Jitter suppression method, motor controller and vehicle

Abstract

The invention provides a jitter suppression method, a motor controller and a vehicle, and the method determines whether a driving motor satisfies a jitter suppression condition based on the rotation speed change rate of the driving motor of the vehicle, and can quickly and accurately determine whether the driving motor satisfies the jitter suppression condition. Wherein under the condition that the driving motor meets the jitter suppression condition, the target torque of the driving motor is determined based on the rotating speed change rate of the driving motor and the current demand torque of the driving motor, and the current demand torque of the driving motor is determined based on a received torque adjustment instruction, so that the driving motor is controlled to perform torque adjustment based on the target torque. The rotating speed jitter of the driving motor can be quickly and effectively inhibited, so that the risk of jitter of the vehicle in the running process can be reduced, and the driving comfort of the vehicle is improved.

Description

Technical Field

[0001] The present application relates to the field of vehicle technology, and in particular to a vibration suppression method, a motor controller and a vehicle. Background Art

[0002] With the development of vehicle technology, the demand for vehicle driving comfort has gradually increased. For example, when an electric vehicle suddenly brakes and triggers the ABS (Anti-lock Braking System) or uses energy recovery torque in a high gear, it is very easy to cause the drive motor speed to fluctuate widely, causing the vehicle to shake and seriously affecting the vehicle's driving comfort.

[0003] At present, in the process of suppressing the speed jitter of the drive motor, Fourier analysis is usually performed on the speed signal of the drive motor to obtain the frequency and amplitude of the effective component causing the speed jitter in the speed signal, and according to the frequency and amplitude of the effective component causing the speed jitter, the parameters for suppressing the speed jitter are obtained, and the drive motor is torque compensated according to the parameters for suppressing the speed jitter. The implementation process is relatively complicated, and the frequency and amplitude of the speed jitter of the drive motor are different under different working conditions of the vehicle. Therefore, it is difficult to quickly and effectively suppress the speed jitter of the drive motor through this method, which causes the vehicle to shake during operation and cannot guarantee the driving comfort of the vehicle. Summary of the Invention

[0004] In view of this, the present application provides a vibration suppression method, a motor controller and a vehicle, which can quickly and effectively suppress the speed vibration of the drive motor.

[0005] In order to achieve the above objectives, this application provides the following technical solutions:

[0006] In a first aspect, embodiments of this specification provide a vibration suppression method applied to a motor controller of a vehicle, the method comprising:

[0007] determining whether the drive motor meets a vibration suppression condition based on a speed change rate of the drive motor of the vehicle;

[0008] If the drive motor satisfies the vibration suppression condition, determining a target torque of the drive motor based on a speed change rate of the drive motor and a current required torque of the drive motor, wherein the current required torque is determined based on a received torque adjustment command;

[0009] Based on the target torque, the drive motor is controlled to perform torque adjustment.

[0010] In one embodiment, determining the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor includes:

[0011] Determining a torque adjustment coefficient of the drive motor based on a speed change rate of the drive motor, wherein the torque adjustment coefficient is greater than 0 and less than 1;

[0012] The current required torque of the drive motor is adjusted based on the torque adjustment coefficient to obtain the target torque of the drive motor.

[0013] In one embodiment, determining whether the drive motor meets the vibration suppression condition based on the speed change rate of the drive motor of the vehicle includes:

[0014] Based on a magnitude relationship between a rotational speed change rate of the drive motor and a first rotational speed change rate threshold, it is determined whether the drive motor meets a vibration suppression condition.

[0015] In one embodiment, determining whether the drive motor meets the vibration suppression condition based on a magnitude relationship between the speed change rate of the drive motor and a first speed change rate threshold includes:

[0016] If the duration of the speed change rate of the drive motor being greater than the first speed change rate threshold reaches a first predetermined duration, determining whether the drive motor meets a vibration suppression condition based on the power control signal of the vehicle;

[0017] If the speed change rate of the drive motor at the current moment is less than or equal to the first speed change rate threshold, or the duration for which the speed change rate of the drive motor is greater than the first speed change rate threshold is less than the first predetermined duration, it is determined that the drive motor does not meet the vibration suppression condition.

[0018] In one embodiment, controlling the drive motor to adjust the torque based on the target torque includes:

[0019] If, within the second predetermined time period, the speed change rate of the drive motor is less than or equal to the second speed change rate threshold for a duration reaching a third predetermined time period, the drive motor is controlled to perform torque regulation based on a current jitter suppression count; the current jitter suppression count represents a cumulative number of times the speed jitter of the drive motor is suppressed during a current power-on cycle of the vehicle, and the third predetermined time period is less than the second predetermined time period;

[0020] If the duration during which the speed change rate of the drive motor is less than or equal to the second speed change rate threshold within the second predetermined time period does not reach the third predetermined time period, the torque of the drive motor is controlled to be adjusted to 0.

[0021] In one embodiment, controlling the drive motor to adjust the torque based on the current number of vibration suppression times includes:

[0022] If the current vibration suppression times reach a predetermined number, controlling the torque of the drive motor to be adjusted to 0;

[0023] If the current vibration suppression times are less than the predetermined times, the drive motor is controlled to perform torque adjustment based on the current required torque of the drive motor.

[0024] In one embodiment, it further includes:

[0025] When the duration for which the torque of the drive motor is controlled to be adjusted to 0 reaches a fourth predetermined duration, determining whether the drive motor has speed jitter based on a magnitude relationship between a current speed change rate of the drive motor and a third speed change rate threshold;

[0026] Based on the result of determining whether the driving motor has rotational speed jitter, a category of a jitter influencing factor of the driving motor is determined.

[0027] In one embodiment, determining the category of jitter influencing factors of the drive motor based on the result of determining whether the drive motor has speed jitter includes:

[0028] If the drive motor has speed jitter, stop outputting the control signal to the drive motor, and when the duration of stopping outputting the control signal to the drive motor reaches a fifth predetermined duration, determine the category of the jitter influencing factor of the drive motor based on a magnitude relationship between a current speed change rate of the drive motor and a fourth speed change rate threshold, wherein the fourth speed change rate threshold is less than the third speed change rate threshold;

[0029] If the driving motor does not have speed jitter, it is determined that the jitter influencing factor category of the driving motor is a motor controller related factor.

[0030] In a second aspect, embodiments of this specification provide a vibration suppression device, which is applied to a motor controller of a vehicle, and the device includes:

[0031] a first processing module, configured to determine whether the drive motor of the vehicle meets a vibration suppression condition based on a speed change rate of the drive motor;

[0032] a second processing module, configured to determine a target torque of the drive motor based on a speed change rate of the drive motor and a current required torque of the drive motor if the drive motor satisfies a vibration suppression condition, wherein the current required torque is determined based on a received torque adjustment command;

[0033] The third processing module is configured to control the drive motor to perform torque adjustment based on the target torque.

[0034] In a third aspect, an embodiment of this specification provides a motor controller comprising at least one processor and at least one memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the jitter suppression method as described in any one of the above items is implemented.

[0035] In a fourth aspect, an embodiment of this specification provides a vehicle, which includes a drive motor and a motor controller as described above.

[0036] In a fifth aspect, an embodiment of this specification provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the jitter suppression method as described in any one of the above items is implemented.

[0037] In a sixth aspect, an embodiment of this specification provides a computer program product or a computer program, wherein the computer program product includes a computer program, and the computer program is stored in a computer-readable storage medium; the processor of the computer device reads the computer program from the computer-readable storage medium, and when the processor executes the computer program, the jitter suppression method as described in any one of the above items is implemented.

[0038] It can be seen from the above technical solution that the embodiment of the present application provides a vibration suppression method, a motor controller and a vehicle. The solution determines whether the drive motor meets the vibration suppression conditions based on the speed change rate of the vehicle's drive motor, and can quickly and accurately determine whether the drive motor meets the vibration suppression conditions; wherein, when the drive motor meets the vibration suppression conditions, the target torque of the drive motor is determined based on the speed change rate of the drive motor and the current required torque of the drive motor. The current required torque of the drive motor is determined based on the received torque adjustment instruction, and the drive motor is controlled to perform torque adjustment based on the target torque. The speed vibration of the drive motor can be quickly and effectively suppressed, thereby reducing the risk of vehicle vibration during operation and improving the driving comfort of the vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0039] In order to more clearly illustrate the embodiments of the present application or the technical solutions in the prior art, the following briefly introduces the drawings required for use in the embodiments or the description of the prior art. Obviously, the drawings described below are merely embodiments of the present application. For ordinary technicians in this field, other drawings can be obtained based on the provided drawings without any creative work.

[0040] Figure 1A schematic diagram of the structure of a motor controller provided in an embodiment of the present application.

[0041] Figure 2 A flowchart of a jitter suppression method provided in an embodiment of the present application.

[0042] Figure 3 A schematic diagram of the changing trend of the speed and torque of a drive motor when the speed jitter of the drive motor is not suppressed is provided in an embodiment of the present application.

[0043] Figure 4 An embodiment of the present application provides a schematic diagram of the changing trend of the speed and torque of a drive motor when the speed jitter of the drive motor is suppressed by the jitter suppression method of the present application.

[0044] Figure 5 A schematic structural diagram of a jitter suppression device provided in an embodiment of the present application. DETAILED DESCRIPTION

[0045] The technical solution of the embodiment of the present application is applicable to the application scenario of suppressing the speed jitter of the drive motor of an electric vehicle, and the vehicle can be a passenger car or a commercial vehicle. Among them, the electric vehicle may include a drive motor and a motor controller. The drive motor is used to convert electrical energy into mechanical energy and drive the wheel movement through a transmission system or by direct drive. In addition, the drive motor can also be converted into a power generation mode when the vehicle decelerates or goes downhill, so as to convert kinetic energy into electrical energy and feed it back to the power battery to improve energy utilization. The motor controller is used to control the operation of the drive motor. For example, it can control the working mode of the drive motor (such as drive mode, power generation mode, idle mode, coasting mode, etc.), and can also adjust the output torque and speed of the drive motor during the operation of the drive motor.

[0046] in, Figure 1An exemplary application scenario of the technical solution of the embodiment of the present application is shown. The motor controller of a vehicle may include a command receiving module 101, a torque calculation module 102, and a vector control module 103 connected in sequence. The command receiving module 101 can be connected to the vehicle controller of the vehicle to receive the working mode adjustment command, torque adjustment command, vehicle gear position, etc. sent by the vehicle controller. At the same time, it can also send the operating data of the drive motor to the vehicle controller, such as the speed of the drive motor, the fault data of the drive motor, etc. The torque calculation module 102 can calculate the target torque of the drive motor based on the data received by the command receiving module 101 and output it to the vector control module 103. The vector control module 103 can calculate the required voltage based on the target torque of the drive motor through a predetermined algorithm (such as a FOC (Field-Oriented Control, vector control) algorithm) and output the required voltage to the drive motor through an IGBT (Insulated Gate Bipolar Transistor) module to control the output torque of the drive motor to drive the vehicle.

[0047] Among them, when an electric vehicle suddenly brakes and triggers the ABS or uses a high-speed gear to recover torque, it is very easy to cause the speed of the drive motor to fluctuate over a large range, which in turn causes the vehicle to shake, seriously affecting the driving comfort of the vehicle. At the same time, it is easy to cause overcurrent in the software and hardware.

[0048] Currently, in the process of suppressing the speed jitter of a drive motor, Fourier analysis is usually performed on the speed signal of the drive motor to obtain the frequency and amplitude of the effective component in the speed signal that causes the speed jitter. Based on the frequency and amplitude of the effective component that causes the speed jitter, parameters for suppressing the speed jitter are obtained, and torque compensation is performed on the drive motor based on the parameters for suppressing the speed jitter. The process of performing Fourier analysis on the speed signal of the drive motor to obtain the frequency and amplitude of the effective component in the speed signal that causes the speed jitter is relatively complex, resulting in a significant reduction in the efficiency of jitter suppression. At the same time, the frequency and amplitude that cause the speed jitter of the drive motor vary under different operating conditions of the vehicle, making it difficult to achieve a comprehensive and effective calibration of the frequency and amplitude of the components that cause the speed jitter under different operating conditions. Therefore, it is difficult to quickly and effectively suppress the speed jitter of the drive motor using this existing method, which causes the vehicle to jitter during operation and cannot ensure the driving comfort of the vehicle.

[0049] Based on the above-mentioned technical status, the present application proposes a new jitter suppression scheme, which determines whether the drive motor meets the jitter suppression conditions based on the speed change rate of the vehicle's drive motor, and can quickly and accurately determine whether the drive motor meets the jitter suppression conditions; wherein, when the drive motor meets the jitter suppression conditions, the target torque of the drive motor is determined based on the speed change rate of the drive motor and the current required torque of the drive motor. The current required torque of the drive motor is determined based on the received torque adjustment instruction, and the drive motor is controlled to perform torque adjustment based on the target torque. The speed jitter of the drive motor can be quickly and effectively suppressed, thereby reducing the risk of vehicle jitter during operation and improving the driving comfort of the vehicle.

[0050] The following will be combined with the drawings in the embodiments of this application to clearly and completely describe the technical solutions in the embodiments of this application. Obviously, the embodiments described are only part of the embodiments of this application, not all of the embodiments. Based on the embodiments in this application, all other embodiments obtained by ordinary technicians in this field without making creative efforts are within the scope of protection of this application.

[0051] The present application embodiment first proposes a vibration suppression method, which is applied to the motor controller of a vehicle. Figure 2 , the method comprising:

[0052] S201 : Determine whether the driving motor of the vehicle meets a vibration suppression condition based on a speed change rate of the driving motor.

[0053] Specifically, the vibration suppression method can be executed by a motor controller of a vehicle.

[0054] The speed change rate of the vehicle's driving motor may be the speed change rate at the current moment, or the speed change rate within a target time period including the current moment, and may be specifically set according to actual needs.

[0055] During implementation, whether the drive motor meets the vibration suppression conditions can be determined based on the speed change rate of the vehicle's drive motor. When the drive motor meets the vibration suppression conditions, it indicates that the speed fluctuation amplitude of the drive motor is large and needs to be suppressed. That is, reducing the torque of the drive motor to suppress the speed fluctuation will not affect the vehicle's power and safety. When the drive motor does not meet the vibration suppression conditions, it indicates that the speed fluctuation amplitude of the drive motor meets the requirements, or that the speed fluctuation amplitude of the drive motor is large but does not need to be suppressed. For example, reducing the torque of the drive motor to suppress the speed fluctuation will affect the vehicle's power and / or safety.

[0056] For example, whether the drive motor meets the vibration suppression condition can be determined based on the relationship between the speed change rate of the drive motor and the first predetermined change rate threshold. At the same time, whether the drive motor meets the vibration suppression condition can also be determined based on the relationship between the speed change rate of the drive motor and the first predetermined change rate threshold, as well as the vehicle's power control signal. The vehicle's power control signal may include a control signal for increasing the torque or speed of the drive motor, for example, a gear shift control signal, an anti-skid torque control signal, etc.

[0057] Among them, during the operation of the motor, the position signal of the drive motor can be collected in real time by the position detection device, and the speed change rate of the drive motor can be calculated in real time based on the position signal of the drive motor. There is no need to perform spectral analysis on the speed of the drive motor, nor is there any need to extract the frequency and amplitude of the effective component that causes speed jitter in the speed signal, so that it can quickly and accurately identify whether the vehicle's drive motor meets the jitter suppression conditions.

[0058] Optionally, the position detection device may use a rotary transformer, which is a small AC motor that may include electronics and a rotor and is used to measure the angular displacement and angular velocity of a rotating shaft of a rotating object.

[0059] S202 : If the drive motor meets the vibration suppression condition, determine the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor, where the current required torque is determined based on the received torque adjustment instruction.

[0060] Specifically, when the drive motor meets the vibration suppression conditions, the target torque of the drive motor can be determined based on the speed change rate of the drive motor and the current required torque of the drive motor. The current required torque of the drive motor can be determined based on the received torque adjustment command. For example, the torque required to be output by the drive motor at the current moment can be determined based on the torque adjustment command and used as the current required torque of the drive motor.

[0061] During implementation, the instruction receiving module 101 in the motor controller can receive the torque adjustment instruction sent by the vehicle controller in real time, and the torque calculation module 102 can be used to determine whether the drive motor meets the vibration suppression conditions, and when the drive motor meets the vibration suppression conditions, determine the target torque of the drive motor.

[0062] Optionally, in the process of determining the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor, the torque adjustment coefficient of the drive motor can be determined based on the speed change rate of the drive motor, and the current required torque of the drive motor can be adjusted according to the torque adjustment coefficient to obtain the target torque of the drive motor. The torque adjustment coefficient can be greater than 0 and less than 1, so as to suppress the speed jitter of the drive motor by reducing the torque of the drive motor. In addition, the compensation torque of the drive motor can be determined based on the speed change rate, and the target torque of the drive motor can be determined based on the difference between the current required torque of the drive motor and the compensation torque. The compensation torque can be greater than 0. It is understandable that the target torque of the drive motor can also be determined based on the speed change rate of the drive motor, the current required torque of the drive motor, and a predetermined corresponding relationship. The predetermined corresponding relationship can represent the corresponding relationship between the speed change rate of the drive motor, the current required torque, and the target torque.

[0063] Therefore, in the process of determining the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor, only the speed change rate of the drive motor needs to be considered, or the speed change rate of the drive motor and the current required torque of the drive motor need to be considered at the same time, without considering the influence of the vehicle's operating conditions. Therefore, in the process of controlling the drive motor to perform torque adjustment according to the determined target torque, the speed jitter of the drive motor can be suppressed quickly and effectively.

[0064] S203 : Based on the target torque, control the drive motor to perform torque adjustment.

[0065] Specifically, after determining the target torque of the drive motor, the target torque can be output to the vector control module 103. The vector control module 103 can calculate the required voltage based on the target torque of the drive motor through a predetermined algorithm (such as the FOC algorithm), and output the required voltage to the drive motor through the IGBT module to control the drive motor to output the target torque, thereby suppressing the speed jitter of the drive motor by adjusting the torque of the drive motor.

[0066] It is understandable that when the drive motor does not meet the vibration suppression conditions, the drive motor can be controlled to operate based on the current required torque to meet the power requirements of the vehicle.

[0067] Therefore, through the method of the embodiment of the present application, it is possible to quickly and accurately determine whether the drive motor meets the vibration suppression conditions, and when the drive motor meets the vibration suppression conditions, the speed vibration of the drive motor can be quickly and effectively suppressed, thereby effectively reducing the risk of vehicle vibration during operation, improving the driving comfort of the vehicle, and avoiding triggering software and hardware overcurrent when the vehicle suddenly brakes and triggers ABS or uses high-speed gear to recover torque.

[0068] In addition, in the prior art, the vehicle controller is usually used to identify whether the drive motor controller has speed jitter, and adjust the torque adjustment instruction to be sent to the motor controller when the drive motor has speed jitter. For example, the vehicle controller determines whether the drive motor has speed jitter based on the speed signal of the drive motor transmitted by the motor controller. Considering that the message interaction cycle between different controllers is at the millisecond level at the fastest, the identification and suppression of speed jitter has obvious lag, which can easily cause torque miscontrol, making it impossible to ensure the safe and efficient operation of the vehicle, and greatly reducing the suppression effect of the drive motor speed jitter. In the embodiment of the present application, the motor controller directly identifies and suppresses the speed jitter based on the speed change rate of the drive motor, without the need for data interaction with other controllers. Since the calculation execution cycle of the motor controller is usually at the microsecond level, it can identify and suppress the speed jitter in a timely and accurate manner, thereby greatly improving the suppression effect of the drive motor speed jitter while ensuring the safe and efficient operation of the vehicle.

[0069] In some embodiments, determining the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor includes:

[0070] Determining a torque adjustment coefficient of the drive motor based on a speed change rate of the drive motor, wherein the torque adjustment coefficient is greater than 0 and less than 1;

[0071] The current required torque of the drive motor is adjusted based on the torque adjustment coefficient to obtain the target torque of the drive motor.

[0072] Specifically, the torque adjustment coefficient of the drive motor can be determined based on the speed change rate of the drive motor and the target correspondence relationship. The target correspondence relationship can be used to represent the correspondence between the speed change rate of the drive motor and the torque adjustment coefficient. It is understood that the torque adjustment coefficient can be greater than 0 and less than 1, so as to suppress the speed jitter of the drive motor by reducing the torque of the drive motor.

[0073] During implementation, the current required torque of the drive motor may be adjusted based on the torque adjustment coefficient to obtain the target torque of the drive motor.

[0074] For example, a target torque reduction coefficient can be determined based on the magnitude relationship between the torque adjustment coefficient and the current required torque reduction coefficient, and the target torque reduction coefficient can be multiplied by the current required torque of the drive motor to obtain the target torque of the drive motor. The current required torque reduction coefficient can be determined based on torque-influencing factors other than the speed change rate of the drive motor, such as an overtemperature state, an overspeed state, or a fault state of the drive motor.

[0075] Optionally, the smaller value of the torque adjustment coefficient and the current required torque reduction coefficient can be used as the target torque reduction coefficient. That is, the target torque of the drive motor can be determined as shown in formula (1):

[0076] Treq2=Treq1*min(P1,P2) (1)

[0077] Where Treq2 and Treq1 are the target torque and current required torque of the drive motor, respectively; P1 and P2 are the current required torque reduction coefficient and torque adjustment coefficient of the drive motor, respectively. This ensures the effective operation of the drive motor while suppressing the speed jitter of the drive motor to the greatest extent.

[0078] It will be appreciated that the torque adjustment coefficient may be multiplied by the current required torque of the drive motor to obtain a candidate torque for the drive motor. The target torque of the drive motor may then be determined based on the magnitude relationship between the candidate torque and the torque output limits of the drive motor at the current moment (e.g., the maximum output torque and the minimum output torque). If the candidate torque is less than or equal to the maximum output torque and greater than or equal to the minimum output torque, the candidate torque is used as the target torque for the drive motor. If the candidate torque is greater than the maximum output torque, the maximum output torque is used as the target torque for the drive motor. If the candidate torque is less than the minimum output torque, the minimum output torque is used as the target torque for the drive motor. It will be appreciated that the torque output limit may be determined based on torque-influencing factors other than the speed change rate of the drive motor, such as an overtemperature condition, an overspeed condition, or a fault condition of the drive motor. This allows for maximum suppression of speed fluctuations in the drive motor while ensuring efficient operation of the drive motor.

[0079] In addition, existing vibration suppression methods typically determine the compensation torque of the drive motor and superimpose this compensation torque with a given current demand torque to obtain the target torque of the drive motor. This can lead to situations where the actual output torque of the drive motor exceeds the demand torque given in the torque adjustment command issued by the vehicle controller, posing a significant safety risk during vehicle driving. However, the method in the embodiment of the present application adjusts the current output torque of the drive motor using the torque adjustment coefficient of the drive motor to obtain the target torque of the drive motor. No additional torque is superimposed on the motor end, effectively reducing the safety risk caused by the actual output torque of the drive motor exceeding the demand torque given in the torque adjustment command during vehicle driving.

[0080] In some embodiments, determining whether the drive motor meets a vibration suppression condition based on a speed change rate of the drive motor of the vehicle includes:

[0081] Based on a magnitude relationship between a rotational speed change rate of the drive motor and a first rotational speed change rate threshold, it is determined whether the drive motor meets a vibration suppression condition.

[0082] Specifically, the speed change rate of the drive motor may be compared with a first speed change rate threshold, and based on the magnitude relationship between the speed change rate of the drive motor and the first speed change rate threshold, it may be determined whether the drive motor meets the vibration suppression condition.

[0083] In the case where the speed conversion rate of the drive motor is the speed change rate at the current moment, whether the drive motor satisfies the vibration suppression condition can be determined directly based on the magnitude relationship between the speed conversion rate of the drive motor and a first speed change rate threshold. For example, if the speed conversion rate of the drive motor is less than or equal to the first speed change rate threshold, it is determined that the drive motor does not satisfy the vibration suppression condition. If the speed conversion rate of the drive motor is greater than the first speed change rate threshold, it can be directly determined that the drive motor satisfies the vibration suppression condition. Whether the drive motor satisfies the vibration suppression condition can also be further determined based on the vehicle's power control signal.

[0084] In addition, if the speed conversion rate of the drive motor is the speed change rate within a target duration that includes the current moment, whether the drive motor satisfies the jitter suppression condition can be determined based on the magnitude relationship between the speed change rate at each moment within the target duration and a first speed change rate threshold. For example, if the speed change rate at each moment within the target duration is greater than the first speed change rate threshold, the drive motor can be directly determined to have satisfied the jitter suppression condition. Alternatively, if the speed change rate at at least some moments within the target duration is less than or equal to the first speed change rate threshold, the drive motor can be determined to have failed to satisfy the jitter suppression condition.

[0085] It is understandable that, when the speed conversion rate of the drive motor is the speed change rate within the target duration including the current moment, it is also possible to determine whether the drive motor meets the jitter suppression condition based on the statistical value of the speed change rate of the drive motor within the target duration and the first speed change rate threshold. The statistical value can be a maximum value, a minimum value, an average value, or a median value, etc., and can be set according to actual needs. For example, when the statistical value is less than or equal to the first speed change rate threshold, it is determined that the drive motor does not meet the jitter suppression condition. When the statistical value is greater than the first speed change rate threshold, it can be directly determined that the drive motor meets the jitter suppression condition. It is also possible to further determine whether the drive motor meets the jitter suppression condition based on the vehicle's power control signal.

[0086] Therefore, through the method of the embodiment of the present application, it is possible to quickly and accurately determine whether the drive motor meets the vibration suppression conditions.

[0087] In some embodiments, determining whether the drive motor meets the vibration suppression condition based on a magnitude relationship between the speed change rate of the drive motor and a first speed change rate threshold includes:

[0088] If the duration of the speed change rate of the drive motor being greater than the first speed change rate threshold reaches a first predetermined duration, determining whether the drive motor meets a vibration suppression condition based on the power control signal of the vehicle;

[0089] If the speed change rate of the drive motor at the current moment is less than or equal to the first speed change rate threshold, or the duration for which the speed change rate of the drive motor is greater than the first speed change rate threshold is less than the first predetermined duration, it is determined that the drive motor does not meet the vibration suppression condition.

[0090] Specifically, during the operation of the drive motor, at any moment in a time interval where vibration suppression is not performed, it can be determined whether the speed change rate of the drive motor at the current moment is greater than a first speed change rate threshold.

[0091] If the speed change rate of the drive motor at the current moment is less than or equal to the first speed change rate threshold, it can be directly determined that the drive motor does not meet the vibration suppression condition.

[0092] If the current speed change rate of the drive motor is greater than a first speed change rate threshold, the duration of the drive motor speed change rate exceeding the first speed change rate threshold can be further determined. If the duration is less than a first predetermined duration, it can be determined that the drive motor does not meet the vibration suppression condition. This effectively avoids misidentification of the vibration suppression condition as being met due to factors such as noise interference during speed detection, resulting in a large speed change rate being determined, thereby ensuring efficient vehicle operation.

[0093] Furthermore, if the duration reaches a first predetermined duration, the determination of whether the drive motor meets the vibration suppression conditions can be further based on the vehicle's power control signal. The vehicle's power control signal may include a control signal for increasing the torque or speed of the drive motor, such as a shift control signal or an anti-slip torque control signal. In implementation, the motor controller can interact with the vehicle controller to obtain the vehicle's shift control signal in real time. Simultaneously, the motor controller can detect in real time whether the vehicle is slipping and, upon detecting the presence of slip, generate an anti-slip torque control signal to control the drive motor for torque adjustment.

[0094] Optionally, when it is detected that the speed change rate of the drive motor is greater than the first speed change rate threshold and the duration reaches a first predetermined time, if there is a power control signal at the starting moment when the first speed change rate is greater than the first speed change rate threshold, or within a specified time before the starting moment, it indicates that the speed jitter of the drive motor is caused by the vehicle power control. At this time, it can be determined that the jitter suppression conditions are not met to avoid interference between the jitter suppression and the vehicle's gear shifting or anti-skid functions, thereby effectively avoiding the situation where the vehicle needs to increase the speed or torque of the drive motor and mistakenly suppressing the drive motor, thereby affecting the vehicle's operating reliability and safety.

[0095] If there is no power control signal at the start time when the first speed change rate is greater than the first speed change rate threshold, and within the specified time period before the start time, it indicates that the drive motor has speed jitter when the vehicle does not need to increase the speed or torque of the drive motor. At this time, it can be determined that the jitter suppression conditions are met, so that the speed jitter of the drive motor can be effectively suppressed while ensuring the safe and reliable operation of the vehicle.

[0096] In some embodiments, controlling the drive motor to adjust the torque based on the target torque includes:

[0097] If, within the second predetermined time period, the speed change rate of the drive motor is less than or equal to the second speed change rate threshold for a duration reaching a third predetermined time period, the drive motor is controlled to perform torque regulation based on a current jitter suppression count; the current jitter suppression count represents a cumulative number of times the speed jitter of the drive motor is suppressed during a current power-on cycle of the vehicle, and the third predetermined time period is less than the second predetermined time period;

[0098] If the duration during which the speed change rate of the drive motor is less than or equal to the second speed change rate threshold within the second predetermined time period does not reach the third predetermined time period, the torque of the drive motor is controlled to be adjusted to 0.

[0099] Specifically, in the process of suppressing the speed jitter of the drive motor, the drive motor can be controlled to adjust the torque based on the target torque. In the process of controlling the drive motor to adjust the torque based on the target torque, the speed change rate of the drive motor can be obtained in real time.

[0100] If the speed change rate of the drive motor decreases to the second speed change rate threshold within the second predetermined time period, and the duration of the speed change rate of the drive motor being less than or equal to the second speed change rate threshold reaches a third predetermined time period, the third predetermined time period is less than the second predetermined time period, and the second speed change rate threshold is less than the first speed change rate threshold, then it indicates that the speed fluctuation of the drive motor has been effectively suppressed. In this case, the cumulative number of times the drive motor has been subjected to vibration suppression during the current power-on cycle of the vehicle can be incremented by 1 to obtain a current vibration suppression number, and the drive motor can be controlled to perform torque regulation based on the current vibration suppression number. For example, the drive motor can be controlled to perform torque regulation based on a comparison result of the current vibration suppression number with a predetermined number. A torque correction coefficient can also be determined based on the current vibration suppression number, and the current required torque of the drive motor can be corrected based on the torque correction coefficient. The drive motor can then be controlled to perform torque regulation based on the result of the correction, thereby effectively reducing the risk of the drive motor's speed fluctuating significantly multiple times in a short period of time, which could cause damage to related components in the vehicle's power system (e.g., the drive motor, gearbox, drive shaft, etc.) due to repeated speed and torque shocks.

[0101] If the speed change rate of the drive motor does not decrease to the second speed change rate threshold within the second predetermined time period, or if the speed change rate of the drive motor decreases to the second speed change rate threshold but the duration during which the speed change rate of the drive motor is less than or equal to the second speed change rate threshold does not reach the third predetermined time period, it indicates that the speed jitter of the drive motor cannot be effectively suppressed through torque adjustment. In this case, the torque adjustment of the drive motor can be controlled to 0. For example, the torque adjustment coefficient can be set to 0 to minimize the torque of the drive motor and thereby suppress the speed jitter of the drive motor. At the same time, an early warning message can also be generated to remind the user that the speed jitter of the drive motor is abnormal.

[0102] It is understandable that after the torque of the drive motor is controlled to be adjusted to 0, it is necessary to resume adjusting the torque of the drive motor after the vehicle is powered on again.

[0103] In some embodiments, controlling the drive motor to adjust the torque based on the current number of vibration suppression times includes:

[0104] If the current vibration suppression times reach a predetermined number, controlling the torque of the drive motor to be adjusted to 0;

[0105] If the current vibration suppression times are less than the predetermined times, the drive motor is controlled to perform torque adjustment based on the current required torque of the drive motor.

[0106] Specifically, if the current number of jitter suppression events is greater than or equal to a predetermined number, indicating that the drive motor speed has experienced multiple significant fluctuations during the vehicle's current power-on cycle, the drive motor's torque can be controlled to zero, effectively reducing the risk of damage to related components in the vehicle's powertrain (e.g., the drive motor, gearbox, drive shaft, etc.) caused by repeated speed and torque shocks caused by multiple significant fluctuations in the drive motor speed within a short period of time. At the same time, an early warning message can be generated to alert the user to abnormal drive motor speed jitter.

[0107] If the current number of vibration suppression times is less than the predetermined number, the drive motor can be controlled to perform torque adjustment based on the current required torque of the drive motor. For example, the drive motor can be controlled to perform torque adjustment based on the product of the current required torque reduction coefficient and the current required torque of the drive motor to ensure safe and efficient operation of the drive motor.

[0108] In some embodiments, further comprising:

[0109] When the duration for which the torque of the drive motor is controlled to be adjusted to 0 reaches a fourth predetermined duration, determining whether the drive motor has speed jitter based on a magnitude relationship between a current speed change rate of the drive motor and a third speed change rate threshold;

[0110] Based on the result of determining whether the driving motor has rotational speed jitter, a category of a jitter influencing factor of the driving motor is determined.

[0111] Specifically, after controlling the torque adjustment of the drive motor to 0, the category of the jitter influencing factors of the drive motor can be further determined. The category of the jitter influencing factors of the drive motor can include motor controller related factors and non-motor controller related factors. Among them, motor controller related factors can include motor controller software and / or hardware failures, and can also include motor controller controllable disturbances. The motor controller controllable disturbances, that is, the speed jitter caused by the disturbances, can be suppressed by the torque adjustment of the drive motor, for example, sudden braking of the vehicle triggers ABS, high-speed energy recovery torque, etc. Non-motor controller related factors can include motor controller uncontrollable disturbances. The motor controller uncontrollable disturbances, that is, the speed jitter caused by the disturbances cannot be suppressed by the torque adjustment of the drive motor, for example, chassis failure of the vehicle, drive shaft failure, etc.

[0112] During implementation, when the duration of the torque adjustment of the drive motor to 0 reaches the fourth predetermined duration, that is, the zero torque execution duration reaches the fourth predetermined duration, it can be further determined whether the drive motor has speed jitter based on the magnitude relationship between the current speed change rate of the drive motor and the third speed change rate threshold. The third speed change rate threshold can be greater than the second speed change rate threshold. For example, the third speed change rate threshold can be equal to the first speed change rate threshold, or it can be unequal to the first speed change rate threshold. It can be set specifically according to actual needs. For example, if the current speed change rate is greater than the third speed change rate threshold, it is determined that the drive motor has speed jitter. If the current speed change rate is less than or equal to the third speed change rate threshold, it is determined that the drive motor does not have speed jitter.

[0113] Among them, the category of jitter influencing factors of the drive motor can be determined based on the determination result of whether the drive motor has speed jitter when the zero torque execution time reaches the fourth predetermined time, so that when the drive motor has abnormal speed jitter, the influencing factors causing the abnormal speed jitter can be determined in time.

[0114] In addition, the abnormal drive motor speed jitter signal and the category of the drive motor jitter influencing factors can also be sent to the vehicle controller and the predetermined terminal, etc. When the vehicle controller receives the abnormal drive motor speed jitter signal, it can control the vehicle accordingly according to the category of the drive motor jitter influencing factors to ensure the safety of the vehicle. The predetermined terminal can be the vehicle's center console, the user's mobile phone terminal, the cloud platform, etc., so that relevant personnel can perform troubleshooting and equipment maintenance according to the category of jitter influencing factors, thereby ensuring the safe and efficient operation of the vehicle.

[0115] In some embodiments, determining the category of jitter influencing factors of the drive motor based on the result of determining whether the drive motor has speed jitter includes:

[0116] If the drive motor has speed jitter, stop outputting the control signal to the drive motor, and when the duration of stopping outputting the control signal to the drive motor reaches a fifth predetermined duration, determine the category of the jitter influencing factor of the drive motor based on a magnitude relationship between a current speed change rate of the drive motor and a fourth speed change rate threshold, wherein the fourth speed change rate threshold is less than the third speed change rate threshold;

[0117] If the driving motor does not have speed jitter, it is determined that the jitter influencing factor category of the driving motor is a motor controller related factor.

[0118] Specifically, if the drive motor still experiences speed jitter when the zero torque execution duration reaches the fourth predetermined duration, the motor controller may stop outputting control signals to the drive motor, i.e., the motor controller stops controlling the drive motor. When the duration during which the motor controller stops outputting control signals to the drive motor reaches the fifth predetermined duration, the category of the jitter influencing factor of the drive motor may be determined based on the magnitude relationship between the current speed change rate of the drive motor and a fourth speed change rate threshold. The fourth speed change rate threshold may be less than the third speed change rate threshold. For example, the fourth speed change rate threshold may be equal to or different from the second speed change rate threshold, and may be set specifically based on actual needs.

[0119] During implementation, if the current speed change rate of the drive motor is greater than the fourth speed change rate threshold when the motor controller stops outputting control signals to the drive motor for a fifth predetermined time period, this indicates that after the motor controller stops controlling the drive motor, the speed jitter of the drive motor cannot be effectively suppressed. In this case, it can be determined that the jitter influencing factor category of the drive motor is a non-motor controller-related factor. If the current speed change rate of the drive motor is less than or equal to the fourth speed change rate threshold when the motor controller stops outputting control signals to the drive motor for a fifth predetermined time period, this indicates that after the motor controller stops controlling the drive motor, the speed jitter of the drive motor is effectively suppressed. In this case, it can be determined that the jitter influencing factor category of the drive motor is a motor controller-related factor.

[0120] In addition, if the driving motor does not experience speed jitter when the zero torque execution time reaches the fourth predetermined time, it can be determined that the jitter influencing factor category of the driving motor is a motor controller-related factor.

[0121] Therefore, through the method of the embodiment of the present application, when the drive motor has abnormal speed jitter, the influencing factors causing the abnormal speed jitter can be quickly and effectively identified, so that relevant personnel can perform troubleshooting and equipment maintenance in a timely and effective manner.

[0122] The following describes in detail the jitter suppression effect of the jitter suppression method of the present application through experiments.

[0123] Without suppressing the speed jitter of the drive motor, the change trend of the speed and torque of the drive motor can be as follows: Figure 3 As shown, when the speed jitter of the driving motor is suppressed by the jitter suppression method of the present application, the change trend of the speed and torque of the driving motor can be as follows: Figure 4 As shown. Figure 3 and Figure 4 The comparison shows that the jitter suppression method of the present application can effectively reduce the speed jitter of the drive motor by suppressing the speed jitter of the drive motor. According to data statistics, the jitter suppression method of the present application can reduce the speed fluctuation amplitude of the drive motor by more than 30%. At the same time, it effectively avoids triggering software and hardware overcurrent in situations such as when the vehicle suddenly brakes and triggers the ABS or when the high gear is used to recover the torque.

[0124] Corresponding to the above-mentioned vibration suppression method, the embodiment of the present application further provides a vibration suppression device, which is applied to the motor controller of the vehicle, see Figure 5 As shown, the device includes:

[0125] A first processing module 501 is configured to determine whether the drive motor of the vehicle meets a vibration suppression condition based on a speed change rate of the drive motor;

[0126] a second processing module 502 for determining a target torque of the drive motor based on a speed change rate of the drive motor and a current required torque of the drive motor if the drive motor satisfies a vibration suppression condition, wherein the current required torque is determined based on a received torque adjustment command;

[0127] The third processing module 503 is configured to control the drive motor to perform torque adjustment based on the target torque.

[0128] In a possible implementation, the second processing module 502 is specifically configured to:

[0129] Determining a torque adjustment coefficient of the drive motor based on a speed change rate of the drive motor, wherein the torque adjustment coefficient is greater than 0 and less than 1;

[0130] The current required torque of the drive motor is adjusted based on the torque adjustment coefficient to obtain the target torque of the drive motor.

[0131] In a possible implementation, the first processing module 501 is specifically configured to:

[0132] Based on a magnitude relationship between a rotational speed change rate of the drive motor and a first rotational speed change rate threshold, it is determined whether the drive motor meets a vibration suppression condition.

[0133] In a possible implementation, the first processing module 501 is specifically configured to:

[0134] If the duration of the speed change rate of the drive motor being greater than the first speed change rate threshold reaches a first predetermined duration, determining whether the drive motor meets a vibration suppression condition based on the power control signal of the vehicle;

[0135] If the speed change rate of the drive motor at the current moment is less than or equal to the first speed change rate threshold, or the duration for which the speed change rate of the drive motor is greater than the first speed change rate threshold is less than the first predetermined duration, it is determined that the drive motor does not meet the vibration suppression condition.

[0136] In a possible implementation, the third processing module 503 is specifically configured to:

[0137] If, within the second predetermined time period, the speed change rate of the drive motor is less than or equal to the second speed change rate threshold for a duration reaching a third predetermined time period, the drive motor is controlled to perform torque regulation based on a current jitter suppression count; the current jitter suppression count represents a cumulative number of times the speed jitter of the drive motor is suppressed during a current power-on cycle of the vehicle, and the third predetermined time period is less than the second predetermined time period;

[0138] If the duration during which the speed change rate of the drive motor is less than or equal to the second speed change rate threshold within the second predetermined time period does not reach the third predetermined time period, the torque of the drive motor is controlled to be adjusted to 0.

[0139] In a possible implementation, the third processing module 503 is specifically configured to:

[0140] If the current vibration suppression times reach a predetermined number, controlling the torque of the drive motor to be adjusted to 0;

[0141] If the current vibration suppression times are less than the predetermined times, the drive motor is controlled to perform torque adjustment based on the current required torque of the drive motor.

[0142] In a possible implementation, the third processing module 503 is further configured to:

[0143] When the duration for which the torque of the drive motor is controlled to be adjusted to 0 reaches a fourth predetermined duration, determining whether the drive motor has speed jitter based on a magnitude relationship between a current speed change rate of the drive motor and a third speed change rate threshold;

[0144] Based on the result of determining whether the driving motor has rotational speed jitter, a category of a jitter influencing factor of the driving motor is determined.

[0145] In a possible implementation, the third processing module 503 is specifically configured to:

[0146] If the drive motor has speed jitter, stop outputting the control signal to the drive motor, and when the duration of stopping outputting the control signal to the drive motor reaches a fifth predetermined duration, determine the category of the jitter influencing factor of the drive motor based on a magnitude relationship between a current speed change rate of the drive motor and a fourth speed change rate threshold, wherein the fourth speed change rate threshold is less than the third speed change rate threshold;

[0147] If the driving motor does not have speed jitter, it is determined that the jitter influencing factor category of the driving motor is a motor controller related factor.

[0148] The jitter suppression device provided in this embodiment shares the same concept as the jitter suppression method provided in the aforementioned embodiments of this application. It can execute the jitter suppression method provided in any of the aforementioned embodiments of this application and possesses the corresponding functional modules and beneficial effects of executing the jitter suppression method. For technical details not fully described in this embodiment, please refer to the specific processing content of the jitter suppression method provided in the aforementioned embodiments of this application and will not be further elaborated here.

[0149] Another embodiment of the present application further proposes a motor controller, comprising at least one processor and at least one memory, wherein the memory stores a computer program, and when the computer program is executed by the processor, the jitter suppression method disclosed in any of the above embodiments is implemented.

[0150] Yet another embodiment of the present application provides a vehicle, comprising a drive motor and a motor controller as disclosed in the above embodiment.

[0151] The methods described herein may be implemented in whole or in part via software, hardware, firmware, or any combination thereof. When implemented using software, they may be implemented in whole or in part in the form of a computer program product. The computer program product includes one or more computer programs or instructions that, when loaded and executed on a computer, fully or partially execute the processes or functions described herein. The computer may be a general-purpose computer, a special-purpose computer, a computer network, a network device, a user equipment, a core network device, an OAM, or other programmable device.

[0152] The computer program product may be written in any combination of one or more programming languages to implement the program code for performing the operations of the embodiments of the present application, including object-oriented programming languages such as Java, C++, and conventional procedural programming languages such as "C" or similar programming languages. The program code may be executed entirely on the user's computing device, partially on the user's computing device, as a standalone software package, partially on the user's computing device and partially on a remote computing device, or entirely on a remote computing device or server.

[0153] The computer program or instructions may be stored in a computer-readable storage medium or transmitted from one computer-readable storage medium to another computer-readable storage medium. For example, the computer program or instructions may be transmitted from one website, computer, server, or data center to another website, computer, server, or data center via a wired or wireless method. The computer-readable storage medium may be any available medium that can be accessed by a computer or a data storage device such as a server or data center that integrates one or more available media. The available medium may be a magnetic medium, such as a floppy disk, a hard disk, or a magnetic tape; an optical medium, such as a digital video disk; or a semiconductor medium, such as a solid-state drive. The computer-readable storage medium may be a volatile or non-volatile storage medium, or may include both volatile and non-volatile types of storage media.

[0154] In addition, an embodiment of the present application may also be a storage medium having a computer program stored thereon. The computer program is used by a processor to execute the steps of the jitter suppression method described in any of the above embodiments of this specification, specifically the following steps:

[0155] determining whether the drive motor meets a vibration suppression condition based on a speed change rate of the drive motor of the vehicle;

[0156] If the drive motor satisfies the vibration suppression condition, determining a target torque of the drive motor based on a speed change rate of the drive motor and a current required torque of the drive motor, wherein the current required torque is determined based on a received torque adjustment command;

[0157] Based on the target torque, the drive motor is controlled to perform torque adjustment.

[0158] For the sake of simplicity, the aforementioned method embodiments are described as a series of action combinations. However, those skilled in the art should be aware that this application is not limited by the order of the actions described, because according to this application, certain steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also be aware that the embodiments described in this specification are all preferred embodiments, and the actions and modules involved are not necessarily required by this application.

[0159] It should be noted that the various embodiments in this specification are described in a progressive manner, with each embodiment focusing on the differences from other embodiments. Similarities between the various embodiments can be referred to in conjunction with each other. For device embodiments, since they are generally similar to method embodiments, their description is relatively simple, and for relevant details, reference can be made to the description of the method embodiments.

[0160] The steps in the methods of the various embodiments of the present application can be adjusted in order, combined, or deleted according to actual needs, and the technical features recorded in the various embodiments can be replaced or combined. The devices in the various embodiments of the present application can be combined, divided, or deleted according to actual needs.

[0161] Professionals may further appreciate that the units and algorithm steps of each example described in conjunction with the embodiments disclosed herein can be implemented in electronic hardware, computer software, or a combination of the two. In order to clearly illustrate the interchangeability of hardware and software, the above description has generally described the components and steps of each example according to their functions. Whether these functions are performed in hardware or software depends on the specific application and design constraints of the technical solution. Professionals and technicians may use different methods to implement the described functions for each specific application, but such implementation should not be considered beyond the scope of this application.

[0162] The steps of the methods or algorithms described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, software units executed by a processor, or a combination of the two. The software units may be placed in random access memory (RAM), internal memory, read-only memory (ROM), electrically programmable ROM, electrically erasable programmable ROM, registers, hard disk, removable disk, CD-ROM, or any other form of storage medium known in the art.

[0163] Finally, it should be noted that, in this document, relational terms such as first and second, etc., are used only to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any actual relationship or order between these entities or operations. Moreover, the terms "comprises," "comprising," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or device comprising a series of elements includes not only those elements, but also other elements not explicitly listed, or elements inherent to such process, method, article, or device. In the absence of further limitations, an element defined by the phrase "comprising a ..." does not exclude the presence of additional identical elements in the process, method, article, or device comprising the element.

[0164] The above description of the disclosed embodiments will enable those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application is not limited to the embodiments shown herein, but is to be construed in the widest manner consistent with the principles and novel features disclosed herein.

Claims

1. A jitter suppression method, characterized in that: A motor controller for a vehicle, the method comprising: determining whether the drive motor meets a vibration suppression condition based on a speed change rate of the drive motor of the vehicle; If the drive motor satisfies the vibration suppression condition, determining a target torque of the drive motor based on a speed change rate of the drive motor and a current required torque of the drive motor, wherein the current required torque is determined based on a received torque adjustment command; Based on the target torque, the drive motor is controlled to perform torque adjustment.

2. The method according to claim 1, characterized in that The determining the target torque of the drive motor based on the speed change rate of the drive motor and the current required torque of the drive motor includes: Determining a torque adjustment coefficient of the drive motor based on a speed change rate of the drive motor, wherein the torque adjustment coefficient is greater than 0 and less than 1; The current required torque of the drive motor is adjusted based on the torque adjustment coefficient to obtain the target torque of the drive motor.

3. The method according to claim 1, characterized in that The determining whether the drive motor satisfies a vibration suppression condition based on a speed change rate of the drive motor of the vehicle includes: Based on a magnitude relationship between a rotational speed change rate of the drive motor and a first rotational speed change rate threshold, it is determined whether the drive motor meets a vibration suppression condition.

4. The method according to claim 3, characterized in that The determining whether the drive motor meets the vibration suppression condition based on a magnitude relationship between the speed change rate of the drive motor and a first speed change rate threshold includes: If the duration of the speed change rate of the drive motor being greater than the first speed change rate threshold reaches a first predetermined duration, determining whether the drive motor meets a vibration suppression condition based on the power control signal of the vehicle; If the speed change rate of the drive motor at the current moment is less than or equal to the first speed change rate threshold, or the duration for which the speed change rate of the drive motor is greater than the first speed change rate threshold is less than the first predetermined duration, it is determined that the drive motor does not meet the vibration suppression condition.

5. The method according to any one of claims 1 to 4, characterized in that The step of controlling the drive motor to adjust the torque based on the target torque includes: If, within the second predetermined time period, the speed change rate of the drive motor is less than or equal to the second speed change rate threshold for a duration reaching a third predetermined time period, the drive motor is controlled to perform torque regulation based on a current jitter suppression count; the current jitter suppression count represents a cumulative number of times the speed jitter of the drive motor is suppressed during a current power-on cycle of the vehicle, and the third predetermined time period is less than the second predetermined time period; If the duration during which the speed change rate of the drive motor is less than or equal to the second speed change rate threshold within the second predetermined time period does not reach the third predetermined time period, the torque of the drive motor is controlled to be adjusted to 0.

6. The method according to claim 5, characterized in that The controlling the drive motor to perform torque adjustment based on the current number of jitter suppression times includes: If the current vibration suppression times reach a predetermined number, controlling the torque of the drive motor to be adjusted to 0; If the current vibration suppression times are less than the predetermined times, the drive motor is controlled to perform torque adjustment based on the current required torque of the drive motor.

7. The method according to claim 6, characterized in that Also includes: When the duration for which the torque of the drive motor is controlled to be adjusted to 0 reaches a fourth predetermined duration, determining whether the drive motor has speed jitter based on a magnitude relationship between a current speed change rate of the drive motor and a third speed change rate threshold; Based on the result of determining whether the driving motor has rotational speed jitter, a category of a jitter influencing factor of the driving motor is determined.

8. The method according to claim 7, characterized in that The determining of the vibration-influencing factor category of the drive motor based on the result of determining whether the drive motor has speed vibration includes: If the drive motor has speed jitter, stop outputting the control signal to the drive motor, and when the duration of stopping outputting the control signal to the drive motor reaches a fifth predetermined duration, determine the category of the jitter influencing factor of the drive motor based on a magnitude relationship between a current speed change rate of the drive motor and a fourth speed change rate threshold, wherein the fourth speed change rate threshold is less than the third speed change rate threshold; If the driving motor does not have speed jitter, it is determined that the jitter influencing factor category of the driving motor is a motor controller related factor.

9. A motor controller, characterized in that: The device comprises at least one processor and at least one memory, wherein a computer program is stored in the memory, and when the computer program is executed by the processor, the jitter suppression method according to any one of claims 1 to 8 is implemented.

10. A vehicle, characterized in that: The vehicle includes a drive motor and the motor controller according to claim 9 .

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