CN116811837A

CN116811837A - Torsional vibration torque control method and device, electronic equipment, storage medium and vehicle

Info

Publication number: CN116811837A
Application number: CN202310778440.9A
Authority: CN
Inventors: 张正道
Original assignee: Chongqing Changan Automobile Co Ltd
Current assignee: Chongqing Changan Automobile Co Ltd
Priority date: 2023-06-28
Filing date: 2023-06-28
Publication date: 2023-09-29

Abstract

The application relates to a torsional vibration torque control method, a torsional vibration torque control device, electronic equipment, a storage medium and a vehicle, wherein the torsional vibration torque control method comprises the following steps of: responding to a first torsional vibration enabling request sent by the power domain controller, acquiring response torque at a target moment, limiting a threshold value according to a preset motor torque output slope, determining a maximum output slope of torsional vibration torque according to the response torque at the target moment and the target output period, and determining a first torsional vibration torque output range according to the torsional vibration torque at the last moment, the maximum output slope of torsional vibration torque and the target output period. According to the application, the output slope of the torsional vibration torque is limited, so that the output range of the first torsional vibration torque is controlled, the situation that the torque of the motor is suddenly changed and torsional vibration torque step occurs due to torsional vibration torque is avoided, the risk of out-of-control torsional vibration of the hybrid electric vehicle is effectively reduced, the stability of a power system is improved, and the user experience is improved.

Description

Torsional vibration torque control method and device, electronic equipment, storage medium and vehicle

Technical Field

The application relates to the technical field of automobile power control, in particular to a torsional vibration torque control method and device, electronic equipment, a storage medium and a vehicle.

Background

The active damping function of the automobile refers to that when the speed of a driving motor continuously fluctuates up and down due to abrupt change of road conditions or torque in the power output of the automobile, the motor controller superimposes corresponding torsional vibration torque according to the current speed change rate when the power domain controller normally outputs the required torque so as to inhibit the fluctuation of the speed. The torsional vibration adjusting mode of the existing pure electric vehicle is as follows: the power domain controller performs torsional vibration enabling after detecting torsional vibration of the vehicle; the motor controller outputs torsional vibration torque through the change rate of the motor rotation speed at the moment, and the gain coefficient of the output value is correspondingly adjusted through the actual rotation speed range of the motor at the moment because the torque required for adjusting torsional vibration is different under different rotation speeds. And finally, under the limit of the maximum change rate of the torque, the actual torsional vibration torque is added to the response torque to be output.

However, since the hybrid vehicle model has more torque output of the engine than the electric vehicle model, the following problems occur in the actual use process: under the mixed working condition, as the engine also has torque output, when the motor torque increases/decreases, but the engine torque reversely changes and has larger amplitude, the response torque is opposite to the rotating speed change direction, namely the change direction is the same as the change direction of torsional vibration torque, and if the two change rates are large and are overlapped, the actual overlapped torque exceeds the limit value of the maximum change rate of the motor torque, so that the motor torque is stepped.

Therefore, the existing torsional vibration adjusting mode can bring torsional vibration torque step because of engine intervention operation in the hybrid vehicle, increases the risk of out-of-control torsional vibration of the hybrid vehicle, causes instability of a power system, and influences user experience.

Disclosure of Invention

The embodiment of the application aims to provide a torsional vibration torque control method, a torsional vibration torque control device, electronic equipment, a storage medium and a vehicle, and solves the problems that in the prior art, torsional vibration torque step is caused by engine intervention operation in a hybrid vehicle, the risk of out-of-control torsional vibration of the hybrid vehicle is increased, instability of a power system is caused, and user experience is affected, and the specific technical scheme is as follows:

according to a first aspect of an embodiment of the present application, there is provided a torsional torque control method, the method including:

responding to a first torsional vibration enabling request sent by the power domain controller, and acquiring response torque at a target moment, and a target output period of torsional vibration torque and motor torque at the last moment;

determining a maximum output slope of torsional vibration torque according to a preset motor torque output slope limiting threshold, the response torque at the target moment and the target output period;

and determining a first torsional vibration torque output range of output according to the torsional vibration torque at the last moment, the maximum output slope of the torsional vibration torque and the target output period.

Further, the response torque at the target time includes: the response torque at the previous moment and the response torque at the next moment;

the determining the maximum output slope of the torsional vibration torque according to the preset motor torque output slope limiting threshold, the response torque at the target moment and the target output period comprises the following steps:

generating a first difference value according to the response torque at the previous moment and the response torque at the next moment;

generating a first ratio according to the first difference and the target output period;

and determining the maximum output slope of torsional vibration torque according to the preset motor torque output slope limiting threshold and the first ratio.

Further, the determining, according to the torque at the previous moment, the maximum output slope of the torque and the target output period, the first output range of the torque includes:

generating a first target range according to the maximum output slope of the torsional torque and the target output period;

and determining a first torsional vibration torque output range according to the first target range and the torsional vibration torque at the last moment.

Further, the responding to the first torsional vibration enabling request sent by the power domain controller, obtaining the response torque at the target moment, and before the target output period of the torsional vibration torque and the motor torque at the last moment, further comprises:

receiving a motor torque request of a target value sent by a power domain controller;

and controlling the motor to output the response torque of the target value according to the motor torque request.

Further, after the controlling the motor to output the response torque of the target value according to the motor torque request, the method further includes:

starting a timer if the target value of the response torque is detected to be smaller than a first threshold value;

and confirming that the motor is in a 0 torque output state when the timing of the timer is detected to be larger than the second threshold value.

Further, after confirming that the motor is in the 0 torque output state when the timing of the timer is detected to be greater than the second threshold value, the method further comprises:

responding to a second torsional vibration enabling request sent by the power domain controller, and acquiring a preset torsional vibration torque value;

determining a calibration reference offset of the second torsional vibration torque according to the preset torsional vibration torque value;

and determining the output convergence range of the second torsional vibration torque according to the first threshold value and the preset torsional vibration torque value.

According to a second aspect of an embodiment of the present application, there is provided a torsional torque control device, the device comprising:

the first acquisition module is used for responding to a first torsional vibration enabling request sent by the power domain controller and acquiring a response torque at a target moment, and a target output period of torsional vibration torque and motor torque at the last moment;

the first determining module is used for determining the maximum output slope of torsional vibration torque according to the preset motor torque output slope limiting threshold value, the response torque at the target moment and the target output period;

and the second determining module is used for determining a first torsional vibration torque output range according to the torsional vibration torque at the last moment, the maximum output slope of the torsional vibration torque and the target output period.

According to a third aspect of an embodiment of the present application, there is provided an electronic apparatus including:

a processor;

a memory for storing the processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the torsional torque control method of the first aspect.

According to a fourth aspect of embodiments of the present application, there is provided a computer readable storage medium, which when executed by a processor of a mobile terminal, causes the mobile terminal to perform the method of torsional torque control according to the first aspect of the present application.

According to a fifth aspect of an embodiment of the present application, there is provided a vehicle comprising a torsional torque control device according to the second aspect of the present application.

The technical scheme provided by the embodiment of the application can comprise the following beneficial effects:

the method comprises the steps of responding to a first torsional vibration enabling request sent by a power domain controller, obtaining response torque at a target moment, limiting a threshold value according to a preset motor torque output slope, determining a maximum output slope of torsional vibration torque according to the response torque at the target moment and the target output period, and determining a first torsional vibration torque output range according to the torsional vibration torque at the last moment, the maximum output slope of torsional vibration torque and the target output period. According to the torque output slope limiting method and device, the output slope of the torsional vibration torque is limited through the preset motor torque output slope limiting threshold value, so that the output range of the first torsional vibration torque is controlled, the situation that the torque of the motor is suddenly changed and torsional vibration torque is stepped due to torsional vibration torque is avoided, the risk of out-of-control torsional vibration of the hybrid electric vehicle is effectively reduced, the stability of a power system is improved, and the user experience is improved.

It is to be understood that both the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the application as claimed.

Drawings

The accompanying drawings, which are incorporated in and constitute a part of this specification, illustrate embodiments consistent with the application and together with the description, serve to explain the principles of the application.

FIG. 1 is a flow chart illustrating a method of torsional torque control according to an exemplary embodiment;

FIG. 2 is a flowchart illustrating another method of torsional torque control, according to an exemplary embodiment;

FIG. 3 is a schematic diagram of different torque rates in the torsional torque control method of FIG. 1 according to an exemplary embodiment;

FIG. 4 is a schematic diagram of torsional torque traversing a dead zone back and forth in another torsional torque control method shown in FIG. 2 according to an exemplary embodiment;

FIG. 5 is a schematic illustration of the dynamic adjustment of the torsional torque calibration reference in the alternative torsional torque control method illustrated in FIG. 2, according to an exemplary embodiment;

FIG. 6 is a block diagram illustrating a torsional torque control device according to an exemplary embodiment;

fig. 7 is a block diagram of an electronic device, according to an example embodiment.

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 examples do not represent all implementations consistent with the application. Rather, they are merely examples of apparatus and methods consistent with aspects of the application as detailed in the accompanying claims.

A first embodiment of the present application relates to a torsional torque control method, and fig. 1 is a flowchart of a torsional torque control method according to an exemplary embodiment, as shown in fig. 1, including the steps of:

and step 101, responding to a first torsional vibration enabling request sent by the power domain controller, and acquiring a response torque at a target moment, wherein the target output period of the torsional vibration torque and the motor torque at the last moment is obtained.

Compared with the traditional power automobile, the P2 oil-electricity hybrid system provided by the embodiment of the application has the advantages that a motor and a corresponding coupling mechanism are added, and certain damping elements (such as a torque converter) are omitted, so that the P2 oil-electricity hybrid system comprises the following parts: an engine, a P2M motor, a K0 clutch, a 9AT transmission, a high voltage battery, and low voltage accessories. Because the existing damping method is generally aimed at a pure electric vehicle, only the control of the rotating speed of a motor is reflected, and the response torque of the motor is not judged, the mechanism is hardly affected in the pure electric mode, but in the mixed mode, an engine can also intervene in the power output besides the motor, the original mechanism can cause problems under certain conditions, such as in the mixed mode of a P2 configuration mixed automobile, because the engine also has torque output, when the motor torque increases/decreases, but the engine torque reversely changes and the amplitude is larger, the response torque is opposite to the rotating speed change direction, namely the change direction of the torque is the same as the change direction of the torsional vibration torque, if the two change rates are large and are overlapped together, the actual overlapped torque exceeds the maximum change rate limit value of the motor torque, the motor torque step is caused, and the torsional vibration enabling is carried out in the mixed mode of the motor controller as shown in fig. 3: since the torque curve 2 of the engine is downward, the speed curve 1 of the P2 motor keeps downward trend (i.e. the engine torque at this time varies reversely and has a larger amplitude) even though the motor response torque curve 3 is upward; the torque curve 4 also changes upwards, so that the actual torque (response torque+torque) curve 5 of the motor exceeds the corresponding slope limit, and the motor torque is likely to be suddenly changed.

As can be seen from the foregoing, in the embodiment of the present application, the motor torque includes a response torque and a torsional vibration torque of the motor, where the response torque and the torsional vibration torque of the motor are both corresponding output by the motor controller after the power domain controller sends a corresponding request to the motor controller, because the embodiment of the present application avoids the problem of torsional vibration adjustment, the power domain controller needs to send a first torsional vibration enabling request to the motor controller, so that the motor controller controls the motor to start outputting the torsional vibration torque according to the request, and because the above mentioned needs to determine the current motor torque situation, the response torque at the target moment is obtained, the torsional vibration torque at the last moment and the target output period of the motor torque are both the response torque at the last moment and the response torque at the next moment, and the target period of the motor torque is the minimum output period of the motor torque. The previous time and the next time are two adjacent times, and the two times are determined according to the time when the motor controller responds to the response request about the motor sent by the power domain controller.

And 102, determining the maximum output slope of the torsional vibration torque according to a preset motor torque output slope limiting threshold value, the response torque at the target moment and the target output period.

The preset motor torque output slope limit threshold value in the embodiment of the application is obtained through a plurality of experiments performed in advance, and the torque output by the motor does not generate abrupt change within the threshold value range, so that the slope of the response torque to be controlled to be output by the motor and the torque vibration torque are not larger than the preset motor torque output slope limit threshold value after being overlapped, the output slope of the response torque of the motor can be calculated first, and then the maximum output slope of the torque vibration torque of the motor can be calculated according to the preset motor torque output slope limit threshold value and the output slope of the response torque of the motor. Specifically, according to a preset motor torque output slope limit threshold, the determining the maximum output slope of the torsional vibration torque according to the response torque at the target moment and the target output period includes:

It should be noted that, the step of determining the maximum output slope of the torsional torque may be represented by the formula (1):

K_damping＝K_Tq-(|Tq_require - Tq_before|/δT) (1)

wherein, K_Tq is a preset motor torque output slope limit threshold, δT is a target output period of motor torque, tq_required is a response torque at the next moment, tq_before is a response torque at the last moment, K_damping is a torque maximum output slope determined according to the preset motor torque output slope limit threshold, the response torque at the target moment and the target output period, |Tq_required-Tq_before|/δT is the output slope of the response torque of the motor actually obtained.

And step 103, determining a first torsional vibration torque output range according to the torsional vibration torque at the last moment, the maximum output slope of the torsional vibration torque and the target output period.

In the embodiment of the present application, the maximum torque output slope of the motor is determined in the above step, and because the slope is set by a preset motor torque output slope limiting threshold, the motor can be prevented from suffering from abrupt change only by overlapping the slope of the response torque of the motor with the slope of the torque and then being smaller than the threshold, so that the range of the torque output by the motor can be calculated according to the obtained maximum torque output slope of the motor, specifically, the maximum torque output slope of the torque and the target output period are determined according to the torque at the last moment, and the first torque output range is determined, including:

It should be noted that, the step of determining the output first torsional vibration torque output range may be represented by the formula (2):

(|Tq_damping – Tq’_damping|/δT)≤K_damping (2)

wherein, K_damming is the maximum output slope of torsional vibration torque (namely the maximum slope of torsional vibration torque output), tq' _damming is the torsional vibration torque at the last moment, and Tq_damming is the first torsional vibration torque output range which is determined to be output according to the first target range and the torsional vibration torque at the last moment.

A second embodiment of the present application relates to a torsional torque control method, fig. 2 is a flowchart of another torsional torque control method according to an exemplary embodiment, as shown in fig. 2, comprising the steps of:

step 201, a motor torque request of a target value sent by a power domain controller is received.

After the motor controller is electrified and initialized, the motor controller starts to judge whether a state of outputting 0 torque exists or not, so that whether the torque is in a torque control dead zone (namely a torque response area which is not in response to a torque request between positive torque and negative torque) or not is judged, because the vehicle is in a parking state and cannot generate torsional vibration when the motor is in no torque output, but the vehicle can still run at a high speed due to intervention of an engine even if the motor is not in torque output in running of the hybrid electric vehicle, when the motor is adjusted according to an original scheme, motor torque steps are caused by dead zone strategies, as shown in fig. 4, when the response torque of the motor controller is 0NM, the reference of torsional vibration torque is 0NM, the area between two dotted lines is the torque dead zone, and the actual torque can be seen to cross the torque dead zone back and forth at the moment, so that impact is caused.

In order to solve the above problem, firstly, the torque state at that time is judged, that is, the power domain controller needs to send out a motor torque request to the motor controller, wherein the sent motor torque request comprises a specific target value of the requested torque, and the motor torque request carrying the target value corresponds to the request of the response torque of the motor.

Step 202, controlling the response torque of the motor output target value according to the motor torque request.

In the embodiment of the application, the motor controller responds to the torque requested by the power domain controller and outputs the response torque of the target value.

In step 203, a timer is started in case it is detected that the target value of the response torque is smaller than the first threshold value.

In the embodiment of the application, a timer is started under the condition that the target value of the response torque is detected to be smaller than the first threshold value. The first threshold is a value near the 0 torque range set by man, and may be 3NM or 2NM, and the present application is not limited herein.

Step 204, confirming that the motor is in a 0 torque output state when the timing of the timer is detected to be larger than the second threshold value.

In the embodiment of the application, the timer is started under the condition that the target value of the response torque is detected to be smaller than the first threshold value, but if the condition occurs only for a short period of time, the motor is not considered to be in a 0-torque output state at the moment, and only under the condition that the timing of the timer is larger than the second threshold value, namely after the output lasts for a period of time, the motor is considered to be in the 0-torque output state at the moment, wherein the second threshold value is a preset time value and is not too long nor too short, and can be set to be 5S,7S,8S and the like, so that misoperation after the occurrence of accidental conditions is avoided, abrupt change of the motor torque of an automobile caused by long-time non-processing is avoided, and the experience of a user is influenced.

Step 205, obtaining a preset torsional torque value in response to a second torsional enabling request sent by the power domain controller.

In the embodiment of the application, after the motor is determined to be in a 0 torque output state, the power domain controller sends a second torsional vibration enabling request of the motor to the motor controller, the motor controller has the function of detecting the self torsional vibration torque and generating a self working state to the power domain controller, the output torsional vibration torque can be automatically adjusted, and in order to acquire the output convergence range of the second torsional vibration torque, a preset torsional vibration torque value is acquired firstly in response to the second torsional vibration enabling request sent by the power domain controller, wherein the preset torsional vibration torque value is the maximum value of the allowable output of the torsional vibration torque.

And 206, determining a calibration reference offset of the second torsional vibration torque according to the preset torsional vibration torque value.

In the embodiment of the application, the preset torsional vibration torque value is the maximum value of allowable output of torsional vibration torque, the calibration reference offset of the second torsional vibration torque is determined according to the preset torsional vibration torque value, namely, the preset torsional vibration torque value is divided by 2 to obtain the calibration reference offset of the second torsional vibration torque, and if the preset torsional vibration torque value is 20NM, the calibration reference offset of the second torsional vibration torque at the moment is 10NM.

Step 207, determining an output convergence range of the second torsional vibration torque according to the first threshold value and the preset torsional vibration torque value.

In the embodiment of the application, the first threshold value is used for judging whether the motor torque is in the dead zone or not, so that the torsional vibration torque cannot shuttle back and forth in the dead zone, the minimum value of the torsional vibration torque is required to be larger than the first threshold value, and the maximum value of the torsional vibration torque is smaller than the preset torsional vibration torque value because the preset torsional vibration torque value is the maximum value of the torsional vibration torque allowed to be output, so that the output convergence range of the second torsional vibration torque is determined according to the first threshold value and the preset torsional vibration torque value. As shown in fig. 5, by adjusting the calibration reference offset of the second torsional vibration torque, the output convergence range of the second torsional vibration torque is between the first threshold value and the preset torsional vibration torque value, so that the torsional vibration torque is prevented from shuttling back and forth in the dead zone, and the torque step of the motor is avoided.

A third embodiment of the present application relates to a torsional torque control device, fig. 6 is a flowchart of a torsional torque control device according to an exemplary embodiment, as shown in fig. 6, comprising the steps of:

the first obtaining module 301 is configured to obtain, in response to a first torsional vibration enabling request sent by the power domain controller, a response torque at a target moment, and a target output period of the torsional vibration torque and the motor torque at a previous moment.

The first determining module 302 is configured to determine a maximum output slope of the torsional vibration torque according to a preset motor torque output slope limit threshold, a response torque at a target moment and a target output period.

The second determining module 303 is configured to determine the output first torsional vibration torque output range according to the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque and the target output period.

Further, the response torque at the target timing includes: the response torque at the previous time and the response torque at the next time.

The first determination module 302 further includes:

the first generation sub-module is used for generating a first difference value according to the response torque at the previous moment and the response torque at the next moment.

And the second generation submodule is used for generating a first ratio according to the first difference value and the target output period.

The first determining submodule is used for determining the maximum output slope of torsional vibration torque according to a preset limiting threshold value of the torque output slope of the motor and a first ratio.

The second determination module 303 further includes:

and the third generation submodule is used for generating a first target range according to the maximum output slope of the torsional torque and the target output period.

And the second determining submodule is used for determining the output first torsional vibration torque output range according to the first target range and the torsional vibration torque at the last moment.

Further, the torsional torque control device further includes:

and the receiving module is used for receiving the motor torque request of the target value sent by the power domain controller.

And the output module is used for controlling the response torque of the motor output target value according to the motor torque request.

And the starting timing module is used for starting a timer when the target value of the response torque is detected to be smaller than the first threshold value.

And the confirmation state module is used for confirming that the motor is in the 0 torque output state under the condition that the timing of the timer is detected to be larger than the second threshold value.

And the second acquisition module is used for responding to a second torsional vibration enabling request sent by the power domain controller and acquiring a preset torsional vibration torque value.

And the third determining module is used for determining the calibration reference offset of the second torsional vibration torque according to the preset torsional vibration torque value.

And the fourth determining module is used for determining the output convergence range of the second torsional vibration torque according to the first threshold value and the preset torsional vibration torque value.

The specific manner in which the various modules perform the operations in the apparatus of the above embodiments have been described in detail in connection with the embodiments of the method, and will not be described in detail herein.

A fourth embodiment of the present application relates to an electronic apparatus including: a processor; a memory for storing the processor-executable instructions; wherein the processor is configured to execute the instructions to implement any of the torsional torque control methods.

A fifth embodiment of the application relates to a vehicle including any of the torque control devices of the third embodiment of the application.

Fig. 7 is a block diagram illustrating a method for an electronic device 400 according to an example embodiment. For example, electronic device 400 may be a mobile phone, computer, digital broadcast terminal, messaging device, game console, tablet device, medical device, exercise device, personal digital assistant, or the like.

Referring to fig. 7, an electronic device 400 may include one or more of the following components: a processing component 402, a memory 404, a power component 406, a multimedia component 408, an audio component 410, an input/output interface 412, a sensor component 414, and a communication component 416.

The processing component 402 generally controls the overall operation of the apparatus 400, such as operations associated with display, telephone calls, data communications, camera operations, and recording operations. The processing component 402 may include one or more processors 420 to execute instructions to perform all or part of the steps of the methods described above. Further, the processing component 402 can include one or more modules that facilitate interaction between the processing component 402 and other components. For example, the processing component 402 may include a multimedia module to facilitate interaction between the multimedia component 408 and the processing component 402.

Memory 404 is configured to store various types of data to support operations at device 400. Examples of such data include instructions for any application or method operating on the apparatus 400, contact data, phonebook data, messages, pictures, videos, and the like. The memory 404 may be implemented by any type or combination of volatile or nonvolatile memory devices such as Static Random Access Memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic memory, flash memory, magnetic or optical disk.

The power supply component 406 provides power to the various components of the electronic device 400. The power components 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power for the electronic device 400.

The multimedia component 408 includes a screen between the electronic device 400 and the user that provides an output interface. In some embodiments, the screen may include a Liquid Crystal Display (LCD) and a Touch Panel (TP). If the screen includes a touch panel, the screen may be implemented as a touch screen to receive input signals from a user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensor may sense not only the boundary of a touch or slide action, but also the duration and pressure associated with the touch or slide operation. In some embodiments, the multimedia component 408 includes a front camera and/or a rear camera. When the electronic device 400 is in an operational mode, such as a shooting mode or a video mode, the front-facing camera and/or the rear-facing camera may receive external multimedia data. Each front camera and rear camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

The audio component 410 is configured to output and/or input audio signals. For example, the audio component 410 includes a Microphone (MIC) configured to receive external audio signals when the electronic device 400 is in an operational mode, such as a call mode, a recording mode, and a voice recognition mode. The received audio signals may be further stored in the memory 404 or transmitted via the communication component 416. In some embodiments, audio component 410 further includes a speaker for outputting audio signals.

The input/output interface 412 provides an interface between the processing component 402 and peripheral interface modules, which may be a keyboard, click wheel, buttons, etc. These buttons may include, but are not limited to: homepage button, volume button, start button, and lock button.

The sensor assembly 414 includes one or more sensors for providing status assessment of various aspects of the electronic device 400. For example, the sensor assembly 414 may detect an on/off state of the electronic device 400, a relative positioning of the components, such as a display and keypad of the electronic device 400, the sensor assembly 414 may also detect a change in position of the electronic device 400 or a component of the electronic device 400, the presence or absence of a user's contact with the electronic device 400, an orientation or acceleration/deceleration of the electronic device 400, and a change in temperature of the electronic device 400. The sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects in the absence of any physical contact. The sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, the sensor assembly 414 may also include an acceleration sensor, a gyroscopic sensor, a magnetic sensor, a pressure sensor, or a temperature sensor.

The communication component 416 is configured to facilitate communication between the electronic device 400 and other devices, either wired or wireless. The electronic device 400 may access a wireless network based on a communication standard, such as WiFi, an operator network (e.g., 2G, 3G, 4G, or 5G), or a combination thereof. In one exemplary embodiment, the communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In an exemplary embodiment, the communication component 416 further includes a Near Field Communication (NFC) module to facilitate short range communications. For example, the NFC module may be implemented based on Radio Frequency Identification (RFID) technology, infrared data association (IrDA) technology, ultra Wideband (UWB) technology, bluetooth (BT) technology, and other technologies.

In an exemplary embodiment, the electronic device 400 may be implemented by one or more Application Specific Integrated Circuits (ASICs), digital Signal Processors (DSPs), digital Signal Processing Devices (DSPDs), programmable Logic Devices (PLDs), field Programmable Gate Arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic elements for executing the methods described above.

In an exemplary embodiment, a non-transitory computer-readable storage medium is also provided, such as memory 404, that includes instructions executable by processor 420 of electronic device 400 to perform the above-described method. For example, the non-transitory computer readable storage medium may be ROM, random Access Memory (RAM), CD-ROM, magnetic tape, floppy disk, optical data storage device, etc.

Other embodiments of the application will be apparent to those skilled in the art from consideration of the specification and practice of the application disclosed herein. This application is intended to cover any variations, uses, or adaptations of the application following, in general, the principles of the application and including such departures from the present disclosure as come within known or customary practice within the art to which the application pertains. It is intended that the specification and examples be considered as exemplary only, with a true scope and spirit of the application being indicated by the following claims.

It should be noted that the above-mentioned embodiments illustrate rather than limit the application, and that those skilled in the art will be able to design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of elements or steps not listed in a claim. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The application may be implemented by means of hardware comprising several distinct elements, and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by one and the same item of hardware. The usage of the words first, second and third, etcetera do not indicate any ordering. These words may be interpreted as names. The application is not limited to the precise construction which has been described above and shown in the drawings, and various modifications and changes may be made without departing from the scope thereof. The scope of the application is limited only by the appended claims.

Claims

1. A method of torsional torque control, the method comprising:

2. The method of claim 1, wherein the response torque at the target time comprises: the response torque at the previous moment and the response torque at the next moment;

3. The method of claim 1, wherein said determining a first torsional torque output range of the output based on the torsional torque at the previous time, the torsional torque maximum output slope and the target output period comprises:

4. The method of claim 1, wherein the obtaining the response torque at the target time in response to the first torque-vibration enabling request sent by the power domain controller, further comprises, prior to the target output period of the torque at the previous time and the torque at the motor:

5. The method of claim 4, wherein said controlling the motor to output said target value of response torque in response to said motor torque request further comprises:

6. The method of claim 5, wherein upon detecting that the count of the timer is greater than the second threshold, confirming that the motor is in the 0 torque output state, further comprising:

7. A torsional torque control device, comprising:

8. An electronic device, comprising:

a processor;

a memory for storing processor-executable instructions;

wherein the processor is configured to execute the instructions to implement the torsional torque control method of any one of claims 1 to 6.

9. A computer readable storage medium, characterized in that instructions in the storage medium, when executed by a processor of a mobile terminal, enable the mobile terminal to perform the torsion torque control method according to any one of claims 1 to 6.

10. A vehicle comprising the torsional torque control device of claim 7.