Electric vehicle motor anti-shake control method and system, electric vehicle and storage medium

Abstract

The invention discloses an electric vehicle motor anti-shake control method and system, an electric vehicle and a storage medium. The method comprises the steps: obtaining a motor end rotating speed signal and a wheel end rotating speed signal; sending the motor end rotating speed signal processed by a first-stage filter to a second-stage filter, subtracting the motor end rotating speed signal processed by the second-stage filter from the motor end rotating speed signal processed by the first-stage filter to obtain a motor rotating speed fluctuation signal, and multiplying the motor rotating speed fluctuation signal by a coefficient K to obtain an anti-shake torque I; converting the wheel-end rotating speed signal into a motor rotating speed signal through a rotating speed conversion module, subtracting the converted motor rotating speed signal from the motor-end rotating speed signal processed by the first-stage filter to obtain a wheel-end motor-end rotating speed difference signal,and multiplying the wheel-end motor-end rotating speed difference signal by a coefficient L to obtain an anti-shake torque II; summing the first anti-shake torque and the second anti-shake torque, andobtaining the final anti-shake torque through an amplitude limiting module. Fine adjustment can be achieved, and adjustment is more accurate.

Description

technical field [0001] The invention belongs to the technical field of electric vehicle anti-shake control, and in particular relates to an electric vehicle motor anti-shake control method, system, electric vehicle and storage medium. Background technique [0002] The power system of an electric vehicle includes a vehicle control system, an electric drive system, and a power battery system. The vehicle control system converts the driving demand into a demand torque command and sends it to the electric drive system. The output torque drives the vehicle. The electric drive system is installed on the frame through the suspension, from the output shaft end of the motor through the reducer and half shaft to the wheel end, forming an under-damped elastic system. Due to the characteristics of the under-damped elastic system, attenuation vibration will occur, causing the vehicle to Vibration occurs, which affects comfort and increases energy consumption. [0003] The existing anti...

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Problems solved by technology

[0004] (1) Only consider the tooth surface impact when reversing, and do not consider the vibration problem under other working conditions, and the anti-shake effect is very limited

[0005] (2) By establishing the system transfer function method, but simplifying the elastic system into a second-order underdamped elastic system, the simplification has subjective judgment, which is different from the real system, and the parameters of the transfer function are not easy to obtain, which makes the anti-shake effect less effective. not ideal

[0006] (3) The speed fluctuation signal extraction method, the control target is that the speed fluctuation signal is equal to zero, which is too idealized, and the anti-shake torque calculation has a relatively large delay, and the anti-shake effect is not ideal

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