 based on the above embodiment, including the following steps:
S701, acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and the target phase difference, wherein the target phase difference is in a preset angle range. It should be noted that the preset angle range is 180 ° ± θ °, and θ may be set according to actual needs, and is not limited herein.
In the embodiment of the disclosure, the larger the difference between the first phase difference and the target phase difference, the larger the target torque difference between the first motor and the second motor, the smaller the difference between the first phase difference and the target phase difference, and the smaller the target torque difference between the first motor and the second motor, so that a certain linear relationship exists between the difference and the target torque difference, and the target torque difference corresponding to the difference can be obtained according to the linear relationship.
In order to achieve a better noise cancellation effect, the target phase difference may be set to 180 °.
And S702, adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
And adjusting the position of the first rotor and/or the position of the second rotor so that the torque difference between the first motor and the second motor after adjustment is the target torque difference.
In some embodiments, if the position of the first rotor or the position of the second rotor is adjusted, the target torque difference between the first motor and the second motor may be used as the adjustment torque of the first motor or the second motor, and the position of the first rotor or the position of the second rotor may be adjusted according to the adjustment torque. For example, if the target torque difference is 20 n/s, the torque may be increased by 20 n/s based on the current torque of the first motor or the second motor, or the torque may be decreased by 20 n/s based on the current torque of the first motor or the second motor, so that the torque difference between the first motor and the second motor after adjustment is 20 n/s, so that the first phase of the first rotor of the first motor and the second phase of the second rotor of the second motor satisfy the opposite phase condition.
In other embodiments, if the position of the first rotor and the position of the second rotor are adjusted at the same time, the target torque difference between the first motor and the second motor may be divided into a first adjustment torque of the first motor and a second adjustment torque of the second motor, and then the position of the first rotor is adjusted according to the first adjustment torque, and the position of the second rotor is adjusted according to the second adjustment torque. For example, if the target torque difference is 20 n/s, the first adjustment torque of the first motor may be 10 n/s, and the second adjustment torque of the second motor may be-10 n/s, i.e., 10 n/s is increased based on the current torque of the first motor, and 10 n/s is decreased based on the current torque of the second motor, so that the torque difference between the adjusted first motor and second motor is 20 n/s, thereby enabling the first phase of the first rotor of the first motor and the second phase of the second rotor of the second motor to satisfy the phase inversion condition.
The above-described process of simultaneously adjusting the position of the first rotor and the position of the second rotor is further exemplarily described with reference to fig. 8 as follows:
as shown in fig. 8, the first motor drives the left wheel of the vehicle by controlling the first gear box, and the second motor drives the right wheel of the vehicle by controlling the second gear box. In the process of straight running of the vehicle, the first phase of the first rotor of the first motor can be sent to the first motor controller, the first phase is forwarded to the whole vehicle controller by the first motor controller, and the second phase of the second rotor of the second motor is sent to the second motor controller, and the second phase is forwarded to the whole vehicle controller by the second motor controller. After receiving the first phase of the first rotor and the second phase of the second rotor, the vehicle controller can perform corresponding processing on the first phase and the second phase to obtain a first adjustment torque of the first motor and a second adjustment torque of the second motor, and send the first adjustment torque and the second adjustment torque to the first motor controller and the second motor controller respectively.
It should be noted that, the first phase of the first rotor and the second phase of the second rotor may be directly processed by any motor controller to obtain a first adjustment torque of the first motor and a second adjustment torque of the second motor, and then the torques of the first motor and the second motor may be respectively adjusted by any motor controller.
For example, referring to fig. 9, a first phase of a first rotor of a first motor may be sent to a first motor controller, and a second phase of a second rotor of a second motor may be sent to the first motor controller, after the first motor controller receives the first phase of the first rotor and the second phase of the second rotor, the first phase and the second phase may be processed accordingly to obtain a first adjustment torque of the first motor and a second adjustment torque of the second motor, and then the torques of the first motor and the second motor are adjusted according to the first adjustment torque and the second adjustment torque, respectively, so that the first phase of the first rotor and the second phase of the second rotor satisfy a phase inversion condition, thereby reducing order noise generated by the vehicle motor and reducing meshing noise generated by gears in the motor transmission device.
In the embodiment of the disclosure, a target torque difference between a first motor and a second motor is obtained based on a first phase difference, and a position of a first rotor and/or a position of a second rotor is adjusted based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference. In the embodiment of the disclosure, the positions of the rotors can be adjusted in various modes, so that the positions of the rotors of adjacent motors meet the condition of opposite phases, the adjustment flexibility is improved, in addition, the positions of the rotors are adjusted based on the target torque difference, and the accuracy of rotor position adjustment is improved.
Fig. 10 is a flowchart of a noise canceling method of a motor driven vehicle according to an embodiment of the present disclosure, and further with reference to fig. 10, a process for adjusting a position of a first rotor and/or a position of a second rotor based on a target torque difference is explained based on the above embodiment, and includes the following steps:
s1001, acquiring a vehicle offset index based on a target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle.
The offset index comprises offset angle, offset displacement, offset rate, offset acceleration and other parameters.
Assuming that the first motor is used to drive the left front wheel of the vehicle and the second motor is used to drive the right front wheel of the vehicle, when the torque of the first motor and/or the second motor is changed such that the torque difference between the first motor and the second motor reaches the target torque difference during straight running of the vehicle, the vehicle may deviate to some extent due to the different speeds of the left front wheel and the right front wheel of the vehicle due to the different torques of the first motor and the second motor. In order to avoid excessive deflection of the vehicle, the deflection index of the vehicle needs to be obtained, and the torque of the adjacent motor is adjusted according to the deflection index so as to ensure the driving experience and the driving safety of the vehicle.
In some embodiments, the rotation speed difference between the left and right wheels may be obtained according to the target torque difference between the first motor and the second motor, and the offset angle, the offset displacement, the offset rate, the offset acceleration and other parameters of the vehicle may be calculated according to the rotation speed difference between the left and right wheels to be used as the offset index of the vehicle to represent the offset condition of the vehicle.
And S1002, adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset index indicating that the vehicle is in a preset offset range.
The offset range includes an offset angle range, an offset displacement range, an offset velocity range, an offset acceleration range, etc., and the specific range thereof may be set according to actual requirements, which is not limited herein.
S1003, in response to the offset index value being greater than the offset index threshold, adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor.
In the embodiment of the disclosure, parameters such as an offset rate, an offset acceleration, an offset angle, an offset displacement and the like of the vehicle can be used as an offset index of the vehicle, and no limitation is made here.
In some embodiments, the offset rate of the vehicle is used as an offset indicator for the vehicle, where the offset rate refers to the angle of offset of the vehicle per second.
And when the offset rate of the vehicle is smaller than or equal to a preset offset rate threshold value, adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference.
Typically, when the vehicle has an offset rate of less than or equal to 3 degrees/second, the person inside the vehicle cannot perceive, alternatively, the offset rate threshold may be set to a value of less than or equal to 3 degrees/second.
When the offset rate of the vehicle is greater than the offset rate threshold, the driving experience or the driving safety of the vehicle can be affected, and at this time, the position of the first rotor and/or the position of the second rotor cannot be adjusted based on the target torque difference between the first motor and the second motor, and the position of the first rotor and/or the position of the second rotor can be adjusted based on the maximum set torque difference between the first motor and the second motor.
The maximum set torque difference may be set according to actual needs, and is not limited herein. It should be noted that, when the torque difference between the first motor and the second motor is the maximum set torque difference, the offset rate of the vehicle should be less than or equal to the offset rate threshold value, so as to ensure the driving experience and the driving safety of the vehicle.
In other embodiments, the offset acceleration of the vehicle is used as an offset indicator of the vehicle, where the offset acceleration refers to the rate of change of the offset rate.
When the offset acceleration of the vehicle is smaller than or equal to a preset offset acceleration threshold value, adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference; when the offset acceleration of the vehicle is less than a preset offset acceleration threshold, the position of the first rotor and/or the position of the second rotor is adjusted based on a maximum set torque difference between the first motor and the second motor.
In other embodiments, the offset angle of the vehicle is used as an offset index of the vehicle, wherein the offset angle refers to the angle of the vehicle offset from the original straight travel path.
When the offset angle of the vehicle is smaller than or equal to a preset offset angle threshold value, adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference; when the offset acceleration of the vehicle is less than a preset offset angle threshold, the position of the first rotor and/or the position of the second rotor is adjusted based on a maximum set torque difference between the first motor and the second motor.
It should be noted that, in the embodiment of the present disclosure, the adjustment process of the position of the first rotor and/or the position of the second rotor may be referred to the related description in the above embodiment, which is not repeated herein.
S1004, acquiring a third phase difference between the adjusted first rotor and the adjusted second rotor.
S1005, in response to the third phase difference not being within the preset angular range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
After the position of the first rotor and/or the position of the second rotor is adjusted based on the maximum set torque difference between the first motor and the second motor, a third phase difference between the adjusted first rotor and the adjusted second rotor can be obtained, whether the third phase difference is in a preset angle range or not is judged, if so, the condition that the position of the first rotor and the position of the second rotor meet opposite phase adjustment is indicated, and the position of the first rotor and the position of the second rotor do not need to be adjusted; if not, based on the third phase difference, the position of the first rotor and/or the position of the second rotor are/is readjusted so that the position of the first rotor and the position of the second rotor meet the condition of opposite phases, and noise of the vehicle motor is reduced.
In the embodiment of the disclosure, based on a target torque difference between a first motor and a second motor, an offset rate of a vehicle is obtained, the position of a first rotor and/or the position of a second rotor is adjusted based on the target torque difference in response to the offset rate being smaller than or equal to a preset offset rate threshold, the position of the first rotor and/or the position of the second rotor is adjusted based on a maximum set torque difference between the first motor and the second motor in response to the offset rate being larger than the offset rate threshold, a third phase difference between the first rotor and the second rotor after adjustment is obtained, and the position of the first rotor and/or the position of the second rotor is adjusted again based on the third phase difference in response to the third phase difference not being within a preset angle range. In the embodiment of the disclosure, the position of the rotor is adjusted according to the offset rate of the vehicle, so that the driving experience and the driving safety of the vehicle can be ensured.
Fig. 11 is a simulation principle of a noise canceling method of a motor driven vehicle according to the present disclosure, in which a PI (pro-port integration) module is used to simulate a function of a vehicle controller, a saturation function Sat is used to determine whether an offset rate of the vehicle is greater than an offset rate threshold, a vector torque controller is used to simulate a function of a motor controller, eds_l is used to simulate a first motor (electrical design package, (Elecdes Design Suite, EDS)), and eds_r is used to simulate a second motor.
As shown in fig. 11, a first phase difference between a first phase of a first rotor and a second phase of a second rotor is calculated, then a difference between the first phase difference and a target phase difference (for example, 180 °) is calculated, then the difference between the first phase difference and the target phase difference is processed through a PI module to obtain a target torque difference, and whether the offset rate of the vehicle is greater than an offset rate threshold value is judged according to the target torque difference through a saturation function Sat, if not, a first adjustment torque and a second adjustment torque are generated according to the target torque difference through a vector torque controller, and the torques of the first motor and the second motor are respectively adjusted, so that the first phase of the first rotor and the second phase of the second rotor meet opposite phase conditions, thereby eliminating order noise generated by a vehicle motor, and meshing noise generated by gears in a motor transmission device.
In order to achieve the above embodiments, the embodiments of the present disclosure also propose a noise canceling device of a motor driven vehicle. Fig. 12 is a schematic structural diagram of a noise canceling device of a motor driven vehicle according to an embodiment of the present disclosure. The vehicle includes 2N motors, N being an integer greater than or equal to 1, as shown in fig. 12, and the motor-driven noise canceling device 1200 of the vehicle includes:
An acquisition module 1210 for acquiring position information of a rotor in the motor;
the adjusting module 1220 is configured to adjust the position of the rotor of the adjacent motor according to the position information, where the adjusted position of the rotor of the adjacent motor satisfies the opposite phase condition.
In one embodiment of the present disclosure, the adjacent motor includes a first motor and a second motor, the position information includes a rotor phase, and the adjustment module 1220 is further configured to: acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phases in the position information; based on the first phase difference, the position of the first rotor and/or the position of the second rotor is adjusted.
In one embodiment of the present disclosure, the noise canceling device 1200 of the motor driven vehicle further includes: a determining module 1230 is configured to determine that the position of the rotor of the adjacent motor does not satisfy the phase reversal condition according to the position information of the rotor of the adjacent motor before adjusting the position of the rotor of the adjacent motor according to the position information.
In one embodiment of the present disclosure, the determining module 1230 is further configured to: acquiring a first phase difference between a first rotor and a second rotor according to the position information of the rotors of the adjacent motors; if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition.
In one embodiment of the present disclosure, the adjustment module 1220 is further configured to: acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and the target phase difference, wherein the target phase difference is in a preset angle range; and adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
In one embodiment of the present disclosure, the adjustment module 1220 is further configured to: acquiring an offset index of the vehicle based on a target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle; adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset indicator indicating that the vehicle is within a preset offset range; and adjusting the position of the first rotor and/or the position of the second rotor based on the maximum set torque difference between the first motor and the second motor in response to the offset indicator indicating that the vehicle is not within the preset offset range.
In one embodiment of the present disclosure, the adjustment module 1220 is further configured to: acquiring a third phase difference between the adjusted first rotor and the adjusted second rotor; and in response to the third phase difference not being within the preset angular range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
It should be noted that the foregoing explanation of the embodiment of the noise canceling method of the motor driven vehicle is also applicable to the noise canceling device of the motor driven vehicle of this embodiment, and will not be repeated here.
In the embodiment of the disclosure, position information of a rotor in a motor is acquired, and positions of the rotors of adjacent motors are adjusted according to the position information, wherein the adjusted positions of the rotors of the adjacent motors meet a phase opposition condition. In the embodiment of the disclosure, by adjusting the positions of the rotors of the adjacent motors, the phases of the rotors in the adjacent motors are opposite, so that the order noises generated by the adjacent motors and the phases of the adjacent motors are opposite can be offset, thereby reducing the order noises generated by the vehicle motors.
According to a third aspect of embodiments of the present disclosure, there is also provided an electronic device, including: a processor; a memory for storing the processor-executable instructions, wherein the processor is configured to execute the instructions to implement a method of noise cancellation for a motor-driven vehicle as described above.
In order to implement the above-described embodiments, the present disclosure also proposes a storage medium.
Wherein the instructions in the storage medium, when executed by the processor of the electronic device, enable the electronic device to perform the noise cancellation method of the motor-driven vehicle as described above.
In order to achieve the foregoing embodiments, the present disclosure further proposes a vehicle including the noise canceling device of the motor driven vehicle proposed by the second aspect embodiment of the present disclosure or the electronic apparatus proposed by the third aspect embodiment of the present disclosure, by which the noise canceling device of the motor driven vehicle proposed by the second aspect embodiment of the present disclosure or the electronic apparatus proposed by the third aspect embodiment of the present disclosure, the noise canceling method of the motor driven vehicle proposed by the first aspect embodiment of the present disclosure is executed.
Fig. 13 is a block diagram of an electronic device, according to an example embodiment. The electronic device shown in fig. 13 is merely an example and should not impose any limitations on the functionality and scope of use of embodiments of the present disclosure.
As shown in fig. 13, the electronic device 1300 includes a processor 111 that can perform various appropriate actions and processes according to a program stored in a Read Only Memory (ROM) 112 or a program loaded from a Memory 116 into a random access Memory (RAM, random Access Memory) 113. In the RAM113, various programs and data required for the operation of the electronic apparatus 1300 are also stored. The processor 111, the ROM 112, and the RAM113 are connected to each other through a bus 114. An Input/Output (I/O) interface 115 is also connected to bus 114.
The following components are connected to the I/O interface 115: a memory 116 including a hard disk and the like; and a communication section 117 including a network interface card such as a LAN (local area network ) card, a modem, or the like, the communication section 117 performing communication processing via a network such as the internet; the drive 118 is also connected to the I/O interface 115 as needed.
In particular, according to embodiments of the present disclosure, the processes described above with reference to flowcharts may be implemented as computer software programs. For example, embodiments of the present disclosure include a computer program embodied on a computer readable medium, the computer program containing program code for performing the methods shown in the flowcharts. In such an embodiment, the computer program may be downloaded and installed from the network through the communication section 117. The above-described functions defined in the methods of the present disclosure are performed when the computer program is executed by the processor 111.
In an exemplary embodiment, a storage medium is also provided, such as a memory, comprising instructions executable by the processor 111 of the electronic device 1300 to perform the above-described method. Alternatively, the storage medium may be a non-transitory computer readable storage medium, which may be, for example, ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, and the like.
In the context of this disclosure, a computer-readable storage medium may be any tangible medium that can contain, or store a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, however, the computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, with the computer-readable program code embodied therein. Such a propagated data signal may take any of a variety of forms, including, but not limited to, electro-magnetic, optical, or any suitable combination of the foregoing. A computer readable signal medium may also be any computer readable medium that is not a computer readable storage medium and that can communicate, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. Program code embodied on a computer readable medium may be transmitted using any appropriate medium, including but not limited to: wireless, wire, fiber optic cable, RF, etc., or any suitable combination of the foregoing.
Other embodiments of the invention will be apparent to those skilled in the art from consideration of the specification and practice of the invention disclosed herein. This disclosure is intended to cover any variations, uses, or adaptations of the invention following, in general, the principles of the invention and including such departures from the present disclosure as come within known or customary practice within the art to which the disclosure pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the disclosure being indicated by the following claims.
It is to be understood that the present disclosure is not limited to the precise arrangements and instrumentalities shown in the drawings, and that various modifications and changes may be effected without departing from the scope thereof. The scope of the present disclosure is limited only by the appended claims.
Claims (11)
1. A noise cancellation method of a motor-driven vehicle, the vehicle including 2N of the motors, the N being an integer greater than or equal to 1, the motors each being for driving the vehicle, the method comprising:
acquiring position information of a rotor in an adjacent motor;
according to the position information, the position of the rotor of the adjacent motor is adjusted, wherein the adjusted position of the rotor of the adjacent motor meets the condition of opposite phase;
the adjacent motor comprises a first motor and a second motor, the position information comprises a rotor phase, the position of the rotor of the adjacent motor is adjusted according to the position information, and the method comprises the following steps:
acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phase in the position information;
if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition;
Acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and a target phase difference, wherein the target phase difference is in the preset angle range;
and adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
2. The method of claim 1, wherein before adjusting the position of the rotor of the adjacent motor based on the position information, further comprising:
and determining that the position of the rotor of the adjacent motor does not meet the phase reversal condition according to the position information of the rotor of the adjacent motor.
3. The method according to claim 1, wherein said adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference comprises:
acquiring an offset index of the vehicle based on the target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle;
Adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset indicator indicating that the vehicle is within a preset offset range;
and adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor in response to the offset indicator indicating that the vehicle is not within a preset offset range.
4. A method according to claim 3, wherein said adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor comprises:
acquiring a third phase difference between the first rotor and the second rotor after adjustment;
and in response to the third phase difference not being within the preset angle range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
5. A noise cancellation device of a motor-driven vehicle, the vehicle including 2N of the motors, the N being an integer greater than or equal to 1, the motors each being for driving the vehicle, the device comprising:
The acquisition module is used for acquiring the position information of the rotor in the adjacent motor;
the adjusting module is used for adjusting the position of the rotor of the adjacent motor according to the position information, wherein the adjusted position of the rotor of the adjacent motor meets the condition of opposite phase;
the adjacent motors include a first motor and a second motor, the position information includes a rotor phase, and the adjustment module is further configured to:
acquiring a first phase difference between a first rotor of the first motor and a second rotor of the second motor according to the rotor phase in the position information;
if the first phase difference is not in the preset angle range, determining that the position of the first rotor and the position of the second rotor do not meet the opposite phase condition;
acquiring a target torque difference between the first motor and the second motor based on a difference value between the first phase difference and a target phase difference, wherein the target phase difference is in the preset angle range;
and adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference, wherein the torque difference between the first motor and the second motor after adjustment is the target torque difference.
6. The apparatus of claim 5, wherein the apparatus further comprises:
and the determining module is used for determining that the position of the rotor of the adjacent motor does not meet the opposite-phase condition according to the position information of the rotor of the adjacent motor before the position of the rotor of the adjacent motor is adjusted according to the position information.
7. The apparatus of claim 5, wherein the adjustment module is further configured to:
acquiring an offset index of the vehicle based on the target torque difference between the first motor and the second motor, wherein the offset index is used for representing the offset condition of the vehicle;
adjusting the position of the first rotor and/or the position of the second rotor based on the target torque difference in response to the offset indicator indicating that the vehicle is within a preset offset range;
and adjusting the position of the first rotor and/or the position of the second rotor based on a maximum set torque difference between the first motor and the second motor in response to the offset indicator indicating that the vehicle is not within a preset offset range.
8. The apparatus of claim 7, wherein the adjustment module is further configured to:
acquiring a third phase difference between the first rotor and the second rotor after adjustment;
and in response to the third phase difference not being within the preset angle range, readjusting the position of the first rotor and/or the position of the second rotor based on the third phase difference.
9. An electronic device, comprising:
a processor;
a memory for storing the processor-executable instructions;
wherein the processor is configured to execute the instructions to implement the noise cancellation method of the motor-driven vehicle of any one of claims 1 to 4.
10. A non-transitory computer readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of an electronic device, enable the electronic device to perform the noise cancellation method of a motor-driven vehicle as claimed in any one of claims 1 to 4.
11. A vehicle comprising the noise canceling device of the motor driven vehicle according to claims 5 to 8 or the electronic apparatus according to claim 9.
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| CN102244495A (en) * | 2010-05-13 | 2011-11-16 | 安森美半导体贸易公司 | Drive control circuit for linear vibration motor |
| JP2014222324A (en) * | 2013-05-14 | 2014-11-27 | 株式会社Ihi | Noise reduction device and noise reduction method |
| DE102019118463A1 (en) * | 2018-07-09 | 2020-01-09 | Ford Global Technologies, Llc | DAMPING OF ELECTRICAL MACHINE NOISE |
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| KR101795285B1 (en) * | 2016-07-11 | 2017-11-07 | 현대자동차주식회사 | Active vibration control apparatus for hybrid electric vehicle and method thereof |
| US11315539B2 (en) * | 2017-09-27 | 2022-04-26 | Honda Motor Co., Ltd. | Active vibration noise control system |
| KR20210053098A (en) * | 2019-11-01 | 2021-05-11 | 현대자동차주식회사 | Active noise canceling apparatus using motor |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102244495A (en) * | 2010-05-13 | 2011-11-16 | 安森美半导体贸易公司 | Drive control circuit for linear vibration motor |
| JP2014222324A (en) * | 2013-05-14 | 2014-11-27 | 株式会社Ihi | Noise reduction device and noise reduction method |
| DE102019118463A1 (en) * | 2018-07-09 | 2020-01-09 | Ford Global Technologies, Llc | DAMPING OF ELECTRICAL MACHINE NOISE |
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