CN117656868B - Driving motor anti-shake control method, driving motor anti-shake control device, driving motor anti-shake control equipment and storage medium - Google Patents
Driving motor anti-shake control method, driving motor anti-shake control device, driving motor anti-shake control equipment and storage medium Download PDFInfo
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L15/00—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles
- B60L15/20—Methods, circuits, or devices for controlling the traction-motor speed of electrically-propelled vehicles for control of the vehicle or its driving motor to achieve a desired performance, e.g. speed, torque, programmed variation of speed
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- H—ELECTRICITY
- H02—GENERATION; CONVERSION OR DISTRIBUTION OF ELECTRIC POWER
- H02P—CONTROL OR REGULATION OF ELECTRIC MOTORS, ELECTRIC GENERATORS OR DYNAMO-ELECTRIC CONVERTERS; CONTROLLING TRANSFORMERS, REACTORS OR CHOKE COILS
- H02P21/00—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation
- H02P21/05—Arrangements or methods for the control of electric machines by vector control, e.g. by control of field orientation specially adapted for damping motor oscillations, e.g. for reducing hunting
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60L—PROPULSION OF ELECTRICALLY-PROPELLED VEHICLES; SUPPLYING ELECTRIC POWER FOR AUXILIARY EQUIPMENT OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRODYNAMIC BRAKE SYSTEMS FOR VEHICLES IN GENERAL; MAGNETIC SUSPENSION OR LEVITATION FOR VEHICLES; MONITORING OPERATING VARIABLES OF ELECTRICALLY-PROPELLED VEHICLES; ELECTRIC SAFETY DEVICES FOR ELECTRICALLY-PROPELLED VEHICLES
- B60L2240/00—Control parameters of input or output; Target parameters
- B60L2240/40—Drive Train control parameters
- B60L2240/42—Drive Train control parameters related to electric machines
- B60L2240/423—Torque
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02T—CLIMATE CHANGE MITIGATION TECHNOLOGIES RELATED TO TRANSPORTATION
- Y02T10/00—Road transport of goods or passengers
- Y02T10/60—Other road transportation technologies with climate change mitigation effect
- Y02T10/72—Electric energy management in electromobility
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- Engineering & Computer Science (AREA)
- Power Engineering (AREA)
- Transportation (AREA)
- Mechanical Engineering (AREA)
- Electric Propulsion And Braking For Vehicles (AREA)
Abstract
The application relates to the technical field of motor control and provides a driving motor anti-shake control method, a driving motor anti-shake control device, driving motor anti-shake control equipment and a storage medium, wherein the driving motor anti-shake control method comprises the steps of obtaining first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor; determining a vibration factor of the driving motor based on the axial vibration data, the normal vibration data, and the tangential vibration data; generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor; the drive motor is driven to operate based on the required torque. The method can improve the control precision of the anti-shake control of the driving motor.
Description
Technical Field
The present application relates to the field of motor control technologies, and in particular, to a method, an apparatus, a device, and a storage medium for controlling anti-shake of a driving motor.
Background
As an environment-friendly and efficient transportation means, electric vehicles are attracting more and more attention and use. However, in the running process of the electric vehicle, due to the structure and the specificity of the working principle of the electric vehicle, a vibration phenomenon is often generated, and driving experience and riding comfort are affected. Therefore, how to control vibration of an electric vehicle to prevent vibration is one of hot spots in the research field of electric vehicles. The existing anti-shake control technology of the electric vehicle is not mature enough, and the problem of low control precision exists.
Disclosure of Invention
The application provides a driving motor anti-shake control method, a driving motor anti-shake control device, driving motor anti-shake control equipment and a storage medium, so as to solve the problems in the background art.
In a first aspect, the present application provides a driving motor anti-shake control method for anti-shake control of an electric vehicle, where the driving motor is used to drive the electric vehicle to run, the method includes:
In the running process of the electric vehicle, acquiring vibration data information of the electric vehicle in a preset time period, and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information;
if the electric vehicle is required to be subjected to anti-shake control, acquiring first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor;
determining a vibration factor of the drive motor based on the axial vibration data, the normal vibration data, and the tangential vibration data;
generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor;
And driving the driving motor to operate based on the required torque.
In a second aspect, the present application provides a driving motor anti-shake control apparatus for anti-shake control of an electric vehicle, the driving motor being for driving the electric vehicle to run, the apparatus comprising:
The judging module is used for acquiring vibration data information of the electric vehicle in the running process of the electric vehicle and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information;
The acquisition module is used for acquiring first operation parameter information and second operation parameter information if the electric vehicle needs to be subjected to anti-shake control; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor;
A determining module for determining a vibration factor of the driving motor based on the axial vibration data, the normal vibration data, and the tangential vibration data;
The generating module is used for generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor;
and the driving module is used for driving the driving motor to run based on the required torque.
In a third aspect, the present application provides a terminal device, wherein the terminal device includes a processor, a memory, and a computer program stored on the memory and executable by the processor, and the method for controlling anti-shake of a driving motor is implemented when the computer program is executed by the processor.
In a fourth aspect, the present application provides a computer readable storage medium, wherein a computer program is stored on the computer readable storage medium, and wherein the computer program, when executed by a processor, implements the driving motor anti-shake control method as described above.
The application provides a driving motor anti-shake control method, a device, equipment and a storage medium, wherein the method is used for anti-shake control of an electric vehicle, the driving motor is used for driving the electric vehicle to run, and the method comprises the following steps: in the running process of the electric vehicle, acquiring vibration data information of the electric vehicle in a preset time period, and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information; if the electric vehicle is required to be subjected to anti-shake control, acquiring first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor; determining a vibration factor of the drive motor based on the axial vibration data, the normal vibration data, and the tangential vibration data; generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor; and driving the driving motor to operate based on the required torque. On one hand, the method can accurately judge whether the electric vehicle needs to perform anti-shake control, and on the other hand, when the electric vehicle needs to perform anti-shake control, the vibration factor of the driving motor is determined based on the axial vibration data, the normal vibration data and the tangential vibration data; the damping torque of the driving motor is generated based on the first operation parameter information, the second operation parameter information and the vibration factor, and the damping torque is overlapped with the current operation torque of the driving motor to obtain the required torque of the driving motor.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings required for the description of the embodiments will be briefly described below, and it is obvious that the drawings in the following description are some embodiments of the present invention, and other drawings may be obtained based on these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of a driving motor anti-shake control method according to an embodiment of the present application;
Fig. 2 is a schematic block diagram of a driving motor anti-shake control device according to an embodiment of the present application;
fig. 3 is a schematic block diagram of a structure of a terminal device according to an embodiment of the present application.
Detailed Description
The following description of the embodiments of the present invention will be made clearly and fully with reference to the accompanying drawings, in which it is evident that the embodiments described are some, but not all embodiments of the invention. All other embodiments, which can be made by those skilled in the art based on the embodiments of the invention without making any inventive effort, are intended to be within the scope of the invention.
The flow diagrams depicted in the figures are merely illustrative and not necessarily all of the elements and operations/steps are included or performed in the order described. For example, some operations/steps may also be split, combined, or partially combined, so that the order of actual execution may vary based on actual circumstances.
It is also to be understood that the terminology used in the description of the application herein is for the purpose of describing particular embodiments only and is not intended to be limiting of the application. As used in this specification 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 be further understood that the term "and/or" as used in the present specification and the appended claims refers to any and all possible combinations of one or more of the associated listed items, and includes such combinations.
As an environment-friendly and efficient transportation means, electric vehicles are attracting more and more attention and use. However, in the running process of the electric vehicle, due to the structure and the specificity of the working principle of the electric vehicle, a vibration phenomenon is often generated, and driving experience and riding comfort are affected. Therefore, how to control vibration of an electric vehicle to prevent vibration is one of hot spots in the research field of electric vehicles. However, the existing anti-shake control technology of the electric vehicle is not mature enough, and the problem of low control precision exists. In order to solve the above problems, embodiments of the present application provide a driving motor anti-shake control method, apparatus, device, and storage medium, so as to solve the above problems.
Some embodiments of the present application are described in detail below with reference to the accompanying drawings. The following embodiments and features of the embodiments may be combined with each other without conflict.
Referring to fig. 1, fig. 1 is a schematic flow chart of a driving motor anti-shake control method according to an embodiment of the present application, where the driving motor anti-shake control method according to the embodiment of the present application is used for anti-shake control of an electric vehicle, and the driving motor is used for driving the electric vehicle to run, and as shown in fig. 1, the driving motor anti-shake control method according to the embodiment of the present application includes steps S100 to S500.
Step S100, in the running process of the electric vehicle, obtaining vibration data information of the electric vehicle in a preset time period, and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information.
Wherein, the preset time period is not more than 2min, and it can be understood that the shorter the preset time period is, the more beneficial to the anti-shake control of the electric vehicle.
The vibration data information includes a vibration frequency and a vibration amplitude of the electric vehicle, and the judgment of whether the electric vehicle needs to be subjected to anti-shake control based on the vibration data information includes the following steps:
comparing the vibration amplitude with a preset vibration amplitude;
if the vibration amplitude is larger than the preset vibration amplitude, judging that the electric vehicle needs to be subjected to anti-shake control;
If the vibration amplitude is not greater than the preset vibration amplitude, comparing the vibration frequency with a preset vibration frequency;
if the vibration frequency is larger than the preset vibration frequency, judging that the electric vehicle needs to be subjected to anti-shake control;
and if the vibration frequency is not greater than the preset vibration frequency, judging that the electric vehicle does not need to be subjected to anti-shake control.
The vibration frequency and the vibration amplitude are respectively obtained through a vibration frequency sensor and a vibration amplitude sensor which are arranged on the electric vehicle, the vibration frequency refers to the vibration times of the electric vehicle in the preset time period, and the vibration amplitude refers to the maximum distance of the electric vehicle from the balance position when the electric vehicle vibrates in the preset time period.
It can be appreciated that the above method first compares the vibration amplitude with the preset vibration amplitude, and compares the vibration frequency with the preset vibration frequency when the vibration amplitude is not greater than the preset vibration amplitude, and the method judges whether the electric vehicle needs to perform anti-shake control from both the vibration amplitude and the vibration frequency, thereby improving the accuracy of the judgment and being beneficial to improving the accuracy of the anti-shake control method of the electric vehicle.
Step 200, if anti-shake control is required to be performed on the electric vehicle, acquiring first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor.
And step S300, determining the vibration factor of the driving motor based on the axial vibration data, the normal vibration data and the tangential vibration data.
The axial vibration data includes an axial vibration amplitude and an axial vibration frequency, the normal vibration data includes a normal vibration amplitude and a normal vibration frequency, the tangential vibration data includes a tangential vibration amplitude and a tangential vibration frequency, and the vibration factor of the driving motor is determined based on the axial vibration data, the normal vibration data, and the tangential vibration data, including the steps of:
Respectively carrying out vector conversion on the axial vibration data, the normal vibration data and the tangential vibration data based on a preset vector conversion model to obtain a first feature vector, a second feature vector and a third feature vector; the first feature vector is a feature vector corresponding to the axial vibration data, the second feature vector is a feature vector corresponding to the normal vibration data, and the third feature vector is a feature vector corresponding to the tangential vibration data;
Calculating the similarity between the first feature vector and the second feature vector to obtain a first similarity, calculating the similarity between the second feature vector and the third feature vector to obtain a second similarity, and calculating the similarity between the first feature vector and the third feature vector to obtain a third similarity;
Calculating standard deviations among the first similarity, the second similarity and the third similarity, and determining a first dithering factor based on the standard deviations;
Selecting the maximum vibration amplitude of the axial vibration amplitude, the normal vibration amplitude and the tangential vibration amplitude, and determining a second shaking factor based on the maximum vibration amplitude;
Selecting the maximum vibration frequency of the axial vibration frequency, the normal vibration frequency and the tangential vibration frequency, and determining a third shaking factor based on the maximum vibration frequency;
And adding the first dithering factor, the second dithering factor and the third dithering factor to obtain the vibration factor.
Wherein determining the first shake factor based on the standard deviation means taking the standard deviation as the first shake factor, determining the second shake factor based on the maximum vibration amplitude means taking the maximum vibration amplitude as the second shake factor, and determining the third shake factor based on the maximum vibration frequency means taking the maximum vibration frequency as the third shake factor.
It can be appreciated that the method obtains the first vibration factor by performing similarity analysis on the axial vibration data, the normal vibration data and the tangential vibration data, selects the maximum vibration amplitude of the axial vibration amplitude, the normal vibration amplitude and the tangential vibration amplitude as the second vibration factor, simultaneously selects the maximum vibration frequency of the axial vibration frequency, the normal vibration frequency and the tangential vibration frequency as the third vibration factor, and adds the first vibration factor, the second vibration factor and the third vibration factor to obtain the vibration factor, thereby improving the reliability of the vibration factor and providing a reliable basis for the follow-up motor anti-vibration control.
And step 400, generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor.
The second operation parameter includes motor rotation information of the driving motor; the generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information, and the vibration factor includes the steps of:
Comparing the vibration factor with a preset vibration factor;
If the vibration factor is smaller than the preset vibration factor, converting the wheel rotation information into motor rotation information based on a preset information conversion model to obtain motor rotation information corresponding to wheels of the electric vehicle;
Encoding motor rotation information corresponding to the wheels based on a preset motor rotation information encoding table to obtain a first encoding sequence, and encoding motor rotation information of the driving motor based on the motor rotation information encoding table to obtain a second encoding sequence;
performing difference analysis on the first coding sequence and the second coding sequence to obtain a difference coding sequence;
And generating damping torque of the driving motor based on the difference coding sequence.
The motor rotation information coding table comprises a motor rotation state column and a coding number column, each motor rotation state of the motor rotation state column comprises the rotating speed and the steering direction of a motor, and one motor rotation state corresponds to one coding number.
The motor rotation information of the driving motor comprises motor rotation speed and motor steering, and the motor rotation information corresponding to wheels of the electric vehicle comprises motor rotation speed and motor steering.
The information conversion model is obtained by training a vector machine model, the information conversion model comprises an input layer, an information conversion layer and an output layer, the input layer is used for receiving the wheel rotation information, the information conversion layer is used for carrying out deep learning on the wheel rotation information to obtain motor rotation information corresponding to wheels of the electric vehicle, and the output layer is used for outputting motor rotation information corresponding to the wheels of the electric vehicle.
It can be understood that when the first code sequence and the second code sequence have a difference, it is indicated that the motor rotation information of the motor and the motor rotation information corresponding to the wheels of the electric vehicle have a difference, and the difference may cause vibration of the electric vehicle, and at this time, the damping matrix generated by the difference code sequence may eliminate the difference between the motor rotation information of the motor and the motor rotation information corresponding to the wheels of the electric vehicle.
The method for generating the damping torque of the driving motor based on the differential coding sequence comprises the steps of inputting the differential coding sequence into a preset torque generation model to obtain the damping torque, wherein the torque generation model is obtained through training of a vector machine model and comprises an input layer, a torque generation layer and an output layer, the input layer is used for receiving the differential coding sequence, the torque generation layer is used for performing deep learning on the differential coding sequence to obtain the damping torque corresponding to the differential coding sequence, and the output layer is used for outputting the damping torque.
It can be appreciated that the method encodes the motor rotation information corresponding to the wheel based on the preset motor rotation information encoding table to obtain the first encoding sequence, encodes the motor rotation information of the driving motor based on the motor rotation information encoding table to obtain the second encoding sequence, and generates the damping torque based on the first encoding sequence and the second encoding sequence, so that the damping torque is quickly and accurately generated, the efficiency of anti-shake control of the driving motor is improved, and meanwhile, a reliable basis is provided for the anti-shake control of the driving motor.
And step 500, driving the driving motor to operate based on the required torque.
According to the method provided by the embodiment, on one hand, whether the electric vehicle needs anti-shake control or not can be accurately judged, and on the other hand, when the electric vehicle needs anti-shake control, the vibration factor of the driving motor is determined based on the axial vibration data, the normal vibration data and the tangential vibration data; the damping torque of the driving motor is generated based on the first operation parameter information, the second operation parameter information and the vibration factor, and the damping torque is overlapped with the current operation torque of the driving motor to obtain the required torque of the driving motor.
In some embodiments, after comparing the vibration factor to a preset vibration factor, the method further comprises the steps of:
if the vibration factor is larger than the preset vibration factor, inputting the axial vibration data, the normal vibration data and the tangential vibration data into a preset damping torque generation model to obtain a first intermediate damping torque;
Converting the wheel rotation information into motor rotation information based on a preset information conversion model to obtain motor rotation information corresponding to wheels of the electric vehicle;
Encoding motor rotation information corresponding to the wheels based on a preset motor rotation information encoding table to obtain a first encoding sequence, and encoding motor rotation information of the driving motor based on the motor rotation information encoding table to obtain a second encoding sequence;
performing difference analysis on the first coding sequence and the second coding sequence to obtain a difference coding sequence;
Generating a second intermediate damping torque based on the differential encoding sequence;
And superposing the first intermediate damping torque and the second intermediate damping torque to obtain the damping torque of the driving motor.
The damping torque generation model includes an input layer, a data distribution layer, an axial damping torque generation layer, a normal damping torque generation layer, a tangential damping torque generation layer and a damping torque fusion layer, and the axial vibration data, the normal vibration data and the tangential vibration data are input into a preset damping torque generation model to obtain a first intermediate damping torque, which includes the following steps:
inputting the axial vibration data, the normal vibration data, and the tangential vibration data into the damping torque generation model through the input layer;
Distributing the axial vibration data to the axial damping torque generation layer by the data distribution layer so that the axial damping torque generation layer generates an axial damping torque based on the axial vibration data;
distributing the normal vibration data to the normal damping torque generation layer through the data distribution layer, so that the normal damping torque generation layer generates a normal damping torque based on the normal vibration data;
distributing the tangential vibration data to the tangential damping torque generating layer by the data distributing layer such that the tangential damping torque generating layer generates tangential damping torque based on the tangential vibration data;
And fusing the axial damping torque, the normal damping torque and the tangential damping torque through the damping torque fusion layer to obtain the first intermediate damping torque.
It can be appreciated that by calculating the axial damping matrix, the normal damping matrix and the tangential damping matrix respectively and fusing the axial damping matrix, the normal damping matrix and the tangential damping matrix to obtain the first intermediate damping matrix, the reliability of the first intermediate damping matrix can be improved, and a reliable basis is provided for an anti-shake control method of the driving motor.
It should be noted that, the information conversion model and the motor rotation information code are described in the foregoing, and are not described herein.
It should be noted that, the method for generating the second intermediate damping torque based on the differential encoding sequence refers to the method for generating the damping torque of the driving motor based on the differential encoding sequence described above, and will not be described herein.
According to the method provided by the embodiment, when the vibration factor is larger than the preset vibration factor, the damping torque of the driving motor is obtained by respectively generating the first intermediate damping torque and the second intermediate damping torque and superposing the first intermediate damping torque and the second intermediate damping torque, so that the accuracy of motor anti-shake control is further improved.
Referring to fig. 2, fig. 2 is a schematic block diagram of a driving motor anti-shake control device 100 according to an embodiment of the present application, where the driving motor anti-shake control device 100 is used for anti-shake control of an electric vehicle, the driving motor is used for driving the electric vehicle to run, and the driving motor anti-shake control device 100 includes:
The judging module 110 is configured to obtain vibration data information of the electric vehicle during operation of the electric vehicle, and judge whether anti-shake control is required for the electric vehicle based on the vibration data information.
The obtaining module 120 is configured to obtain first operation parameter information and second operation parameter information if anti-shake control is required for the electric vehicle; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor.
A determination module 130 for determining a vibration factor of the drive motor based on the axial vibration data, the normal vibration data, and the tangential vibration data.
And the generating module 140 is configured to generate a damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superimpose the damping torque and the current operation torque of the driving motor to obtain a required torque of the driving motor.
And the driving module 150 is used for driving the driving motor to run based on the required torque.
It should be noted that, for convenience and brevity of description, specific working processes of the above-described apparatus and each module may refer to corresponding processes in the foregoing driving motor anti-shake control method embodiment, which are not described herein again.
The driving motor anti-shake control apparatus 100 provided in the above-described embodiment may be implemented in the form of a computer program that can be run on the terminal device 200 as shown in fig. 3.
Referring to fig. 3, fig. 3 is a schematic block diagram of a structure of a terminal device 200 according to an embodiment of the present application, where the terminal device 200 includes a processor 201 and a memory 202, and the processor 201 and the memory 202 are connected through a system bus 203, and the memory 202 may include a nonvolatile storage medium and an internal memory.
The non-volatile storage medium may store a computer program. The computer program comprises program instructions that, when executed by the processor 201, cause the processor 201 to perform any of the drive motor anti-shake control methods described above.
The processor 201 is used to provide computing and control capabilities supporting the operation of the overall terminal device 200.
The internal memory provides an environment for the execution of a computer program in a non-volatile storage medium that, when executed by the processor 201, causes the processor 201 to perform any of the drive motor anti-shake control methods described above.
It will be appreciated by those skilled in the art that the structure shown in fig. 3 is merely a block diagram of a portion of the structure related to the present application and does not constitute a limitation of the terminal device 200 related to the present application, and that a specific terminal device 200 may include more or less components than those shown in the drawings, or may combine some components, or have a different arrangement of components.
It should be appreciated that the processor 201 may be a central processing unit (Central Processing Unit, CPU), and the processor 201 may also be other general purpose processors, digital signal processors (DIGITAL SIGNAL processors, dsps), application SPECIFIC INTEGRATED circuits (asics), field-programmable gate arrays (field-programmable GATE ARRAY, FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. Wherein the general purpose processor may be a microprocessor or the processor may be any conventional processor or the like.
In some embodiments, the processor 201 is configured to execute a computer program stored in the memory to implement the following steps:
In the running process of the electric vehicle, acquiring vibration data information of the electric vehicle in a preset time period, and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information;
if the electric vehicle is required to be subjected to anti-shake control, acquiring first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor;
determining a vibration factor of the drive motor based on the axial vibration data, the normal vibration data, and the tangential vibration data;
generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor;
And driving the driving motor to operate based on the required torque.
It should be noted that, for convenience and brevity of description, the specific working process of the terminal device 200 described above may refer to the corresponding process of the driving motor anti-shake control method, and will not be described herein.
The embodiment of the application also provides a computer readable storage medium, which stores a computer program, and the computer program when executed by one or more processors causes the one or more processors to implement the driving motor anti-shake control method provided by the embodiment of the application.
The computer readable storage medium may be an internal storage unit of the terminal device 200 of the foregoing embodiment, for example, a hard disk or a memory of the terminal device 200. The computer readable storage medium may also be an external storage device of the terminal device 200, such as a plug-in hard disk, a smart memory card (SMART MEDIA CARD, SMC), a Secure Digital (SD) card, a flash memory card (FLASH CARD), or the like, which the terminal device 200 is equipped with.
While the application has been described with reference to certain preferred embodiments, it will be understood by those skilled in the art that various changes and substitutions of equivalents may be made and equivalents will be apparent to those skilled in the art without departing from the scope of the application. Therefore, the protection scope of the application is subject to the protection scope of the claims.
Claims (8)
1. A driving motor anti-shake control method for an electric vehicle, the driving motor being for driving the electric vehicle to run, the method comprising:
In the running process of the electric vehicle, acquiring vibration data information of the electric vehicle in a preset time period, and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information;
if the electric vehicle is required to be subjected to anti-shake control, acquiring first operation parameter information and second operation parameter information; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor;
determining a vibration factor of the drive motor based on the axial vibration data, the normal vibration data, and the tangential vibration data;
generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor;
driving the driving motor to operate based on the required torque;
wherein the axial vibration data includes an axial vibration amplitude and an axial vibration frequency, the normal vibration data includes a normal vibration amplitude and a normal vibration frequency, the tangential vibration data includes a tangential vibration amplitude and a tangential vibration frequency, and determining a vibration factor of the driving motor based on the axial vibration data, the normal vibration data, and the tangential vibration data includes:
Respectively carrying out vector conversion on the axial vibration data, the normal vibration data and the tangential vibration data based on a preset vector conversion model to obtain a first feature vector, a second feature vector and a third feature vector; the first feature vector is a feature vector corresponding to the axial vibration data, the second feature vector is a feature vector corresponding to the normal vibration data, and the third feature vector is a feature vector corresponding to the tangential vibration data;
Calculating the similarity between the first feature vector and the second feature vector to obtain a first similarity, calculating the similarity between the second feature vector and the third feature vector to obtain a second similarity, and calculating the similarity between the first feature vector and the third feature vector to obtain a third similarity;
Calculating standard deviations among the first similarity, the second similarity and the third similarity, and determining a first dithering factor based on the standard deviations;
Selecting the maximum vibration amplitude of the axial vibration amplitude, the normal vibration amplitude and the tangential vibration amplitude, and determining a second shaking factor based on the maximum vibration amplitude;
Selecting the maximum vibration frequency of the axial vibration frequency, the normal vibration frequency and the tangential vibration frequency, and determining a third shaking factor based on the maximum vibration frequency;
And adding the first dithering factor, the second dithering factor and the third dithering factor to obtain the vibration factor.
2. The drive motor anti-shake control method according to claim 1, wherein the vibration data information includes a vibration frequency and a vibration amplitude of the electric vehicle, and the determining whether anti-shake control of the electric vehicle is required based on the vibration data information includes:
comparing the vibration amplitude with a preset vibration amplitude;
if the vibration amplitude is larger than the preset vibration amplitude, judging that the electric vehicle needs to be subjected to anti-shake control;
If the vibration amplitude is not greater than the preset vibration amplitude, comparing the vibration frequency with a preset vibration frequency;
if the vibration frequency is larger than the preset vibration frequency, judging that the electric vehicle needs to be subjected to anti-shake control;
and if the vibration frequency is not greater than the preset vibration frequency, judging that the electric vehicle does not need to be subjected to anti-shake control.
3. The drive motor anti-shake control method according to claim 1, characterized in that the second operation parameter includes motor rotation information of the drive motor and the second operation parameter information includes motor rotation information of the drive motor; the generating damping torque of the drive motor based on the first operating parameter information, the second operating parameter information, and the vibration factor includes:
Comparing the vibration factor with a preset vibration factor;
If the vibration factor is smaller than the preset vibration factor, converting the wheel rotation information into motor rotation information based on a preset information conversion model to obtain motor rotation information corresponding to wheels of the electric vehicle;
Encoding motor rotation information corresponding to the wheels based on a preset motor rotation information encoding table to obtain a first encoding sequence, and encoding motor rotation information of the driving motor based on the motor rotation information encoding table to obtain a second encoding sequence;
performing difference analysis on the first coding sequence and the second coding sequence to obtain a difference coding sequence;
And generating damping torque of the driving motor based on the difference coding sequence.
4. The drive motor anti-shake control method according to claim 3, characterized in that after comparing the vibration factor with a preset vibration factor, the method further comprises:
if the vibration factor is larger than the preset vibration factor, inputting the axial vibration data, the normal vibration data and the tangential vibration data into a preset damping torque generation model to obtain a first intermediate damping torque;
Converting the wheel rotation information into motor rotation information based on a preset information conversion model to obtain motor rotation information corresponding to wheels of the electric vehicle;
Encoding motor rotation information corresponding to the wheels based on a preset motor rotation information encoding table to obtain a first encoding sequence, and encoding motor rotation information of the driving motor based on the motor rotation information encoding table to obtain a second encoding sequence;
performing difference analysis on the first coding sequence and the second coding sequence to obtain a difference coding sequence;
Generating a second intermediate damping torque based on the differential encoding sequence;
And superposing the first intermediate damping torque and the second intermediate damping torque to obtain the damping torque of the driving motor.
5. The driving motor anti-shake control method according to claim 4, wherein the damping torque generation model includes an input layer, a data distribution layer, an axial damping torque generation layer, a normal damping torque generation layer, a tangential damping torque generation layer, and a damping torque fusion layer, and the inputting the axial vibration data, the normal vibration data, and the tangential vibration data into a preset damping torque generation model to obtain a first intermediate damping torque includes:
inputting the axial vibration data, the normal vibration data, and the tangential vibration data into the damping torque generation model through the input layer;
Distributing the axial vibration data to the axial damping torque generation layer by the data distribution layer so that the axial damping torque generation layer generates an axial damping torque based on the axial vibration data;
distributing the normal vibration data to the normal damping torque generation layer through the data distribution layer, so that the normal damping torque generation layer generates a normal damping torque based on the normal vibration data;
distributing the tangential vibration data to the tangential damping torque generating layer by the data distributing layer such that the tangential damping torque generating layer generates tangential damping torque based on the tangential vibration data;
And fusing the axial damping torque, the normal damping torque and the tangential damping torque through the damping torque fusion layer to obtain the first intermediate damping torque.
6. A driving motor anti-shake control apparatus for an electric vehicle, the driving motor being for driving the electric vehicle to run, the apparatus comprising:
The judging module is used for acquiring vibration data information of the electric vehicle in the running process of the electric vehicle and judging whether the electric vehicle needs to be subjected to anti-shake control or not based on the vibration data information;
The acquisition module is used for acquiring first operation parameter information and second operation parameter information if the electric vehicle needs to be subjected to anti-shake control; the first operation parameter information is wheel rotation information of the electric vehicle, the second operation parameter information is operation parameter information of the driving motor, and the second operation parameter information comprises axial vibration data, normal vibration data and tangential vibration data of the driving motor;
A determining module for determining a vibration factor of the driving motor based on the axial vibration data, the normal vibration data, and the tangential vibration data;
The generating module is used for generating damping torque of the driving motor based on the first operation parameter information, the second operation parameter information and the vibration factor, and superposing the damping torque and the current operation torque of the driving motor to obtain the required torque of the driving motor;
the driving module is used for driving the driving motor to run based on the required torque;
wherein the axial vibration data includes an axial vibration amplitude and an axial vibration frequency, the normal vibration data includes a normal vibration amplitude and a normal vibration frequency, the tangential vibration data includes a tangential vibration amplitude and a tangential vibration frequency, and determining a vibration factor of the driving motor based on the axial vibration data, the normal vibration data, and the tangential vibration data includes:
Respectively carrying out vector conversion on the axial vibration data, the normal vibration data and the tangential vibration data based on a preset vector conversion model to obtain a first feature vector, a second feature vector and a third feature vector; the first feature vector is a feature vector corresponding to the axial vibration data, the second feature vector is a feature vector corresponding to the normal vibration data, and the third feature vector is a feature vector corresponding to the tangential vibration data;
Calculating the similarity between the first feature vector and the second feature vector to obtain a first similarity, calculating the similarity between the second feature vector and the third feature vector to obtain a second similarity, and calculating the similarity between the first feature vector and the third feature vector to obtain a third similarity;
Calculating standard deviations among the first similarity, the second similarity and the third similarity, and determining a first dithering factor based on the standard deviations;
Selecting the maximum vibration amplitude of the axial vibration amplitude, the normal vibration amplitude and the tangential vibration amplitude, and determining a second shaking factor based on the maximum vibration amplitude;
Selecting the maximum vibration frequency of the axial vibration frequency, the normal vibration frequency and the tangential vibration frequency, and determining a third shaking factor based on the maximum vibration frequency;
And adding the first dithering factor, the second dithering factor and the third dithering factor to obtain the vibration factor.
7. A terminal device comprising a processor, a memory and a computer program stored on the memory and executable by the processor, wherein the computer program, when executed by the processor, implements the drive motor anti-shake control method according to any one of claims 1 to 5.
8. A computer-readable storage medium, wherein a computer program is stored on the computer-readable storage medium, wherein the computer program, when executed by a processor, implements the driving motor anti-shake control method according to any one of claims 1 to 5.
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN111435398A (en) * | 2019-01-15 | 2020-07-21 | Abb瑞士股份有限公司 | Damping torsional oscillations in a drive system |
| CN113119754A (en) * | 2019-12-31 | 2021-07-16 | 北京新能源汽车股份有限公司 | Torque control method, motor controller, vehicle control unit and electric vehicle |
| CN116961494A (en) * | 2023-09-19 | 2023-10-27 | 江西五十铃汽车有限公司 | Driving motor active anti-shake control method and system |
| WO2023209844A1 (en) * | 2022-04-27 | 2023-11-02 | 三菱電機株式会社 | Input/output device and steering measurement device |
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|---|---|---|---|---|
| CN111435398A (en) * | 2019-01-15 | 2020-07-21 | Abb瑞士股份有限公司 | Damping torsional oscillations in a drive system |
| CN113119754A (en) * | 2019-12-31 | 2021-07-16 | 北京新能源汽车股份有限公司 | Torque control method, motor controller, vehicle control unit and electric vehicle |
| WO2023209844A1 (en) * | 2022-04-27 | 2023-11-02 | 三菱電機株式会社 | Input/output device and steering measurement device |
| CN116961494A (en) * | 2023-09-19 | 2023-10-27 | 江西五十铃汽车有限公司 | Driving motor active anti-shake control method and system |
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