Method and device for restraining vehicle shaking, electronic equipment and storage medium

Abstract

The invention discloses a method and device for restraining vehicle shaking, electronic equipment and a storage medium. The method comprises the steps that vehicle operation data are acquired; the vehicle operation data comprises an initial torque instruction and a current motor rotating speed; the compensation torque of the vehicle in the torque switching process is determined according to the initial torque instruction and the current motor rotating speed; according to rotating speed change data between the current motor rotating speed and the historical motor rotating speed of the vehicle, compensation torque adjusting parameters are determined; and then performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque instruction. As a result, the quality of suppressing vehicle shake is improved.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle vibration control, and in particular to a method, device, electronic equipment and storage medium for suppressing vehicle vibration. Background Art

[0002] With the global emphasis on environmental protection and sustainable development, the international market for electric vehicles is expanding, and the strong market demand for electric vehicles has further promoted the technological development of electric vehicles. Among them, improving the riding comfort of electric vehicles is one of the key points of technological development. The riding comfort of electric vehicles is affected by vehicle vibration. Due to the large gap between the transmission gears of electric vehicles, the transmission gears will knock against each other when the motor torque fluctuates, resulting in a sudden change in the motor speed and under-damped oscillation, causing vehicle vibration, which seriously affects the riding comfort of electric vehicles.

[0003] The current method of suppressing vehicle vibration mainly uses a torque parameter regulator to compensate for torque, reduce the impact force when the torque passes through zero, eliminate under-damped oscillations, and thus suppress vehicle vibration. However, the torque parameter regulator acts on the speed system, which is prone to DC bias, and the output vibration suppression compensation also has a DC component. The compensation torque of the torque parameter regulator acts on the motor, and the actual torque of the motor will deviate from the torque command to a certain extent, thereby affecting the accuracy of the torque force and having a poor effect on suppressing vehicle vibration. Summary of the invention

[0004] The main technical problem solved by the present application is to provide a method, device, electronic device and storage medium for suppressing vehicle vibration, which can improve the quality of suppressing vehicle vibration.

[0005] To solve the above technical problems, a technical solution adopted in the present application is: providing a method for suppressing vehicle vibration, the method comprising: acquiring vehicle operation data; the vehicle operation data comprising an initial torque command and a current motor speed; determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed; determining a compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle; performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque command.

[0006] In one embodiment, the step of determining the compensation torque adjustment parameter based on the speed change data between the current motor speed and the historical motor speed of the vehicle includes: acquiring the speed change data between the current motor speed and the historical motor speed of the vehicle; and determining the compensation torque adjustment parameter based on the speed range in which the speed change data is located.

[0007] In one embodiment, the step of obtaining the speed change data between the current motor speed and the historical motor speed of the vehicle includes: obtaining the current motor acceleration based on the difference between the current motor speed and the historical motor speed of the vehicle; performing amplitude weakening processing on the current motor acceleration to obtain the motor acceleration after amplitude weakening; performing phase delay processing on the motor acceleration after amplitude weakening to obtain the speed change data.

[0008] In one embodiment, the step of determining the compensation torque adjustment parameter based on the speed range in which the speed change data is located includes: in response to the speed change data being in a first preset speed range, determining the compensation torque adjustment parameter corresponding to the speed change data from a preset adjustment parameter mapping table based on the speed change data, the preset adjustment parameter mapping table including a correspondence between preset speed change data and preset compensation torque adjustment parameter; in response to the speed change data being in a second preset speed range, using the preset adjustment parameter as the compensation torque adjustment parameter.

[0009] In one embodiment, the step of determining the compensation torque of the vehicle during the torque switching process based on the initial torque command and the current motor speed includes: performing speed filtering processing on the current motor speed to obtain a speed fluctuation amount; determining a target configuration parameter of a torque parameter regulator based on a comparison result between the current motor speed and a preset speed range; inputting the speed fluctuation amount into the torque parameter regulator configured with the target configuration parameter to obtain a torque switching compensation amount; and derating the torque switching compensation amount according to the initial torque command to obtain the compensation torque of the vehicle during the torque switching process.

[0010] In one embodiment, the step of determining the target configuration parameter of the torque parameter regulator based on the comparison result between the current motor speed and the preset speed range includes: in response to the comparison result indicating that the current motor speed is within the preset speed range, determining the first preset configuration parameter as the target configuration parameter of the torque parameter regulator; in response to the comparison result indicating that the current motor speed is not within the preset speed range, determining the second preset configuration parameter as the target configuration parameter of the torque parameter regulator; the second preset configuration parameter is greater than the first preset configuration parameter.

[0011] In one embodiment, the initial torque instruction includes an initial torque value, and the step of performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain the target torque instruction includes: determining the product of the compensation torque adjustment parameter and the compensation torque as the target compensation amount; determining the difference between the initial torque value and the target compensation amount as the target torque value; and determining the target torque instruction based on the target torque value.

[0012] To solve the above technical problems, another technical solution adopted in the present application is: a device for suppressing vehicle vibration is provided, the device comprising: an acquisition module for acquiring vehicle operation data; the vehicle operation data comprises an initial torque command and a current motor speed; a compensation torque acquisition module for determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed; a compensation torque adjustment parameter acquisition module for determining the compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle; a target torque command acquisition module for performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque command.

[0013] To solve the above technical problems, another technical solution adopted in the present application is: to provide an electronic device, including a memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the above method for suppressing vehicle vibration.

[0014] In order to solve the above technical problems, another technical solution adopted by the present application is: to provide a computer-readable storage medium, including: storing program data, and the program data is used to implement the above method for suppressing vehicle vibration when executed by a processor.

[0015] The beneficial effects of the present application are as follows: obtaining vehicle operation data; the vehicle operation data includes an initial torque command and a current motor speed; determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed; determining the compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle; and then performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque command. On the one hand, torque compensation is performed on the torque switching of the vehicle to suppress the vibration of the vehicle, and on the other hand, the compensation torque is adjusted to further improve the suppression effect of the vehicle vibration, thereby improving the quality of suppressing the vehicle vibration. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the drawings required for use in the embodiments are briefly introduced below. Obviously, the drawings described below are only some embodiments of the present application. For those of ordinary skill in the art, other drawings can be obtained based on these drawings without creative work, among which:

[0017] Figure 1 is a flowchart of an exemplary embodiment of a method for suppressing vehicle vibration shown in the present application;

[0018] Figure 2 yes Figure 1 A flow chart of an exemplary embodiment of step S130 in a method for suppressing vehicle vibration is shown;

[0019] Figure 3 yes Figure 1 A flow chart of an exemplary embodiment of step S120 in a method for suppressing vehicle vibration is shown;

[0020] Figure 4 yes Figure 1 A flow chart of an exemplary embodiment of step S140 in a method for suppressing vehicle vibration is shown;

[0021] Figure 5 is a curve diagram of vehicle trembling suppression test data of an exemplary embodiment shown in the present application;

[0022] Figure 6 is a curve diagram of vehicle trembling suppression test data of another exemplary embodiment shown in the present application;

[0023] Figure 7 is a curve diagram of vehicle vibration suppression test data obtained by testing using the method for suppressing vehicle vibration proposed in the present application;

[0024] Figure 8 is a block diagram of an exemplary embodiment of a device for suppressing vehicle vibration shown in the present application;

[0025] Fig. 9 A block diagram of another exemplary embodiment of a device for suppressing vehicle vibration shown in the present application;

[0026] Fig.10 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application;

[0027] Fig.11 It is a structural schematic diagram of an embodiment of a computer-readable storage medium provided by the present application. DETAILED DESCRIPTION

[0028] The technical solutions in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. It will be appreciated that the specific embodiments described herein are only used to explain the present application, rather than to limit the present application. It should also be noted that, for ease of description, only some but not all structures related to the present application are shown in the drawings. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in the art without making creative work are within the scope of protection of the present application.

[0029] First of all, it should be noted that with the global emphasis on environmental protection and sustainable development, the international market for electric vehicles is expanding, and the strong market demand for electric vehicles has further promoted the technological development of electric vehicles. Among them, improving the riding comfort of electric vehicles is one of the key points of technological development. The riding comfort of electric vehicles is affected by vehicle vibration. Due to the large gap between the transmission gears of electric vehicles, the transmission gears will knock against each other when the motor torque fluctuates, causing vehicle vibration, which seriously affects the riding comfort of electric vehicles.

[0030] The current method of suppressing vehicle vibration mainly uses torque parameter regulator to compensate torque, thereby suppressing vehicle vibration. However, the torque parameter regulator acts on the speed system, which is prone to DC bias, and the output vibration suppression compensation also has a DC component. The compensation torque of the torque parameter regulator acts on the motor, and the actual torque of the motor will deviate from the torque command to a certain extent, thus affecting the accuracy of the torque force and having a poor effect on suppressing vehicle vibration.

[0031] Based on this, the present application proposes a method, device, electronic device and storage medium for suppressing vehicle vibration. Figure 1 , Figure 1 It is a flowchart of an exemplary embodiment of a method for suppressing vehicle vibration shown in the present application.

[0032] The execution subject of the method for suppressing vehicle vibration may be a terminal device or a server or other processing device, wherein the terminal device may be a user equipment (UE), a computer, a mobile device, a user terminal, a terminal, a cellular phone, a cordless phone, a personal digital assistant (PDA), a handheld device, a computing device, a vehicle-mounted device, a wearable device, etc. The execution subject of the method for suppressing vehicle vibration may also be a device for suppressing vehicle vibration. In some possible implementations, the device for suppressing vehicle vibration may be implemented by a processor calling a computer-readable instruction stored in a memory.

[0033] Specifically, a method for suppressing vehicle vibration in this embodiment includes the following steps:

[0034] Step S110, obtaining vehicle operation data; the vehicle operation data includes an initial torque command and a current motor speed.

[0035] The vehicle operation data is the driving data of the vehicle during operation. Specifically, the vehicle operation data may be an initial torque command and a current motor speed, or the vehicle operation data may be a historical motor speed of the vehicle.

[0036] The initial torque command is a torque command for the vehicle, wherein the torque command may be a VCU torque command (Vehicle Control Unit, vehicle controller).

[0037] The current motor speed is the current rotation speed of the vehicle motor. The current motor speed may be the rotation speed of the vehicle motor at the current moment. The current motor speed may also be the average rotation speed of the vehicle motor in the current time period.

[0038] The device for suppressing vehicle shaking obtains vehicle operation data. As an example, the device for suppressing vehicle shaking receives collected information sent by a sensor connected to the device for suppressing vehicle shaking, or collects information through a resolver soft decoding technology, and determines the collected information as vehicle operation data. As another example, the device for suppressing vehicle shaking receives input information of an object operation, and determines the input information as vehicle operation data.

[0039] In one embodiment, the device for suppressing vehicle shaking obtains the current motor speed, including: sampling the motor speed data up to the current moment according to the preset sampling frequency, obtaining the motor speed data of multiple sampling time periods, taking the motor speed data of the sampling time period closest to the current moment as the current motor speed data; taking the quotient of the current motor speed data and the sampling time period as the current motor speed. It should be noted that the preset sampling frequency can be obtained according to the carrier frequency of the motor speed data, and the preset sampling frequency can also be obtained according to the interruption interval of the sampling software that samples the motor speed data.

[0040] Furthermore, the device for suppressing vehicle vibration further includes: performing low-pass filtering on the motor speed data before sampling the motor speed data. For example, the motor speed data is low-pass filtered using a 25 Hz cutoff frequency.

[0041] Step S120: determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed.

[0042] The torque switching process is the process of changing the torque of the vehicle. Specifically, the torque switching process can be a vehicle positive and negative torque switching process, for example, a process in which the vehicle torque changes from a positive value to a negative value, or another example, a process in which the vehicle torque changes from a negative value to a positive value. The torque switching process can also be a vehicle torque magnitude switching process, for example, a process in which the vehicle torque decreases, or another example, a process in which the vehicle torque increases.

[0043] The compensation torque is a torque for compensating the vehicle for the switching torque.

[0044] The device for suppressing vehicle vibration determines the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed. As an example, the device for suppressing vehicle vibration performs Fourier analysis on the current motor speed to obtain the frequency and amplitude of the effective component causing the speed vibration; obtains the parameter for suppressing the speed vibration according to the frequency and amplitude of the effective component causing the speed vibration; obtains the alternative compensation torque according to the parameter for suppressing the speed vibration and the speed signal through the differential inertia link and the bandpass filter link; limits the amplitude of the alternative compensation torque according to the torque partition where the initial torque value in the initial torque command is located, and obtains the compensation torque of the vehicle during the torque switching process.

[0045] Step S130 : determining a compensation torque adjustment parameter according to speed change data between the current motor speed and the historical motor speed of the vehicle.

[0046] The historical motor speed is the historical rotation speed of the vehicle motor. The historical motor speed may be the motor speed at a historical moment. In one embodiment, the device for suppressing vehicle shaking matches the motor speed from a preset motor speed database according to a preset moment, and determines the matched motor speed as the historical motor speed; the preset motor speed database stores the motor speeds of multiple time periods. The historical motor speed may also be the average motor speed within the historical time period. In one embodiment, the device for suppressing vehicle shaking samples the motor speed data up to the current moment according to a preset sampling frequency, and obtains the motor speed data of multiple sampling time periods; determines the current motor speed data and the historical motor speed data from the motor speed data of multiple sampling time periods, wherein the sampling time periods of the current motor speed data and the historical motor speed data are adjacent, and the sampling time period of the current motor speed data is closest to the current moment; and takes the quotient of the historical motor speed data and the sampling time period as the current motor speed.

[0047] The compensation torque adjustment parameter is a parameter for adjusting the compensation torque. The compensation torque adjustment parameter is in the range of [0.25, 1].

[0048] The device for suppressing vehicle shaking determines a compensation torque adjustment parameter according to speed change data between a current motor speed and a historical motor speed of the vehicle. As an example, the device for suppressing vehicle shaking matches a corresponding compensation torque adjustment parameter from a preset adjustment parameter mapping table according to speed change data between a current motor speed and a historical motor speed of the vehicle; the preset adjustment parameter mapping table stores a one-to-one correspondence between preset speed change data and preset compensation torque adjustment parameters.

[0049] Step S140: performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque instruction.

[0050] The torque adjustment process refers to adjusting one torque to another torque, for example, adjusting the compensation torque to a larger torque, or adjusting the compensation torque to a smaller torque.

[0051] The target torque command is a torque command to be generated for the vehicle.

[0052] The device for suppressing vehicle vibration performs torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque instruction. As an example, the device for suppressing vehicle vibration uses the product of the compensation torque adjustment parameter and the compensation torque as the adjustment torque value, and obtains the target torque instruction according to the difference between the initial torque value in the initial torque instruction and the adjustment torque value.

[0053] It can be seen that the present embodiment acquires vehicle operation data; the vehicle operation data includes the initial torque command and the current motor speed; the compensation torque of the vehicle during the torque switching process is determined according to the initial torque command and the current motor speed; the compensation torque adjustment parameter is determined according to the speed change data between the current motor speed and the historical motor speed of the vehicle; and then the compensation torque is subjected to torque adjustment processing according to the compensation torque adjustment parameter to obtain the target torque command. On the one hand, torque compensation is performed on the torque switching of the vehicle to suppress the vibration of the vehicle; on the other hand, the compensation torque is adjusted to further improve the suppression effect of the vehicle vibration, thereby improving the quality of suppressing the vehicle vibration.

[0054] Based on the above examples, please continue to refer to Figure 2 , Figure 2 yes Figure 1 The flowchart of an exemplary embodiment of step S130 in the method for suppressing vehicle vibration is shown. Specifically, the process of determining the compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle in step S130 includes the following steps:

[0055] Step S210: Obtain speed change data between the current motor speed and the historical motor speed of the vehicle.

[0056] The speed change data is data that represents the trend of the vehicle motor changing from the historical speed to the current speed.

[0057] The device for suppressing vehicle shaking obtains speed change data between the current motor speed and the historical motor speed of the vehicle. Specifically, the current motor acceleration is obtained according to the difference between the current motor speed and the historical motor speed of the vehicle; the current motor acceleration is subjected to amplitude weakening processing to obtain the motor acceleration after amplitude weakening; and the motor acceleration after amplitude weakening is subjected to phase delay processing to obtain the speed change data.

[0058] The current motor acceleration is the current acceleration of the vehicle motor. The amplitude of the current motor acceleration is usually between -15000 and 15000 m / s2. As an example, the device for suppressing vehicle vibration uses the difference between the current motor speed and the historical motor speed of the vehicle as the current motor acceleration. As another example, the current motor acceleration satisfies the following formula:

[0059]

[0060] In the above formula, a represents the current motor acceleration, u(k) represents the current motor speed data, T S (k) represents the sampling period of the current motor speed data, u(k-1) represents the historical motor speed data, T S (k-1) represents the sampling time period of the historical motor speed data.

[0061] The amplitude weakening process is to weaken the amplitude of the current motor acceleration to obtain a current motor acceleration with a smaller amplitude. As an example, the device for suppressing vehicle vibration inputs the current motor acceleration into a low-pass filter to obtain the motor acceleration after amplitude weakening. Thus, the amplitude of the current motor acceleration is weakened, thereby obtaining the current acceleration of the motor available in the subsequent steps. Among them, the low-pass filter can be a second-order Butterworth filter, the cutoff frequency range of the second-order Butterworth filter can be 0-5hz, and the filter period can be obtained according to the sampling interruption interval or the motor sampling time.

[0062] Phase delay processing is to delay the phase time of the current motor acceleration to obtain the current motor acceleration with phase delay, that is, the speed change data. For example, the phase of the speed change data is delayed by less than 100ms compared to the phase time of the current motor speed. As an example, the device for suppressing vehicle vibration inputs the current acceleration of the motor with weakened amplitude into a full-pass filter to obtain the current acceleration of the motor with phase delay, that is, the speed change data. Thus, the unbalanced phase delay after low-pass filtering is eliminated, and the speed change data with more appropriate amplitude is obtained, which is beneficial to improving the effect of vehicle vibration suppression.

[0063] Step S220: determining a compensation torque adjustment parameter according to the speed range in which the speed change data is located.

[0064] The speed range is the range of the motor rotation speed. The speed range can be 0-180m / s, or 180-positive infinity. The speed range can be a first preset speed range and a second preset speed range, etc. It should be noted that the first preset speed range is smaller than the second preset speed range. As an example, the device for suppressing vehicle vibration compares the absolute value of the speed change data with the first preset speed range and the second preset speed range, respectively, to obtain the speed range in which the speed change data is located.

[0065] The device for suppressing vehicle vibration determines a compensation torque adjustment parameter according to the speed range in which the speed change data is located. Specifically, in response to the speed change data being in a first preset speed range, the compensation torque adjustment parameter corresponding to the speed change data is determined from a preset adjustment parameter mapping table according to the speed change data, and the preset adjustment parameter mapping table includes a correspondence between preset speed change data and preset compensation torque adjustment parameters; in response to the speed change data being in a second preset speed range, the preset adjustment parameter is used as the compensation torque adjustment parameter.

[0066] The preset adjustment parameter mapping table includes the correspondence between the preset speed change data and the preset compensation torque adjustment parameter. For example, the speed change data is 100m / s2, and the corresponding compensation torque adjustment parameter of 100 is 0.25. As an example, the correspondence between the speed change data and the preset compensation torque adjustment parameter is obtained by actual testing of the whole vehicle. For example, an excitation jitter test is performed on the whole vehicle to determine the maximum adjustment parameter at which the motor speed will not produce excitation jitter under the uniform speed state of the vehicle. The difference between the maximum adjustment parameter and the reserved safety margin is used as the minimum compensation torque adjustment parameter in the adjustment parameter mapping table, and the difference between the speed change data when the motor speed jitter diverges and the preset redundancy is used as the speed change data corresponding to the minimum compensation torque adjustment parameter. Among them, the reserved safety margin can be 0.1.

[0067] The preset adjustment parameter is a parameter preset to adjust the compensation torque. The preset adjustment parameter may be 1. The preset adjustment parameter is obtained from actual vehicle test data. For example, the device for suppressing vehicle jitter plots the motor speed and torque in the actual vehicle test data into curves, identifies the vehicle jitter divergence moment according to the motor speed curve, determines the corresponding torque from the torque curve based on the vehicle jitter divergence moment, and determines the preset adjustment parameter based on the corresponding torque.

[0068] Furthermore, the device for suppressing vehicle vibration responds to the speed change data being in a second preset speed range, and after using the preset adjustment parameter as the compensation torque adjustment parameter, it also includes: after a preset adjustment time period, updating the speed change data to obtain updated speed change data; and updating the compensation torque adjustment parameter according to the speed range in which the updated speed change data is located.

[0069] The device for suppressing vehicle shaking updates the compensation torque adjustment parameter according to the speed range in which the updated speed change data is located. Specifically, the device for suppressing vehicle shaking determines the speed range in which the updated speed change data is located to obtain a determination result; in response to the determination result indicating that the updated speed change data is in a first preset speed range, the compensation torque adjustment parameter is determined from a preset adjustment parameter mapping table according to the updated speed change data; in response to the determination result indicating that the updated speed change data is in a second preset speed range, the compensation torque adjustment parameter remains unchanged.

[0070] It should be noted that the preset adjustment time period can be obtained according to the sampling time period or the sampling interruption interval. The preset adjustment time period can also be obtained according to the accumulated count. As an example, the device for suppressing vehicle jitter starts to accumulate counts from zero according to the preset time interval. After reaching the preset value, for example, after 1000, the speed range in which the updated speed change data is located is determined. In response to the judgment result indicating that the updated speed change data is in the first preset speed range, the count is cleared; in response to the judgment result indicating that the updated speed change data is in the second preset speed range, the preset value is increased by 1.

[0071] It can be seen that the method for suppressing vehicle jitter in this embodiment obtains the speed change data between the current motor speed and the historical motor speed of the vehicle, and then determines the compensation torque adjustment parameter according to the speed range in which the speed change data is located. Thus, the compensation torque adjustment parameter is determined according to the current motor speed. In this way, when the vehicle is moving at a constant speed, without reducing the zero-crossing jitter suppression compensation ability, the jitter suppression compensation is prevented from stimulating the whole vehicle jitter at a constant speed. At the same time, the DC bias effect brought by the torque parameter regulator can also be controlled, which is conducive to the actual torque of the motor to better follow the target torque value, thereby improving the driving comfort of the vehicle.

[0072] Based on the above examples, please continue to refer to Figure 3 , Figure 3 yes Figure 1 The flowchart of an exemplary embodiment of step S120 in the method for suppressing vehicle vibration is shown. Specifically, the process of step S120 determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed includes the following steps:

[0073] Step S310, perform speed filtering on the current motor speed to obtain speed fluctuation. Speed ​​filtering is to filter the other frequencies of the motor speed except the target frequency to obtain the target frequency of the motor speed. For example, low-pass filtering is performed on the current motor speed to obtain the low-frequency component of the current motor speed, or high-pass filtering is performed on the current motor speed to obtain the high-frequency component of the current motor speed.

[0074] The speed fluctuation is a frequency component remaining after filtering the current motor speed. The speed fluctuation can be a high-frequency component.

[0075] The device for suppressing vehicle shaking performs speed filtering processing on the current motor speed to obtain the speed fluctuation amount. As an example, the device for suppressing vehicle shaking uses an LPF-HPF (LPF-Low Pass Filter, low pass filter; HPF-High Pass Filter, high pass filter) filter to perform speed filtering processing on the current motor speed to obtain the speed fluctuation amount.

[0076] Step S320: Determine the target configuration parameters of the torque parameter regulator according to the comparison result between the current motor speed and the preset speed range.

[0077] The preset speed range is the range of motor rotation speeds that can make the compensation torque adjustment parameter effective. Specifically, the compensation torque adjustment parameter performs torque adjustment processing on the compensation torque, and the obtained target torque instruction can further suppress the vehicle jitter, then it is determined that the compensation torque adjustment parameter is effective. It should be noted that the minimum value of the preset speed range is less than the minimum motor speed when the vehicle jitter occurs, and the maximum value is the maximum speed at which the compensation torque adjustment parameter is effective. The preset speed range can be 0-12000m / s, or 4000-12000m / s.

[0078] The torque parameter regulator is a regulator for outputting torque parameters. The torque parameter regulator may be a PD (Proportion Differential) regulator.

[0079] The target configuration parameters are the parameters configured in the torque parameter regulator. The target configuration parameters can be obtained based on the compensation performance of the vehicle torque switching, and can also be obtained based on the speed range of the motor speed.

[0080] The device for suppressing vehicle shaking determines the target configuration parameter of the torque parameter regulator according to the comparison result between the current motor speed and the preset speed range. Specifically, in response to the comparison result indicating that the current motor speed is within the preset speed range, the first preset configuration parameter is determined as the target configuration parameter of the torque parameter regulator; in response to the comparison result indicating that the current motor speed is not within the preset speed range, the second preset configuration parameter is determined as the target configuration parameter of the torque parameter regulator; the second preset configuration parameter is greater than the first preset configuration parameter. Thus, the torque parameter regulator uses the first preset configuration parameter and the second preset configuration parameter within the preset speed range and outside the preset speed range, respectively, so that the torque parameter regulator performs variable parameter operation. At the same time, since the torque parameter regulator is to obtain the compensation torque rather than directly act on the motor speed, the vehicle will not shake at the moment when the torque parameter regulator parameter changes.

[0081] Step S330: input the speed fluctuation amount into the torque parameter regulator configured with the target configuration parameters to obtain the torque switching compensation amount.

[0082] The torque switching compensation amount is the output value of the torque parameter regulator.

[0083] The device for suppressing vehicle vibration inputs the speed fluctuation amount into a torque parameter regulator configured with target configuration parameters to obtain a torque switching compensation amount.

[0084] Step S340: derate the torque switching compensation amount according to the initial torque command to obtain the compensation torque of the vehicle during the torque switching process.

[0085] The derating process is to change the torque switching compensation amount to a smaller torque switching compensation amount.

[0086] The device for suppressing vehicle shaking derates the torque switching compensation amount according to the initial torque command to obtain the compensation torque of the vehicle during the torque switching process. Specifically, the device for suppressing vehicle shaking obtains the derate ratio according to the motor speed signal, gear signal, vehicle anti-shake enable switch signal and motor feedback torque in the initial torque command; and the product of the derate ratio and the torque switching compensation amount is used as the compensation torque of the vehicle during the torque switching process. For example, the corresponding derate ratio is determined from the preset derate ratio mapping table according to the motor speed signal, gear signal, vehicle anti-shake enable switch signal and motor feedback torque; the preset derate ratio mapping table stores the correspondence between the preset motor speed signal, the preset gear signal, the preset vehicle anti-shake enable switch signal and the preset motor feedback torque and the preset derate ratio.

[0087] It can be seen that in this embodiment, the speed filtering process is performed on the current motor speed to obtain the speed fluctuation amount, the target configuration parameter of the torque parameter regulator is determined according to the comparison result between the current motor speed and the preset speed range, the speed fluctuation amount is input into the torque parameter regulator configured with the target configuration parameter, the torque switching compensation amount is obtained, and the torque switching compensation amount is derated according to the initial torque command to obtain the compensation torque of the vehicle during the torque switching process. On the one hand, due to the phase delay of the speed change data, the compensation torque adjustment parameter also has a delay, thereby configuring the target configuration parameter for the torque parameter regulator, so that the compensation torque obtained subsequently can be consistent with the compensation torque adjustment parameter time. On the other hand, it is achieved to obtain the compensation torque of the vehicle during the torque switching process according to the current motor speed and the initial torque command.

[0088] Based on the above examples, please continue to refer to Figure 4 , Figure 4 yes Figure 1 The flowchart of an exemplary embodiment of step S140 in the method for suppressing vehicle vibration is shown. Specifically, the initial torque command in step S140 includes an initial torque value, and the process of torque adjustment processing of the compensation torque according to the compensation torque adjustment parameter includes the following steps:

[0089] Step S410: determine the product of the compensation torque adjustment parameter and the compensation torque as the target compensation amount.

[0090] The target compensation amount is the vehicle torque to be compensated.

[0091] The apparatus for suppressing vehicle vibration determines a product of a compensation torque adjustment parameter and the compensation torque as a target compensation amount.

[0092] Step S420: Determine the difference between the initial torque value and the target compensation amount as the target torque value.

[0093] The initial torque value is a torque value required by the vehicle engine output torque received by the device for suppressing vehicle vibration. The initial torque command includes the initial torque value.

[0094] The target torque value is a torque value required for the vehicle engine output torque to be generated.

[0095] The apparatus for suppressing vehicle vibration determines a difference between an initial torque value and a target compensation amount as a target torque value.

[0096] Step S430: Determine a target torque command based on the target torque value.

[0097] The device for suppressing vehicle vibration determines a target torque instruction based on a target torque value, wherein the target torque instruction is used to control a vehicle engine to work according to the target torque value.

[0098] It can be seen that the method for suppressing vehicle vibration in this embodiment determines the product of the compensation torque adjustment parameter and the compensation torque as the target compensation amount, determines the difference between the initial torque value and the target compensation amount as the target torque value, and determines the target torque instruction based on the target torque value. Thus, the suppression effect of vehicle vibration is improved, and the quality of suppressing vehicle vibration is further improved.

[0099] Figure 5 FIG. 1 is a curve diagram of vehicle anti-vibration test data obtained by performing anti-vibration test using the method of using a PD regulator for vehicle torque compensation as shown in this application. Figure 5 As shown in the figure, the four waveforms represent the motor speed, initial torque value, feedback torque and compensation torque from top to bottom. It can be seen that the entire closed-loop system cannot converge and the motor speed fluctuates violently. Figure 5 Based on this, the parameters of the PD regulator are reduced to obtain Figure 6 The curve diagram of the vehicle anti-shake test data of another exemplary embodiment is shown. It can be seen that reducing the parameters of the PD regulator is equivalent to reducing the amplitude of the compensation torque. Although this modification eliminates the violent shaking of the motor speed, there is obviously a DC bias in the compensation torque, causing the actual output of the motor under uniform speed conditions to always be 0 to -6 Nm greater than the initial torque value of the VCU.

[0100] In one embodiment, the method for suppressing vehicle vibration proposed in this application is used for testing, and the result is Figure 7 The curve diagram of vehicle anti-vibration test data is shown in Figure 2. Figure 7 As shown, the curves from top to bottom are: Curve 1: Motor speed curve; Curve 2: Initial torque value curve; Curve 3: Feedback torque curve; Curve 4: Compensation torque adjustment parameter × 10 curve; Curve 5: Speed ​​change data curve; Curve 6: Delay count curve; Curve 7: Whether to release compensation flag curve; Curve 8: Target torque value curve. For the convenience of explanation, the following uses curve numbers for detailed explanation.

[0101] from Figure 7 It can be seen that when the speed change data in curve 5 is greater than the set threshold value of 180, the delay count in curve 6 starts, and the compensation flag position in curve 7 is 1. At this time, the compensation torque adjustment parameter is 1. After the count reaches 1000, the amplitude of the speed change data is judged again. If the amplitude is still greater than the threshold value of 180, the current compensation state is maintained, and the count and flag bit remain unchanged; if the speed change data is less than the threshold value of 180, the flag bit in curve 7 and the count in curve 6 are all cleared, and the compensation begins to be restricted. Figure 7It can also be seen that the compensation torque adjustment parameter when the vehicle is at a constant speed is 0.25, which effectively limits the compensation torque amplitude so that the anti-shake compensation no longer causes shaking, and at the same time does not affect the compensation performance at the moment of speed change.

[0102] Figure 8 is a block diagram of an exemplary embodiment of a device for suppressing vehicle vibration shown in the present application. Figure 8 As shown, the exemplary device 800 for suppressing vehicle vibration includes: an acquisition module 810, a compensation torque acquisition module 820, a compensation torque adjustment parameter acquisition module 830 and a target torque instruction acquisition module 840. Specifically:

[0103] The acquisition module 810 is used to acquire vehicle operation data; the vehicle operation data includes an initial torque command and a current motor speed.

[0104] The compensation torque acquisition module 820 is used to determine the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed.

[0105] The compensation torque adjustment parameter acquisition module 830 is used to determine the compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle.

[0106] The target torque instruction acquisition module 840 is used to perform torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain the target torque instruction.

[0107] Based on the above embodiments, Fig. 9 This is a block diagram of another exemplary embodiment of a device for suppressing vehicle vibration shown in the present application. The exemplary device for suppressing vehicle vibration includes:

[0108] The speed filtering module 910 is used to perform speed filtering processing according to the current motor speed to obtain the speed fluctuation amount.

[0109] The torque parameter regulator module 920 is used to determine the target configuration parameters of the torque parameter regulator based on the comparison result between the current motor speed and the preset speed range; input the speed fluctuation amount into the torque parameter regulator configured with the target configuration parameters to obtain the torque switching compensation amount.

[0110] The derating rate acquisition module 930 is used to acquire the derating rate according to the motor speed signal, gear position signal, vehicle anti-vibration enable switch signal and motor feedback torque in the initial torque command.

[0111] The switching process compensation torque acquisition module 940 is used to use the product of the derating ratio and the torque switching compensation amount as the compensation torque of the vehicle during the torque switching process.

[0112] The amplitude reduction module 950 is used to obtain the current motor acceleration according to the difference between the current motor speed and the historical motor speed of the vehicle; and perform amplitude reduction processing on the current motor acceleration to obtain the motor acceleration after the amplitude reduction.

[0113] The phase delay module 960 is used to perform phase delay processing on the motor acceleration after the amplitude is weakened to obtain speed change data.

[0114] The adjustment parameter acquisition module 970 is used to determine the compensation torque adjustment parameter according to the speed range in which the speed change data is located.

[0115] The torque adjustment module 980 is used to perform torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque instruction; and then output the target torque instruction.

[0116] In this exemplary device for suppressing vehicle vibration, vehicle operation data is obtained; the vehicle operation data includes an initial torque command and a current motor speed; the compensation torque of the vehicle during the torque switching process is determined according to the initial torque command and the current motor speed; the compensation torque adjustment parameter is determined according to the speed change data between the current motor speed and the historical motor speed of the vehicle; and then the compensation torque is subjected to torque adjustment processing according to the compensation torque adjustment parameter to obtain a target torque command. On the one hand, torque compensation is performed on the torque switching of the vehicle to suppress the vibration of the vehicle, and on the other hand, the compensation torque is adjusted to further improve the suppression effect of the vehicle vibration, thereby improving the quality of suppressing the vehicle vibration.

[0117] Among them, the functions of each module can be found in the method embodiment for suppressing vehicle vibration, and will not be repeated here.

[0118] In order to implement the method for suppressing vehicle vibration in the above embodiment, the present application proposes another electronic device, for details, please refer to Fig.10 , Fig.10 It is a structural schematic diagram of an embodiment of an electronic device provided by the present application.

[0119] The electronic device 1000 includes a memory 1001 and a processor 1002 , wherein the memory 1001 and the processor 1002 are coupled.

[0120] The memory 1001 is used to store program data, and the processor 1002 is used to execute the program data to implement the method for suppressing vehicle vibration of the above embodiment.

[0121] In this embodiment, the processor 1002 may also be referred to as a CPU (Central Processing Unit). The processor 1002 may be an integrated circuit chip having signal processing capabilities. The processor 1002 may also be a general-purpose processor, a digital signal processor (DSP), an application-specific integrated circuit (ASIC), a field programmable gate array (FPGA) or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components. A general-purpose processor may be a microprocessor or the processor 1002 may also be any conventional processor, etc.

[0122] The present application also provides a computer-readable storage medium, such as Fig.11 As shown, the computer-readable storage medium 1100 is used to store program data 1101. When the program data 1101 is executed by the processor, it is used to implement the method for suppressing vehicle vibration in the method embodiment of the present application.

[0123] The method involved in the embodiment of the method for suppressing vehicle vibration of the present application, when implemented in the form of a software functional unit and sold or used as an independent product, can be stored in a device, such as a computer-readable storage medium. Based on this understanding, the technical solution of the present application is essentially or the part that contributes to the prior art or all or part of the technical solution can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for a computer device (which can be a personal computer, a server, or a network device, etc.) or a processor (processor) to perform all or part of the steps of the method described in each embodiment of the present invention. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM, Read-Only Memory), random access memory (RAM, Random Access Memory), disk or optical disk and other media that can store program codes.

[0124] The above description is only an implementation method of the present application, and does not limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly used in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A method for suppressing vehicle vibration, characterized in that: The method comprises: Acquiring vehicle operation data; the vehicle operation data includes an initial torque command and a current motor speed; Determining a compensation torque of the vehicle during a torque switching process according to the initial torque command and the current motor speed; determining a compensation torque adjustment parameter according to speed change data between the current motor speed and a historical motor speed of the vehicle; The compensation torque is subjected to torque adjustment processing according to the compensation torque adjustment parameter to obtain a target torque instruction.

2. The method according to claim 1, characterized in that The step of determining the compensation torque adjustment parameter according to the speed change data between the current motor speed and the historical motor speed of the vehicle comprises: Acquiring speed change data between the current motor speed and the historical motor speed of the vehicle; The compensation torque adjustment parameter is determined according to the speed range in which the speed change data is located.

3. The method according to claim 2, characterized in that The step of acquiring the speed change data between the current motor speed and the historical motor speed of the vehicle comprises: Obtaining a current motor acceleration according to a difference between the current motor speed and a historical motor speed of the vehicle; Performing amplitude weakening processing on the current motor acceleration to obtain the motor acceleration after amplitude weakening; Phase delay processing is performed on the motor acceleration after the amplitude is weakened to obtain the speed change data.

4. The method according to claim 2, characterized in that: The step of determining the compensation torque adjustment parameter according to the speed interval in which the speed change data is located comprises: In response to the speed change data being in a first preset speed interval, determining a compensation torque adjustment parameter corresponding to the speed change data from a preset adjustment parameter mapping table according to the speed change data, wherein the preset adjustment parameter mapping table includes a correspondence between preset speed change data and preset compensation torque adjustment parameters; In response to the speed change data being in a second preset speed interval, a preset adjustment parameter is used as the compensation torque adjustment parameter.

5. The method according to claim 1, characterized in that The step of determining the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed includes: Perform speed filtering on the current motor speed to obtain speed fluctuation; Determining target configuration parameters of the torque parameter regulator according to a comparison result between the current motor speed and the preset speed range; Inputting the speed fluctuation amount into a torque parameter regulator configured with the target configuration parameters to obtain a torque switching compensation amount; The torque switching compensation amount is derated according to the initial torque command to obtain a compensation torque of the vehicle during the torque switching process.

6. The method according to claim 5, characterized in that The step of determining the target configuration parameter of the torque parameter regulator according to the comparison result between the current motor speed and the preset speed range includes: In response to the comparison result indicating that the current motor speed is within the preset speed range, determining a first preset configuration parameter as a target configuration parameter of the torque parameter regulator; In response to the comparison result indicating that the current motor speed is not within the preset speed range, a second preset configuration parameter is determined as a target configuration parameter of the torque parameter regulator; the second preset configuration parameter is greater than the first preset configuration parameter.

7. The method according to claim 1, characterized in that The initial torque command includes an initial torque value, and the step of performing torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque command includes: determining the product of the compensation torque adjustment parameter and the compensation torque as a target compensation amount; determining a difference between the initial torque value and the target compensation amount as a target torque value; The target torque command is determined based on the target torque value.

8. A device for suppressing vehicle vibration, characterized in that: The device comprises: An acquisition module, used to acquire vehicle operation data; the vehicle operation data includes an initial torque command and a current motor speed; a compensation torque acquisition module, configured to determine the compensation torque of the vehicle during the torque switching process according to the initial torque command and the current motor speed; a compensation torque adjustment parameter acquisition module, configured to determine a compensation torque adjustment parameter according to speed change data between the current motor speed and the historical motor speed of the vehicle; The target torque instruction acquisition module is used to perform torque adjustment processing on the compensation torque according to the compensation torque adjustment parameter to obtain a target torque instruction.

9. An electronic device, characterized in that: include: A memory and a processor, wherein the memory stores program instructions, and the processor retrieves the program instructions from the memory to execute the method according to any one of claims 1 to 7.

10. A computer-readable storage medium, characterized in that: include: Program data is stored, and when the program data is executed by a processor, it is used to implement the method according to any one of claims 1 to 7.

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