An anti-shaking control method based on torque compensation control

Abstract

The invention discloses an anti-vibration control method based on torque compensation control, which includes: after the electric drive system receives a torque command through a CAN bus, decoupling the working conditions according to the working conditions of the whole vehicle through a vehicle working condition separation module; Calculate the current real-time speed through the speed acquisition module, obtain the motor speed and position signal, and calculate the average filter value of the speed within a predetermined time period through the collected real-time speed; use the torque compensation calculation module to filter the speed according to the difference and average value of the instantaneous speed Calculate the compensation torque value based on the difference with the current speed; through the implementation of the torque output module, the size of the torque compensation value is limited according to the actual working conditions, and the demand torque is adjusted in real time through the feedback link. It can effectively perform torque compensation for the jitter caused by the instantaneous sudden change of the speed; decouple the working conditions, and apply the compensation torque to the demand torque through the feedback link to achieve the effect of suppressing jitter.

Description

An anti-shake control method based on torque compensation control technical field The invention belongs to the technical field of anti-shake, and relates to a kind of anti-shake control method based on torque compensation control. Background technique In recent years, the rapid development of new energy vehicles, among which pure electric vehicles are the most common and the most modern in new energy vehicles. Surface products are recognized by more and more customers; at the same time, it also puts forward higher and higher driving comfort for new energy vehicles requirements. There are many factors that affect the driving comfort of the vehicle, the most common of which is the gap between the motor and the reducer gear. Therefore, under different working conditions, the magnitude and direction of the force and the timing of gear kneading have a significant impact on the jitter of the whole vehicle. The shaking phenomenon of the whole vehicle generally occurs in th...

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Problems solved by technology

This method of eliminating vibration mainly has the following problems: 1. If the whole vehicle does not have a creep function and the gear gap is large, the instantaneous fluctuation of the shifting speed still has the phenomenon of gear hitting; 2. The electric and power generation state switching-kneading There is still a slight jitter when the force direction changes; 3. The size of the torque compensation affects the size and direction of the kneading torque, and there is a risk of overcompensation in special cases; 4. For the solution of the vehicle with a high degree of complex coupling, the jitter is more obvious after torque compensation

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