WO2024002106A1

WO2024002106A1 - Control method and apparatus for suppressing jitter of drive motor

Info

Publication number: WO2024002106A1
Application number: PCT/CN2023/102926
Authority: WO
Inventors: 张强; 霍海涛; 王德平; 刘元治; 梁赫奇; 刘上平
Original assignee: 中国第一汽车股份有限公司
Priority date: 2022-06-27
Filing date: 2023-06-27
Publication date: 2024-01-04
Also published as: CN115091969A

Abstract

A control method for suppressing jitter of a drive motor, comprising: acquiring power information of each power assembly in a vehicle (S101); acquiring a current torque capacity of the vehicle, the current torque capacity at least comprising a driving torque capacity and a recovery torque capacity (S102); and in response to a power assembly mode switching request, controlling the torque output of a drive motor on the basis of a required torque of the drive motor and the current torque capacity (S103). The control method can suppress generation and intensification of jitter of the drive motor by dynamically reserving the power capability of a battery and performing dynamic smoothing processing on the current torque capacity of the drive motor, so that the driving experience of a user when the capability of the drive motor reaches the limit is greatly improved. Also disclosed are a control apparatus for suppressing jitter of a drive motor, a storage medium, and an electronic device.

Description

A control method and device for suppressing vibration of a drive motor

Technical field

The present disclosure relates to the field of motor control, and in particular to a control method, device, storage medium and electronic equipment for suppressing jitter of a drive motor.

Background technique

In new energy vehicles with motors, according to the calculation formula of motor torque capacity, motor torque capacity = electric power capacity of the motor system/motor speed (in some cases, conversion efficiency also needs to be considered). From the above formula, it can be seen that when the motor is at constant power When in the zone, the size of the motor torque capacity will be affected by changes in the electric power capacity of the motor system and the motor speed. That is to say, if the electric power capacity of the motor system or the motor speed fluctuates, the motor torque capacity will also fluctuate accordingly. When the motor When the demand torque ≥ the motor torque capacity, the VCU's demand for motor torque will fluctuate due to the influence of the motor torque capacity. When the motor responds to the torque demand, it will cause fluctuations in the motor speed, and this fluctuation in motor speed will intensify the motor torque capacity. , that is, the fluctuation of torque demand, which causes a chain reaction and causes the entire vehicle to produce vibration problems that are unacceptable to users.

Contents of the invention

The purpose of the embodiments of the present disclosure is to provide a control method, device, storage medium and electronic device for suppressing the jitter of a drive motor, so as to solve the problems existing in the existing technology.

In order to solve the above technical problems, embodiments of the present disclosure adopt the following technical solutions:

A control method for suppressing vibration of a drive motor, which includes:

Obtain power information for each powertrain in the vehicle;

Obtaining the current torque capability of the vehicle, the current torque capability at least includes driving torque capability and recovery torque capability;

In response to a powertrain mode switching request, a torque output of the drive motor is controlled based on a demand torque of the drive motor and the current torque capability.

In some embodiments, the obtaining the current torque capability of the vehicle, the torque capability At least it includes driving torque capability and recovery torque capability, including:

Obtain the current powertrain mode of the vehicle;

determining the current power capability of the drive motor based on the current powertrain mode and reserved power;

A current torque capability of the drive motor is determined based on the current power capability.

In some embodiments, the powertrain mode includes at least a pure electric mode, a series mode, and a parallel mode.

In some embodiments, controlling the torque output of the drive motor based on a demand torque of the drive motor and the current torque capability in response to a powertrain mode switching request includes:

In response to the powertrain mode switching request, determine whether the vehicle enters dynamic smoothing processing;

When the vehicle enters the dynamic smoothing process, obtain the difference between the current torque capability and the average torque capability;

Based on the difference, the torque output of the drive motor is controlled.

In some embodiments, determining whether the vehicle enters dynamic smoothing processing includes:

When the required torque of the drive motor is less than the current torque capacity and reaches a predetermined threshold, it is determined that the vehicle does not enter the dynamic smoothing process; and/or

When the change of the current torque capacity within the preset time is not monotonic, it is determined that the vehicle enters the dynamic smoothing process.

In some embodiments, controlling the torque output of the drive motor based on the difference includes:

When the difference is positive, perform filtering processing on the difference, and determine the torque capacity limit value based on the filtered difference and the torque capacity average;

When the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average.

In some embodiments, it also includes:

When the vehicle does not enter dynamic smoothing processing, the torque output of the drive motor is controlled based on the current torque capability.

An embodiment of the present disclosure also provides a control device for suppressing vibration of a drive motor, which includes:

The power information acquisition module is used to obtain the power information of each powertrain in the vehicle;

The torque capability acquisition module acquires the current torque capability of the vehicle, and the current torque capability Force includes at least driving torque capability and recovery torque capability;

A control module for controlling a torque output of the drive motor based on a demand torque of the drive motor and the current torque capability in response to a powertrain mode switching request.

The present disclosure also provides a storage medium that stores a computer program, and when the computer program is executed by a processor, the steps of any of the above methods are implemented.

The present disclosure also provides an electronic device, which at least includes a memory and a processor. A computer program is stored on the memory. The processor implements the steps of any of the above methods when executing the computer program on the memory.

Compared with the prior art, in the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, when calculating the power capacity of the drive motor, the power of the power battery is calculated. The capacity is dynamically reserved to avoid jitter problems caused by fluctuations in the power capacity of the drive motor. At the same time, the calculated current torque capacity of the drive motor is dynamically smoothed to avoid the situation where the power capacity is stable. Resonant jitter caused by the mutual fluctuation of torque and speed of the drive motor.

Embodiments of the present disclosure can suppress the generation and intensification of jitter of the drive motor by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's ability to drive the motor. Driving experience under extreme conditions.

Description of drawings

In order to explain the embodiments of the present disclosure or the technical solutions in the prior art more clearly, the drawings needed to be used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings in the following description are only These are some embodiments recorded in this disclosure. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without exerting any creative effort.

Figure 1 is a schematic structural diagram of a new energy vehicle in an embodiment of the present disclosure;

Figure 2 is a schematic diagram of the steps of a control method for suppressing vibration of a drive motor in an embodiment of the present disclosure;

Figure 3 is a schematic diagram of the steps of a control method for suppressing vibration of a drive motor in an embodiment of the present disclosure;

Figure 4 is a schematic diagram of the steps of a control method for suppressing vibration of a drive motor in an embodiment of the present disclosure;

FIG. 5 is a schematic diagram of the steps of a control method for suppressing vibration of a drive motor in an embodiment of the present disclosure.

Reference signs:
1-Drive motor; 2-Power battery; 3-Engine; 4-Generator; 5-Battery management system;
6-Engine control system; 7-Generator control unit; 8-Drive motor control unit; 9-Vehicle controller.

Detailed ways

Various aspects and features of the disclosure are described herein with reference to the accompanying drawings.

It will be understood that various modifications may be made to the embodiments claimed herein. Therefore, the above description should not be viewed as limiting, but merely as examples of embodiments. Other modifications within the scope and spirit of this disclosure will occur to those skilled in the art.

The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the disclosure and, together with the general description of the disclosure given above and the detailed description of the embodiments given below, serve to explain the disclosure. principle.

These and other features of the present disclosure will become apparent from the following description of preferred forms of embodiments given as non-limiting examples with reference to the accompanying drawings.

It should also be understood that, while the disclosure has been described with reference to a few specific examples, those skilled in the art will be able to undoubtedly implement many other equivalent forms of the disclosure having the characterizing features recited in the claims and thus located within the scope of this invention. within a limited scope of protection.

The above and other aspects, features and advantages of the present disclosure will become more apparent in view of the following detailed description when taken in conjunction with the accompanying drawings.

Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the claimed embodiments are merely examples of the disclosure, which can be implemented in various ways. Well-known and/or repeated functions and structures have not been described in detail to avoid obscuring the disclosure with unnecessary or redundant detail. Therefore, specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach one skilled in the art to variously utilize the present invention in substantially any suitable detailed structure. public.

This specification may use the phrases "in one embodiment," "in another embodiment," "in yet another embodiment," or "in further embodiments," which may each refer to the same thing in accordance with the present disclosure. or one or more of the different embodiments.

The first embodiment of the present disclosure provides a control method for suppressing the jitter of a drive motor. The control method here can be used for new energy vehicles with drive motors. Figure 1 shows a general new energy vehicle and the control of a new energy vehicle. Structural diagram of the device, in which the new energy vehicle It may be a hybrid vehicle, which includes a drive motor 1, a power battery 2, an engine 3 and a generator 4. The drive motor 1, the engine 3 and the generator 4 here serve as the main power assembly. The engine 3 and the drive motor 1 are connected through a clutch. Of course, the new energy vehicles here can also be pure electric vehicles, etc.

The new energy vehicle here also includes a corresponding control device, which includes a battery management system (BMS) 5, an engine management system (EMS) 6, a generator control unit (GMCU) 7, and a motor control unit (TMCU). 8 and vehicle controller (VCU) 9, wherein the battery management system 5, the engine management system 6, the generator management unit 7, and the motor control unit 8 belong to each of the powertrains. The powertrain status and a device for executing control instructions. The vehicle controller 9 is a device used for calculating control logic and issuing control instructions. The above structure is the main structure of a general new energy vehicle. In the above structure, except for Structures other than the engine 3, the generator 4, the engine management system 6, and the generator management unit 7 can also be applied to other types of vehicles such as pure electric vehicles.

Further, the main functions of each component in the above-mentioned control device are as follows: the battery management system 5 is used to calculate the charge and discharge power capabilities of the power battery 2 and report it to the vehicle controller 9 in real time; The engine management system 6 is used to calculate the torque capacity of the engine 3 and report it to the vehicle controller 9 in real time. It is also used to control the engine 3 to execute the torque or speed requirements of the vehicle controller 9, and Report the actual torque and actual speed of the engine 3 to the vehicle controller 9; the generator management unit 7 is used to calculate the torque capacity of the generator 4 and report it to the vehicle controller in real time 9. It is also used to control the generator 4 to execute the torque or speed requirements of the vehicle controller 9, and report the actual torque and actual speed of the generator 4 to the vehicle controller 9; so The motor control unit 8 is used to calculate the torque capacity of the driving motor 1 and report it to the vehicle controller 9 in real time, and is also used to control the driving motor 1 to execute the torque or speed of the vehicle controller 9 demand, and report the actual torque and actual speed of the drive motor 1 to the vehicle controller 9; the vehicle controller 9 is used to respond to the battery management system 5, the engine management system 6, and the The data reported by the generator management unit 7 and the motor control unit 8 implement the method logic involved in the embodiment of the present disclosure, and issue control instructions to the corresponding battery management system 5, the engine management system 6, and the Generator management unit 7 and the motor control unit 8 .

The first embodiment of the present disclosure relates to a control method for suppressing vibration of a drive motor, as shown in Figure 2, including:

S101, obtain the power information of each powertrain in the vehicle.

In this step, power information for each powertrain in the vehicle is obtained. The powertrain here refers to any one of the engine 3, the generator 4, the drive motor 1, etc. Specifically, first, the torque capacity, actual torque and actual rotational speed reported by the controller of each powertrain such as the engine 3, the generator 4, the drive motor 1 and so on are obtained.

Further, for the power information, the driving electric power and actual electric power of the engine 3, the driving electric power, the recovered electric power and the actual electric power of the generator 4, and the driving electric power of the driving motor 1 are respectively calculated through the calculation formula of power = torque × rotation speed. Driven electric power, recuperated electric power and actual electric power, here the operating efficiency of each said powertrain should be considered in the process of calculating the electric power of each said powertrain.

S102. Obtain the current torque capability of the vehicle, which at least includes driving torque capability and recovery torque capability.

After obtaining the power information of each powertrain in the vehicle through the above-mentioned step S101, in this step, the current torque capacity of the vehicle is obtained, and the current torque capacity includes at least the driving torque capacity and the recovery torque capacity. Specifically, the power capability of the drive motor is determined based on the current powertrain mode of the vehicle, and the torque capability of the drive motor is further determined based on the power capability of the drive motor. As shown in Figure 3, it specifically includes:

S201. Obtain the current powertrain mode of the vehicle.

In this step, the current powertrain mode of the vehicle is obtained. Specifically, for new energy vehicles, especially hybrid vehicles, the powertrain mode here includes a pure electric mode, a series mode and a parallel mode. The pure electric mode here means that the engine 3 is not started. state, the series mode here means that the engine 3 is in a starting state and the clutch is in a disconnected state, and the parallel mode here means that the engine 3 is in a starting state and the clutch is in an engaged state.

S202: Determine the current power capability of the drive motor based on the current powertrain mode and reserved power.

After obtaining the current powertrain mode of the vehicle through the above step S201, in this step, the current power capacity of the drive motor is determined based on the current powertrain mode and reserved power, where the power capacity At least include drive power capability and recovery power capability. Specifically, when the current powertrain mode is the pure electric mode, in order to ensure that the power battery 2 has sufficient power capacity for the engine 3 to start, the power battery 2 needs to be A certain amount of reservation is made for the discharge power capacity of Capacity - accessory power consumption - starting power reserve value of the engine 3 ), thereby obtaining the driving power capability of the driving motor 1 itself.

When the current powertrain mode is a series mode, in this mode, the engine 3 drives the generator 4 to generate electricity. The purpose of generating electricity here is on the one hand to be used by the drive motor 1 and on the other hand. It is to maintain the balance of the power battery 2. Since the demand of the drive motor 1 and the power of the power battery 2 are changing all the time, there will be certain fluctuations in the generated power of the generator 4. For example, when the driver When the demand power gradually increases from a certain steady state, in order to quickly increase the power of the engine 3, the power of the generator 4 at this time will first decrease and then increase, which is the so-called generator speed regulation process. In order to ensure this The fluctuation does not affect the power capacity of the driving motor 1. It is necessary to reserve part of the charging and discharging power of the power battery 2 for generator speed regulation. Taking the driving power as an example, the driving power of the driving motor 1 at this time The capability is: the driving power capability of the driving motor 1 = min (the discharge power capability of the power battery 2 - the power consumption of accessories - the generator speed regulation reserved power value + the actual electrical power of the engine 3), thereby obtaining the desired The driving power capability of the driving motor 1 itself is described. The generator speed regulation reserve power value in the above formula can be obtained by looking up the table according to the difference between the target speed and the actual speed of the engine 3 .

Since the response of the engine 3 is slower than that of the drive motor 1, using the actual electrical power of the engine 3 instead of the actual electrical power of the generator 4 will make the calculated drive power of the drive motor 1 Capacity does not fluctuate rapidly. However, since the actual electric power of the engine 3 is not the actual electric power generated by the generator 4, the calculated driving power capability of the drive motor 1 may be inaccurate. At this time, the adjustment of the generator 4 The speed reserve power plays a role, because the actual electric power of the generator 4 fluctuates up and down the actual electric power of the engine 3, that is, speed regulation. This fluctuation range is the speed regulation reserve power, so the drive Although the motor 1 is used according to the actual electric power of the engine 3, if it is used more or less, it will be supplemented by the power reserved by the power battery 2, avoiding overcharge and overdischarge of the power battery 2, and at the same time greatly The power capability fluctuation of the drive motor 1 is slowed down.

When the current powertrain mode is the parallel mode, in this mode, the engine 3 directly participates in driving, and the generator 4 determines whether to generate electricity according to the power of the power battery 2, and the amount of power generated. Taking the driving power capability as an example, at this time, the driving power capability of the driving motor 1 is: the driving power capability of the driving motor 1 = min (the power of the power battery 2 Discharge power capacity - Accessory power consumption - Generator speed regulation reserved power value - Actual electric power of the generator 4 (power generation is negative)), thereby obtaining the driving power capacity of the driving motor 1 itself. Among them, the generator 4 will not perform transient speed regulation in this mode, so the actual electric power of the generator 4 only needs to be appropriately filtered. The reason why generator speed regulation reservation is still required in this mode is to ensure that there is enough power for generator speed regulation when the mode is switched from parallel mode to series mode.

In addition, the recuperation power capability here refers to the driving power capability obtained respectively in different current powertrain modes, which will not be described again here.

S203: Determine the current torque capability of the drive motor based on the current power capability.

After the current power capability of the drive motor is determined based on the current powertrain mode through the above step S202, in this step, the current torque capability of the drive motor is determined based on the current power capability. Specifically, after obtaining the power capability, based on the calculation formula torque = power ÷ rotation speed, the torque capability of the drive motor 1 is obtained based on the power capability of the drive motor 1 , where the torque capability at least includes drive torque capacity and recuperative torque capability.

S103. In response to the powertrain mode switching request, control the torque output of the drive motor based on the required torque of the drive motor and the current torque capability.

After obtaining the current torque capability of the vehicle through the above step S102, in this step, in response to the powertrain mode switching request, the torque output of the drive motor is controlled based on the required torque of the drive motor and the current torque capability. . Specifically, in this step, in response to the powertrain mode switching request, the demand torque of the drive motor 1 calculated by the vehicle controller 9 is based on the calculated current torque of the drive motor 1 After the capability is limited, it is sent to the motor control unit 8, thereby driving the motor control unit 8 to execute corresponding control instructions. The powertrain mode switching request here can be formed based on any method. The switching request here is mainly generated when the required torque of the drive motor reaches the torque capacity of the drive motor. Specifically, as shown in Figure 4, it includes:

S301. In response to a powertrain mode switching request, determine whether the vehicle enters dynamic smoothing processing.

In this step, in response to the powertrain mode switching request, it is determined whether the vehicle enters dynamic smoothing processing. Specifically, the way to determine whether the vehicle enters dynamic smoothing processing is, for example, if the current torque capacity of the drive motor 1 changes within a preset time is not monotonous, for example, it falls and then rises, then it is judged that the vehicle needs to enter dynamic smoothing processing; in addition, for example, if the required torque of the drive motor 1 is less than the torque capacity of the drive motor 1 and reaches a certain value, and This value can be obtained through calibration, then it is judged that the vehicle does not need to enter dynamic smoothing processing, wherein the priority of the condition for judging not to enter dynamic smoothing processing may be higher than the condition for entering dynamic smoothing processing.

S302: After the vehicle enters the dynamic smoothing process, obtain the difference between the current torque capability and the average torque capability.

After determining whether the vehicle enters the dynamic smoothing process in response to the powertrain mode switching request through the above step S301, in this step, when the vehicle enters the dynamic smoothing process, the current torque capacity and torque are obtained The difference between ability averages. Specifically, when the drive motor 1 enters the dynamic smoothing process, first obtain the average torque capacity of the drive motor 1 in the past predetermined time period, where the predetermined time period may be the past N cycles; Further, the difference between the current torque capacity of the drive motor 1 and the average torque capacity is calculated and obtained.

In addition, when it is determined that the vehicle does not enter the dynamic smoothing process, the obtained current torque capacity of the drive motor 1 is directly output to control the torque output of the drive motor 1 .

S303: Based on the difference, control the torque output of the drive motor.

After the vehicle enters the dynamic smoothing process through the above step S302, after obtaining the difference between the current torque capability and the average torque capability, in this step, based on the difference, the driving motor is controlled. Torque output. Specifically, in this step, it is necessary to perform certain filtering restrictions on the calculated current torque capability, including the driving torque capability and the recovery torque capability, in order to suppress the generation of jitter of the drive motor 1 . Specifically, as shown in Figure 5, it includes:

S401: When the difference value is positive, filter the difference value, and determine the torque capacity limit value based on the filtered difference value and the torque capacity average value.

In this step, when the difference between the current torque capacity and the torque capacity average is positive, filtering is performed on the difference, based on the filtered difference and the torque capacity average The value determines the torque capability limit value. Specifically, the filtering process here preferably adopts a slope limiting method. Since the various working modes of the powertrain will be switched in real time while the vehicle is driving, in order to ensure that the final calculated power capacity of the drive motor 1 is in the powertrain mode To achieve a smooth transition during the mode switching process, it is necessary to limit the slope of the mode switching process.

To this end, the filtering here can be to limit the slope of the difference, and the slope limit can be a one-dimensional table queried based on the difference. The greater the difference, the greater the change rate. That is, the greater the slope, the slope is limited to ensure that the change rate is within a certain range. Finally, the filtered difference value and the torque capability average value are superimposed to determine the torque capability limit value, thereby achieving control of the output torque of the drive motor 1 .

S402: When the difference is negative, determine a torque capacity limit value based on the difference and the torque capacity average value.

In this step, when the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average value. Specifically, when the difference between the current torque capacity and the average torque capacity is negative, the difference and the average torque capacity are directly superimposed to calculate the torque output of the drive motor 1 Take control.

In the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, the power capacity of the power battery is dynamically reserved when calculating the power capacity of the drive motor to avoid Due to the jitter problem caused by the fluctuation of the power capacity of the drive motor, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid the torque and rotation speed of the drive motor interacting with each other when the power capacity is stable. Resonant jitter caused by fluctuations.

The second embodiment of the present disclosure relates to a control device for suppressing jitter of a drive motor, which includes a power information acquisition module, a torque capability acquisition module and a control module, wherein,

a torque capability acquisition module that acquires the current torque capability of the vehicle, where the current torque capability at least includes driving torque capability and recovery torque capability;

The torque capability acquisition module includes:

A mode acquisition unit, used to acquire the current powertrain mode of the vehicle;

a power capability determination unit configured to determine the current power capability of the drive motor based on the current powertrain mode and reserved power;

A torque capability determination unit for determining a current torque capability of the drive motor based on the current power capability.

Further, the powertrain mode includes at least a pure electric mode, a series mode and a parallel mode.

The control module includes:

A determination unit configured to determine whether the vehicle enters dynamic smoothing processing in response to a powertrain mode switching request;

A difference acquisition unit configured to acquire the difference between the current torque capability and the average torque capability when the vehicle enters the dynamic smoothing process;

An output control unit is used to control the torque output of the drive motor based on the difference.

The output control unit is specifically used for:

The control module is also used to:

Further, the filtering process is a method of limiting the slope of the difference.

The third embodiment of the present disclosure provides a storage medium. The storage medium is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided by the first embodiment of the present disclosure is implemented, including the following steps: S11 to S13:

S11, obtain the power information of each powertrain in the vehicle;

S12, obtain the current torque capability of the vehicle, which at least includes driving torque capability and recovery torque capability;

S13. In response to the powertrain mode switching request, control the torque output of the drive motor based on the required torque of the drive motor and the current torque capability.

Further, when the computer program is executed by the processor, other methods provided by the first embodiment of the present disclosure are implemented.

The fourth embodiment of the present disclosure provides an electronic device. The electronic device at least includes a memory and a processor. A computer program is stored on the memory. The processor implements the method provided by any embodiment of the present disclosure when executing the computer program on the memory. . Exemplarily, the electronic device computer program steps are as follows S21 to S23:

S21, obtain the power information of each powertrain in the vehicle;

S22, obtain the current torque capability of the vehicle, which at least includes driving torque capability and recovery torque capability;

S23. In response to the powertrain mode switching request, control the torque output of the drive motor based on the required torque of the drive motor and the current torque capability.

Further, the processor also executes the computer program in the above third embodiment

In the embodiment of the present disclosure, when the required torque of the driving motor reaches the When calculating the torque capacity, for example, when calculating the power capacity of the drive motor, the power capacity of the power battery is dynamically reserved to avoid the jitter problem caused by the fluctuation of the power capacity of the drive motor. At the same time, the calculated power capacity of the drive motor is also calculated. The current torque capacity of the drive motor is dynamically smoothed to avoid resonance jitter caused by mutual fluctuations of torque and rotational speed of the drive motor when the power capacity is stable.

The above-mentioned storage medium may be included in the above-mentioned electronic device; it may also exist separately without being assembled into the electronic device.

The above-mentioned storage medium carries one or more programs. When the above-mentioned one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends at least two Internet Protocol addresses to the node evaluation device. A node evaluation request, wherein the node evaluation device selects an Internet Protocol address from at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an IP address in the content distribution network edge node.

Alternatively, the storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; receives a node evaluation request from at least two Internet Protocol addresses; Among the protocol addresses, an Internet Protocol address is selected; the selected Internet Protocol address is returned; wherein the received Internet Protocol address indicates an edge node in the content distribution network.

Computer program code for performing the operations of the present disclosure may be written in one or more programming languages, including but not limited to object-oriented programming languages—such as Java, Smalltalk, C++, and Includes conventional procedural programming languages—such as "C" or similar programming languages. The program code may execute entirely on the passenger computer, partly on the passenger computer, as a stand-alone software package, partly on the passenger computer and partly on a remote computer or entirely on the remote computer or server. In situations involving a remote computer, the remote computer may be connected to the passenger computer through any kind of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., using an Internet service provider). Internet connection).

It should be noted that the above-mentioned storage medium of the present disclosure may be a computer-readable signal medium or a computer-readable storage medium, or any combination of the above two. The computer-readable storage medium may be, for example, but is not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus or device, or any combination thereof. More specific examples of computer readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard drive, random access memory (RAM), read only memory (ROM), removable Programmed read-only memory (EPROM or flash memory), fiber optics, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above. In this disclosure, a computer-readable storage medium may be any tangible medium that contains or stores a program for use by or in connection with an instruction execution system, apparatus, or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in baseband or as part of a carrier wave, carrying computer-readable program code therein. Such propagated data signals may take many forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. A computer-readable signal medium may also be any storage medium other than computer-readable storage media that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. The program code contained on the storage medium can be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

The flowcharts and block diagrams in the figures illustrate the architecture, functionality, and operations of possible implementations of systems, methods, and computer program products according to various embodiments of the present disclosure. In this regard, each block in the flowchart or block diagram may represent a module, segment, or portion of code that contains one or more logic functions that implement the specified executable instructions. It should also be noted that, in some alternative implementations, the functions noted in the block may occur out of the order noted in the figures. For example, two blocks shown one after another may actually execute substantially in parallel, or they may sometimes execute in the reverse order, depending on the functionality involved. It will also be noted that each block of the block diagram and/or flowchart illustration, and combinations of blocks in the block diagram and/or flowchart illustration, can be implemented by special purpose hardware-based systems that perform the specified functions or operations. , or can be implemented using a combination of specialized hardware and computer instructions.

The units involved in the embodiments of the present disclosure can be implemented in software or hardware. Among them, the name of the unit does not constitute a right limitations of the unit itself.

The functions described above herein may be performed, at least in part, by one or more hardware logic components. For example, and without limitation, exemplary types of hardware logic components that may be used include: Field Programmable Gate Arrays (FPGAs), Application Specific Integrated Circuits (ASICs), Application Specific Standard Products (ASSPs), Systems on Chips (SOCs), Complex Programmable Logical device (CPLD) and so on.

In the context of this disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in connection with an instruction execution system, apparatus, or device. The machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. Machine-readable media may include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, devices or devices, or any suitable combination of the foregoing. More specific examples of machine-readable storage media would include one or more wire-based electrical connections, laptop disks, hard drives, random access memory (RAM), read only memory (ROM), erasable programmable read only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination of the above.

The above description is only a description of the preferred embodiments of the present disclosure and the technical principles applied. Those skilled in the art should understand that the disclosure scope involved in the present disclosure is not limited to technical solutions composed of specific combinations of the above technical features, but should also cover solutions composed of the above technical features or without departing from the above disclosed concept. Other technical solutions formed by any combination of equivalent features. For example, a technical solution is formed by replacing the above features with technical features with similar functions disclosed in this disclosure (but not limited to).

Furthermore, although operations are depicted in a specific order, this should not be understood as requiring that these operations be performed in the specific order shown or performed in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Likewise, although several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of the present disclosure. Certain features that are described in the context of separate embodiments can also be implemented in combination in a single embodiment. Conversely, various features that are described in the context of a single embodiment can also be implemented in multiple embodiments separately or in any suitable subcombination.

Although the subject matter has been described in language specific to structural features and/or methodological acts, it is to be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or acts described above. Rather, the specific features and acts described above are merely intended to implement the claimed claims. Example form of book request.

Multiple embodiments of the present disclosure have been described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure. These variations and modifications All should fall within the scope of protection claimed by this disclosure.

Claims

A control method for suppressing the vibration of a drive motor, which is characterized by including:

Obtain power information for each powertrain in the vehicle;

Obtaining the current torque capability of the vehicle, the current torque capability at least includes driving torque capability and recovery torque capability;

In response to a powertrain mode switching request, a torque output of the drive motor is controlled based on a demand torque of the drive motor and the current torque capability.
The control method according to claim 1, characterized in that said obtaining the current torque capability of the vehicle, said torque capability at least includes driving torque capability and recovery torque capability, including:

Obtain the current powertrain mode of the vehicle;

determining the current power capability of the drive motor based on the current powertrain mode and reserved power;

A current torque capability of the drive motor is determined based on the current power capability.
The control method according to claim 2, characterized in that the powertrain mode includes at least a pure electric mode, a series mode and a parallel mode.
The control method according to claim 1, characterized in that, in response to a powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capability includes: :

In response to the powertrain mode switching request, determine whether the vehicle enters dynamic smoothing processing;

After the vehicle enters the dynamic smoothing process, obtain the difference between the current torque capability and the average torque capability;

Based on the difference, the torque output of the drive motor is controlled.
The control method according to claim 4, wherein the determining whether the vehicle enters dynamic smoothing processing includes:

When the required torque of the drive motor is less than the current torque capacity and reaches a predetermined threshold, it is determined that the vehicle does not enter the dynamic smoothing process; and/or

When the change of the current torque capacity within the preset time is not monotonic, it is determined that the vehicle enters the dynamic smoothing process.
The control method according to claim 4, characterized in that, based on the difference, controlling the torque output of the drive motor includes:

When the difference is positive, perform filtering processing on the difference, and determine the torque capacity limit value based on the filtered difference and the torque capacity average;

When the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average.
The control method according to claim 4, further comprising:

When the vehicle does not enter dynamic smoothing processing, the torque output of the drive motor is controlled based on the current torque capability.
A control device for suppressing the vibration of a drive motor, which is characterized in that it includes:

The power information acquisition module is used to obtain the power information of each powertrain in the vehicle;

a torque capability acquisition module that acquires the current torque capability of the vehicle, where the current torque capability at least includes driving torque capability and recovery torque capability;

A control module for controlling a torque output of the drive motor based on a demand torque of the drive motor and the current torque capability in response to a powertrain mode switching request.
A storage medium storing a computer program, characterized in that when the computer program is executed by a processor, the steps of the method described in any one of claims 1 to 7 are implemented.
An electronic device, including at least a memory and a processor, with a computer program stored on the memory, characterized in that the processor implements any one of claims 1 to 7 when executing the computer program on the memory. Describe the steps of the method.