Vehicle jitter control method and device, drive control system and vehicle

Abstract

The embodiment of the disclosure discloses a vehicle jitter control method and device, a drive control system and a vehicle, relates to the technical field of vehicle control, and mainly aims to improve the effect of suppressing vehicle jitter. According to the main technical scheme, the method comprises the steps: filtering out the disturbance variable of a torque command in a first frequency band to obtain feedforward compensation torque; extracting a rotating speed jitter amount in a second frequency band in the current rotating speed of the driving motor through a low-pass filter and a high-pass filter, the rotating speed jitter amount being in phase synchronization with the current rotating speed; determining a feedback compensation torque based on the rotation speed jitter amount; and correcting the feedforward compensation torque by utilizing the feedback compensation torque, and controlling the driving motor to output the corrected feedforward compensation torque.

Description

technical field [0001] Embodiments of the present disclosure relate to the technical field of vehicle control, and in particular, to a vehicle shake control method and device, a drive control system, and a vehicle. Background technique [0002] As society has higher and higher requirements for environmental protection and energy conservation, new energy vehicles such as electric vehicles and hybrid vehicles have gradually become one of the main means of transportation for people to travel. New energy vehicles are usually driven by drive motors. When a new energy vehicle starts to accelerate or accelerates rapidly, a sudden change in the speed of the drive motor may cause the vehicle to vibrate, thereby reducing the user's driving experience. [0003] At present, in order to suppress the jitter of the vehicle, the usual method is to increase the step size of the torque command of the vehicle controller, and at the same time increase the torque compensation link to correct th...

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Problems solved by technology

However, this method has obvious defects, mainly due to two reasons: first, increasing the torque command step size of the vehicle controller will affect the acceleration performance of the vehicle, resulting in poor driving experience

Second, the low-pass filter is used in the torque compensation link. The speed of the driving motor filtered by the low-pass filter has an obvious phase delay, resulting in a deviation in the amount of speed jitter obtained after passing the low-pass filter. This deviation cannot reflect the real The amount of speed jitter, and finally the compensation torque obtained after compensating the torque command according to the amount of speed jitter also has a phase delay

Therefore, the existing vehicle shake suppression effect is poor, affecting driving comfort

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