A control method and device for suppressing vibration of a driving motor

Abstract

The disclosed embodiments provide a control method, device, storage medium and electronic device for suppressing the vibration of a drive motor, wherein the control method comprises: obtaining power information of each powertrain in a vehicle; obtaining the current torque capacity of the vehicle, wherein the current torque capacity comprises at least a driving torque capacity and a recovery torque capacity; and in response to a powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity. The disclosed embodiments can suppress the generation and aggravation of the vibration of the drive motor by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the driving experience of the user when the drive motor capacity reaches its limit.

Description

Technical Field

[0001] The present disclosure relates to the field of motor control, and in particular to a control method, device, storage medium and electronic device for suppressing vibration of a driving motor. Background Art

[0002] In new energy vehicles with motors, according to the calculation formula of motor torque capacity, motor torque capacity = motor system electric power capacity / motor speed (in some cases, conversion efficiency also needs to be considered). It can be seen from the above formula that when the motor is in the constant power zone, the size of the motor torque capacity will be affected by the changes in the motor system's electric power capacity and motor speed. In other words, if the motor system's electric power capacity or motor speed fluctuates, the motor torque capacity will also fluctuate accordingly. When the motor demand torque ≥ motor torque capacity, the VCU's demand for motor torque will fluctuate due to the influence of the motor torque capacity. When the motor responds to the torque demand, it will cause the motor speed to fluctuate. This fluctuation in motor speed will in turn aggravate the motor torque capacity, that is, the fluctuation in torque demand, thereby causing a chain reaction and causing the entire vehicle to have unacceptable jitter problems for users. Summary of the invention

[0003] The purpose of the embodiments of the present disclosure is to provide a control method, device, storage medium and electronic device for suppressing the vibration of a drive motor, so as to solve the problems existing in the prior art.

[0004] In order to solve the above technical problems, the embodiments of the present disclosure adopt the following technical solutions:

[0005] A control method for suppressing vibration of a driving motor, comprising:

[0006] Get power information for each powertrain in the vehicle;

[0007] Acquiring a current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity;

[0008] In response to a powertrain mode switching request, a torque output of the drive motor is controlled based on a required torque of the drive motor and the current torque capacity.

[0009] In some embodiments, the obtaining of the current torque capacity of the vehicle, wherein the torque capacity at least includes a driving torque capacity and a recovery torque capacity, comprises:

[0010] Obtaining a current powertrain mode of the vehicle;

[0011] Determining a current power capability of the drive motor based on the current powertrain mode and the reserved power;

[0012] A current torque capability of the drive motor is determined based on the current power capability.

[0013] In some embodiments, the powertrain mode includes at least a pure electric mode, a series mode, and a parallel mode.

[0014] In some embodiments, in response to the powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity includes:

[0015] In response to a powertrain mode switching request, determining whether the vehicle enters a dynamic smoothing process;

[0016] When the vehicle enters the dynamic smoothing process, obtaining a difference between the current torque capacity and an average value of the torque capacity;

[0017] Based on the difference, the torque output of the drive motor is controlled.

[0018] In some embodiments, controlling the torque output of the drive motor based on the difference includes:

[0019] When the difference is positive, filtering the difference, and determining the torque capacity limit value based on the filtered difference and the torque capacity average value;

[0020] When the difference is negative, a torque capacity limit value is determined based on the difference and the torque capacity average value.

[0021] In some embodiments, it also includes:

[0022] When the vehicle does not enter the dynamic smoothing process, the torque output of the driving motor is controlled based on the current torque capacity.

[0023] In some embodiments, the filtering process is a way of slope limiting the difference.

[0024] The present disclosure also provides a control device for suppressing vibration of a driving motor, which includes:

[0025] A power information acquisition module, used to acquire power information of each powertrain in the vehicle;

[0026] A torque capacity acquisition module, which acquires the current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity;

[0027] The control module is configured to control the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity in response to a powertrain mode switching request.

[0028] The present disclosure also provides a storage medium storing a computer program, wherein the computer program implements the steps of any of the above methods when executed by a processor.

[0029] The present disclosure also provides an electronic device, comprising at least a memory and a processor, wherein the memory stores a computer program, and the processor implements the steps of any of the above methods when executing the computer program on the memory.

[0030] Compared with the prior art, in the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, by dynamically reserving the power capacity of the power battery when calculating the power capacity of the drive motor, the jitter problem caused by the fluctuation of the power capacity of the drive motor is avoided. At the same time, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid the resonant jitter caused by the fluctuation of the torque and speed of the drive motor when the power capacity is stable.

[0031] The disclosed embodiment can suppress the generation and aggravation of drive motor jitter by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's driving experience when the drive motor capacity reaches its limit. BRIEF DESCRIPTION OF THE DRAWINGS

[0032] In order to more clearly illustrate the embodiments of the present disclosure or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are only some embodiments recorded in the present disclosure. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative labor.

[0033] Figure 1 A schematic diagram of the structure of a new energy vehicle in an embodiment of the present disclosure;

[0034] Figure 2 A schematic diagram of the steps of a control method for suppressing the vibration of a drive motor in an embodiment of the present disclosure;

[0035] Figure 3 A schematic diagram of the steps of a control method for suppressing the vibration of a drive motor in an embodiment of the present disclosure;

[0036] Figure 4 A schematic diagram of the steps of a control method for suppressing the vibration of a drive motor in an embodiment of the present disclosure;

[0037] Figure 5 Schematic diagram of the steps of a control method for suppressing vibration of a drive motor in an embodiment of the present disclosure.

[0038] Reference numerals:

[0039] 1-drive motor; 2-power battery; 3-engine; 4-generator; 5-battery management system; 6-engine control system; 7-generator control unit; 8-drive motor control unit; 9-vehicle controller. DETAILED DESCRIPTION

[0040] Various aspects and features of the present disclosure are described herein with reference to the drawings.

[0041] It should be understood that various modifications may be made to the embodiments of the present application. Therefore, the above description should not be considered as limiting, but only as an example of an embodiment. Other modifications within the scope and spirit of the present disclosure will occur to those skilled in the art.

[0042] The accompanying drawings, which are incorporated in and constitute a part of the specification, illustrate embodiments of the present disclosure and, together with the general description of the present disclosure given above and the detailed description of the embodiments given below, serve to explain the principles of the present disclosure.

[0043] These and other characteristics of the present disclosure will become apparent from the following description of a preferred form of embodiment given as a non-limiting example, with reference to the accompanying drawings.

[0044] It should also be understood that, although the present disclosure has been described with reference to some specific examples, those skilled in the art will be able to realize many other equivalent forms of the present disclosure that have the features described in the claims and are therefore within the scope of protection defined thereby.

[0045] The above and other aspects, features and advantages of the present disclosure will become more apparent from the following detailed description when taken in conjunction with the accompanying drawings.

[0046] Specific embodiments of the present disclosure are described hereinafter with reference to the accompanying drawings; however, it should be understood that the embodiments claimed are merely examples of the present disclosure, which may be implemented in a variety of ways. Well-known and / or repeated functions and structures are not described in detail to avoid obscuring the present disclosure with unnecessary or redundant details. Therefore, the specific structural and functional details claimed herein are not intended to be limiting, but merely serve as a basis and representative basis for the claims to teach those skilled in the art to use the present disclosure in a variety of ways with substantially any suitable detailed structure.

[0047] This specification may use the phrases "in one embodiment," "in another embodiment," "in a further embodiment," or "in other embodiments," all of which may refer to one or more of the same or different embodiments according to the present disclosure.

[0048] The first embodiment of the present disclosure provides a control method for suppressing vibration of a driving motor. The control method can be used in a new energy vehicle having a driving motor. Figure 1 A schematic diagram of the structure of a general new energy vehicle and a control device of the new energy vehicle is shown, wherein the new energy vehicle may be a hybrid vehicle, which includes a drive motor 1, a power battery 2, an engine 3 and a generator 4. The drive motor 1, the engine 3 and the generator 4 are used as the main power assembly, and the engine 3 is connected to the drive motor 1 through a clutch. Of course, the new energy vehicle here may also be a pure electric vehicle, etc.

[0049] The new energy vehicle here also includes a corresponding control device, which includes a battery management system (BMS) 5, an engine management system (EMS) 6, a generator control unit (GMCU) 7, a motor control unit (TMCU) 8 and a vehicle controller (VCU) 9, wherein the battery management system 5, the engine management system 6, the generator management unit 7, and the motor control unit 8 are devices for reporting the powertrain status and executing control instructions in each of the powertrains, and the vehicle controller 9 is a device for calculating control logic and issuing control instructions; the above structure is the main structure of a general new energy vehicle, and the structure except the engine 3, the generator 4, the engine management system 6, and the generator management unit 7 in the above structure can also be applied to other types of vehicles such as pure electric vehicles.

[0050] Furthermore, the main functions of each component in the above-mentioned control device are as follows: the battery management system 5 is used to calculate the charging and discharging power capacity of the power battery 2, and report it to the vehicle controller 9 in real time; the engine management system 6 is used to calculate the torque capacity of the engine 3, and report it to the vehicle controller 9 in real time, and is also used to control the engine 3 to execute the torque or speed requirements of the vehicle controller 9, and report the actual torque and actual speed of the engine 3 to the vehicle controller 9; the generator management unit 7 is used to calculate the torque capacity of the generator 4, and report it to the vehicle controller 9 in real time, and is also used to control the generator 4 to execute the torque or speed requirements of the vehicle controller 9, and report the actual torque and actual speed of the generator 4 to the vehicle controller 9. The torque and the actual speed are reported to the vehicle controller 9; the motor control unit 8 is used to calculate the torque capacity of the drive motor 1 and report it to the vehicle controller 9 in real time, and is also used to control the drive motor 1 to execute the torque or speed requirements of the vehicle controller 9, and report the actual torque and actual speed of the drive motor 1 to the vehicle controller 9; the vehicle controller 9 is used to implement the method logic involved in the embodiment of the present disclosure according to the data reported by the battery management system 5, the engine management system 6, the generator management unit 7, and the motor control unit 8, and issue control instructions to the corresponding battery management system 5, the engine management system 6, the generator management unit 7 and the motor control unit 8.

[0051] The first embodiment of the present disclosure relates to a control method for suppressing vibration of a driving motor, such as Figure 2 As shown, including:

[0052] S101, obtaining power information of each powertrain in the vehicle.

[0053] In this step, the power information of each powertrain in the vehicle is obtained. The powertrain here refers to any one of the engine 3, the generator 4, and the drive motor 1. Specifically, first, the torque capacity, actual torque, and actual speed reported by the controller of each powertrain such as the engine 3, the generator 4, and the drive motor 1 are obtained.

[0054] Further, for power information, the driving electric power and actual electric power of the engine 3, the driving electric power, recovered electric power and actual electric power of the generator 4, and the driving electric power, recovered electric power and actual electric power of the drive motor 1 are calculated respectively by the calculation formula of power = torque × speed. Here, the operating efficiency of each power assembly should be considered in the process of calculating the electric power of each power assembly.

[0055] S102, obtaining a current torque capacity of the vehicle, where the current torque capacity at least includes a driving torque capacity and a recovery torque capacity.

[0056] After the power information of each powertrain in the vehicle is obtained through the above step S101, in this step, the current torque capacity of the vehicle is obtained, and the current torque capacity at least includes the driving torque capacity and the recovery torque capacity. Specifically, the power capacity of the drive motor is determined based on the current powertrain mode of the vehicle, and the torque capacity of the drive motor is further determined based on the power capacity of the drive motor. Figure 3 As shown, specifically including:

[0057] S201, obtaining a current powertrain mode of the vehicle.

[0058] In this step, the current powertrain mode of the vehicle is obtained. Specifically, for new energy vehicles, especially hybrid vehicles, the powertrain mode here includes a pure electric mode, a series mode and a parallel mode, wherein the pure electric mode here means that the engine 3 is in an unstarted state, the series mode here means that the engine 3 is in a started state and the clutch is in a disconnected state, and the parallel mode here means that the engine 3 is in a started state and the clutch is in an engaged state.

[0059] S202: Determine the current power capability of the drive motor based on the current powertrain mode and the reserved power.

[0060] After the current powertrain mode of the vehicle is obtained through the above step S201, in this step, the current power capacity of the drive motor is determined based on the current powertrain mode and the reserved power, where the power capacity at least includes the driving power capacity and the recovery power capacity. Specifically, when the current powertrain mode is the pure electric mode, in order to ensure that the power battery 2 has sufficient power capacity for the engine 3 to start, it is necessary to reserve a certain amount of the discharge power capacity of the power battery 2. Taking the driving power as an example, at this time, the driving power capacity of the drive motor 1 is: the driving power capacity of the drive motor 1 = min (the discharge power capacity of the power battery 2 - the accessory consumption power - the starting power reserved value of the engine 3), thereby obtaining the driving power capacity of the drive motor 1 itself.

[0061] When the current powertrain mode is the series mode, in this mode, the engine 3 drives the generator 4 to generate electricity. The purpose of power generation here is to supply the drive motor 1 with electricity and to maintain the balance of the power battery 2. Since the demand of the drive motor 1 and the power of the power battery 2 are changing all the time, the power generation of the generator 4 will fluctuate to a certain extent. For example, when the driver's power demand gradually increases from a certain steady state, in order to quickly increase the power of the engine 3, the power of the generator 4 will first decrease and then increase, which is the so-called generator speed regulation process. In order to ensure that such fluctuations do not affect the power capacity of the drive motor 1, it is necessary to reserve a part of the charging and discharging power of the power battery 2 for generator speed regulation. Taking the driving power as an example, the driving power capacity of the drive motor 1 at this time is: the driving power capacity of the drive motor 1 = min (the discharge power capacity of the power battery 2 - the power consumption of the accessories - the reserved power value of the generator speed regulation + the actual electric power of the engine 3, so as to obtain the driving power capacity of the drive motor 1 itself. The reserved power value of the generator speed regulation in the above formula can be obtained by looking up the table according to the difference between the target speed and the actual speed of the engine 3.

[0062] Since the response of the engine 3 is slower than that of the drive motor 1, the actual electric power of the engine 3 is used instead of the actual electric power of the generator 4, so that the calculated drive power capacity of the drive motor 1 will not fluctuate rapidly. However, since the actual electric power of the engine 3 is not the actual electric power generated by the generator 4, the calculated drive power capacity of the drive motor 1 may be inaccurate. At this time, the speed regulation reserved power of the generator 4 comes into play, because the actual electric power of the generator 4 fluctuates above and below the actual electric power of the engine 3, that is, the speed is regulated, and this fluctuation range is the speed regulation reserved power. Therefore, although the drive motor 1 is used according to the actual electric power of the engine 3, the power reserved by the power battery 2 will be used to supplement it if it is used more or less, avoiding overcharging and over-discharging of the power battery 2, and greatly slowing down the power capacity fluctuation of the drive motor 1.

[0063] When the current powertrain mode is the parallel mode, in this mode, the engine 3 directly participates in the driving, and the generator 4 will decide whether to generate electricity and the amount of electricity generated according to the power of the power battery 2. Taking the driving power capacity as an example, at this time, the driving power capacity of the drive motor 1 is: the driving power capacity of the drive motor 1 = min (the discharge power capacity of the power battery 2 - the power consumption of accessories - the reserved power value of the generator speed regulation - the actual electric power of the generator 4 (the power generation is negative)), so as to obtain the driving power capacity of the drive motor 1 itself. Among them, the generator 4 will not perform transient speed regulation in this mode, so the actual electric power of the generator 4 only needs to be properly filtered. The reason why the generator speed regulation reservation is still needed in this mode is to ensure that there is enough power for the generator speed regulation when the mode is switched from the parallel mode to the series mode.

[0064] In addition, the recovery power capability here refers to the driving power capability obtained respectively under different current powertrain modes, which will not be repeated here.

[0065] S203: Determine a current torque capacity of the drive motor based on the current power capacity.

[0066] After the current power capacity of the drive motor is determined based on the current powertrain mode in step S202, in this step, the current torque capacity of the drive motor is determined based on the current power capacity. Specifically, after the power capacity is obtained, the torque capacity of the drive motor 1 is obtained based on the power capacity of the drive motor 1 based on the calculation formula torque = power ÷ speed, where the torque capacity at least includes driving torque capacity and recovery torque capacity.

[0067] S103 , in response to the powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity.

[0068] After the current torque capacity of the vehicle is obtained through the above step S102, in this step, in response to the powertrain mode switching request, the torque output of the drive motor is controlled based on the required torque of the drive motor and the current torque capacity. Specifically, in this step, in response to the powertrain mode switching request, the required torque of the drive motor 1 calculated by the vehicle controller 9 is limited based on the current torque capacity of the drive motor 1 obtained by calculation, and then sent to the motor control unit 8, so as to drive the motor control unit 8 to execute corresponding control instructions. The powertrain mode switching request here can be formed based on any method. The switching request here is mainly generated when the required torque of the drive motor reaches the torque capacity of the drive motor. Specifically, Figure 4As shown, including:

[0069] S301, in response to a powertrain mode switching request, determining whether the vehicle enters dynamic smoothing processing.

[0070] In this step, in response to the powertrain mode switching request, it is determined whether the vehicle enters dynamic smoothing processing. Specifically, the determination method for determining whether the vehicle enters dynamic smoothing processing is, for example, if the current torque capacity of the drive motor 1 decreases and then increases, then it is determined that the vehicle needs to enter dynamic smoothing processing; in addition, for example, if the required torque of the drive motor 1 is less than the torque capacity of the drive motor 1 and reaches a certain value, and the value can be obtained through calibration, then it is determined that the vehicle does not need to enter dynamic smoothing processing, wherein the priority of the condition for determining not to enter dynamic smoothing processing can be higher than the condition for entering dynamic smoothing processing.

[0071] S302, when the vehicle enters the dynamic smoothing process, obtaining a difference between the current torque capacity and an average torque capacity.

[0072] After responding to the powertrain mode switching request in step S301 to determine whether the vehicle enters the dynamic smoothing process, in this step, when the vehicle enters the dynamic smoothing process, the difference between the current torque capacity and the average torque capacity is obtained. Specifically, when the drive motor 1 enters the dynamic smoothing process, the average torque capacity of the drive motor 1 in the past predetermined time period is first obtained, where the predetermined time period may be the past N cycles; further, the difference between the current torque capacity of the drive motor 1 and the average torque capacity is calculated.

[0073] In addition, when it is determined that the vehicle does not enter the dynamic smoothing process, the acquired current torque capacity of the drive motor 1 is directly output to control the torque output of the drive motor 1 .

[0074] S303: Control the torque output of the driving motor based on the difference.

[0075] After the vehicle enters the dynamic smoothing process through the above step S302, after obtaining the difference between the current torque capacity and the average torque capacity, in this step, based on the difference, the torque output of the drive motor is controlled. Specifically, in this step, it is necessary to perform certain filtering restrictions on the calculated current torque capacity including the drive torque capacity and the recovery torque capacity to suppress the vibration of the drive motor 1. Specifically, as Figure 5 As shown, including:

[0076] S401, when the difference is positive, filtering the difference, and determining a torque capacity limit value based on the filtered difference and the torque capacity average value.

[0077] In this step, when the difference between the current torque capacity and the average value of the torque capacity is positive, the difference is filtered, and the torque capacity limit value is determined based on the filtered difference and the average value of the torque capacity. Specifically, the filtering process here preferably adopts a slope limit method. Since the various working modes of the powertrain of the vehicle will be switched in real time during driving, in order to ensure the smooth transition of the power capacity of the drive motor 1 finally calculated during the powertrain mode switching process, it is necessary to limit the slope of the mode switching process.

[0078] To this end, the filtering here can be to limit the slope of the difference, and the slope limit value can be a one-dimensional table queried according to the difference. The larger the difference, the greater the rate of change, that is, the greater the slope, so the slope limit is used to ensure that the rate of change is within a certain range. Finally, the filtered difference and the torque capacity average value are superimposed to determine the torque capacity limit value, thereby realizing the control of the output torque of the drive motor 1.

[0079] S402: When the difference is negative, determine a torque capacity limit value based on the difference and the torque capacity average value.

[0080] In this step, when the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average value. Specifically, when the difference between the current torque capacity and the torque capacity average value is negative, the difference and the torque capacity average value are directly superimposed to control the torque output of the drive motor 1.

[0081] In the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, by dynamically reserving the power capacity of the power battery when calculating the power capacity of the drive motor, jitter problems caused by fluctuations in the power capacity of the drive motor are avoided. At the same time, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid resonant jitter caused by fluctuations between the torque and speed of the drive motor when the power capacity is stable.

[0082] The disclosed embodiment can suppress the generation and aggravation of drive motor jitter by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's driving experience when the drive motor capacity reaches its limit.

[0083] A second embodiment of the present disclosure relates to a control device for suppressing vibration of a driving motor, which includes a power information acquisition module, a torque capability acquisition module and a control module, wherein:

[0084] A power information acquisition module, used to acquire power information of each powertrain in the vehicle;

[0085] A torque capacity acquisition module, which acquires the current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity;

[0086] The control module is configured to control the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity in response to a powertrain mode switching request.

[0087] The torque capacity acquisition module includes:

[0088] A mode acquisition unit, used to acquire a current powertrain mode of the vehicle;

[0089] a power capability determination unit, configured to determine a current power capability of the drive motor based on the current powertrain mode and the reserved power;

[0090] The torque capacity determination unit is used to determine the current torque capacity of the driving motor based on the current power capacity.

[0091] Furthermore, the powertrain mode includes at least a pure electric mode, a series mode and a parallel mode.

[0092] The control module comprises:

[0093] a determination unit, for determining whether the vehicle enters dynamic smoothing processing in response to a powertrain mode switching request;

[0094] a difference acquisition unit, configured to acquire a difference between the current torque capacity and an average torque capacity when the vehicle enters the dynamic smoothing process;

[0095] An output control unit is used to control the torque output of the drive motor based on the difference.

[0096] The output control unit is specifically used for:

[0097] When the difference is positive, filtering the difference, and determining the torque capacity limit value based on the filtered difference and the torque capacity average value;

[0098] When the difference is negative, a torque capacity limit value is determined based on the difference and the torque capacity average value.

[0099] The control module is also used for:

[0100] When the vehicle does not enter the dynamic smoothing process, the torque output of the driving motor is controlled based on the current torque capacity.

[0101] Furthermore, the filtering process is a method of limiting the slope of the difference.

[0102] In the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, by dynamically reserving the power capacity of the power battery when calculating the power capacity of the drive motor, jitter problems caused by fluctuations in the power capacity of the drive motor are avoided. At the same time, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid resonant jitter caused by fluctuations between the torque and speed of the drive motor when the power capacity is stable.

[0103] The disclosed embodiment can suppress the generation and aggravation of drive motor jitter by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's driving experience when the drive motor capacity reaches its limit.

[0104] The third embodiment of the present disclosure provides a storage medium, which is a computer-readable medium and stores a computer program. When the computer program is executed by a processor, the method provided by the first embodiment of the present disclosure is implemented, including the following steps S11 to S13:

[0105] S11, obtaining power information of each powertrain in the vehicle;

[0106] S12, obtaining a current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity;

[0107] S13 , in response to the powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity.

[0108] Furthermore, when the computer program is executed by the processor, other methods provided by the first embodiment of the present disclosure are implemented.

[0109] In the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, by dynamically reserving the power capacity of the power battery when calculating the power capacity of the drive motor, jitter problems caused by fluctuations in the power capacity of the drive motor are avoided. At the same time, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid resonant jitter caused by fluctuations between the torque and speed of the drive motor when the power capacity is stable.

[0110] The disclosed embodiment can suppress the generation and aggravation of drive motor jitter by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's driving experience when the drive motor capacity reaches its limit.

[0111] The fourth embodiment of the present disclosure provides an electronic device, which includes at least a memory and a processor, wherein a computer program is stored in the memory, and the processor implements the method provided in any embodiment of the present disclosure when executing the computer program in the memory. Exemplarily, the steps of the electronic device computer program are as follows S21 to S23:

[0112] S21, obtaining power information of each powertrain in the vehicle;

[0113] S22, obtaining a current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity;

[0114] S23 , in response to the powertrain mode switching request, controlling the torque output of the drive motor based on the required torque of the drive motor and the current torque capacity.

[0115] Furthermore, the processor also executes the computer program in the third embodiment

[0116] In the embodiment of the present disclosure, when the required torque of the drive motor reaches the torque capacity of the drive motor, for example, by dynamically reserving the power capacity of the power battery when calculating the power capacity of the drive motor, jitter problems caused by fluctuations in the power capacity of the drive motor are avoided. At the same time, the calculated current torque capacity of the drive motor is also dynamically smoothed to avoid resonant jitter caused by fluctuations between the torque and speed of the drive motor when the power capacity is stable.

[0117] The disclosed embodiment can suppress the generation and aggravation of drive motor jitter by dynamically reserving the power capacity of the battery and dynamically smoothing the current torque capacity of the drive motor, thereby greatly improving the user's driving experience when the drive motor capacity reaches its limit.

[0118] The storage medium may be included in the electronic device, or may exist independently without being installed in the electronic device.

[0119] The storage medium carries one or more programs. When the one or more programs are executed by the electronic device, the electronic device: obtains at least two Internet Protocol addresses; sends a node evaluation request including at least two Internet Protocol addresses to a node evaluation device, wherein the node evaluation device selects an Internet Protocol address from the at least two Internet Protocol addresses and returns it; receives the Internet Protocol address returned by the node evaluation device; wherein the obtained Internet Protocol address indicates an edge node in a content distribution network.

[0120] Alternatively, the storage medium carries one or more programs, and when the one or more programs are executed by the electronic device, the electronic device: receives a node evaluation request including at least two Internet Protocol addresses; selects an Internet Protocol address from the at least two Internet Protocol addresses; and returns the selected Internet Protocol address; wherein the received Internet Protocol address indicates an edge node in a content distribution network.

[0121] Computer program code for performing operations of the present disclosure may be written in one or more programming languages, or a combination thereof, including, but not limited to, object-oriented programming languages, such as Java, Smalltalk, C++, and conventional procedural programming languages, such as "C" or similar programming languages. The program code may be executed entirely on the passenger computer, partially on the passenger computer, as a separate software package, partially on the passenger computer and partially on a remote computer, or entirely on a remote computer or server. In cases involving a remote computer, the remote computer may be connected to the passenger computer via any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computer (e.g., via the Internet using an Internet service provider).

[0122] It should be noted that the storage medium disclosed above may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present disclosure, a computer-readable storage medium may be any tangible medium containing or storing a program that may be used by or in combination with an instruction execution system, device or device. In the present disclosure, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, in which a computer-readable program code is carried. This propagated data signal may take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. The computer readable signal medium may also be any storage medium other than a computer readable storage medium, which may send, propagate or transmit a program for use by or in conjunction with an instruction execution system, apparatus or device. The program code contained on the storage medium may be transmitted using any suitable medium, including but not limited to: wires, optical cables, RF (radio frequency), etc., or any suitable combination of the above.

[0123] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present disclosure. In this regard, each square box in the flow chart or block diagram can represent a module, a program segment or a part of a code, and the module, the program segment or a part of the code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some implementations as replacements, the functions marked in the square box can also occur in a sequence different from that marked in the accompanying drawings. For example, two square boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each square box in the block diagram and / or flow chart, and the combination of the square boxes in the block diagram and / or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0124] The units involved in the embodiments described in the present disclosure may be implemented by software or hardware, wherein the name of a unit does not, in some cases, limit the unit itself.

[0125] The functions described above herein may be performed at least in part by one or more hardware logic components. For example, without limitation, exemplary types of hardware logic components that may be used include: field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), complex programmable logic devices (CPLDs), and the like.

[0126] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0127] The above description is only a preferred embodiment of the present disclosure and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in the present disclosure is not limited to the technical solutions formed by a specific combination of the above technical features, but should also cover other technical solutions formed by any combination of the above technical features or their equivalent features without departing from the above disclosed concept. For example, the above features are replaced with the technical features with similar functions disclosed in the present disclosure (but not limited to) by each other to form a technical solution.

[0128] In addition, although each operation is described in a specific order, this should not be understood as requiring these operations to be performed in the specific order shown or in a sequential order. Under certain circumstances, multitasking and parallel processing may be advantageous. Similarly, although some specific implementation details are included in the above discussion, these should not be interpreted as limiting the scope of the present disclosure. Some features described in the context of a separate embodiment can also be implemented in a single embodiment in combination. On the contrary, the various features described in the context of a single embodiment can also be implemented in multiple embodiments individually or in any suitable sub-combination mode.

[0129] Although the subject matter has been described in language specific to structural features and / or methodological logical actions, it should be understood that the subject matter defined in the appended claims is not necessarily limited to the specific features or actions described above. On the contrary, the specific features and actions described above are merely example forms of implementing the claims.

[0130] Multiple embodiments of the present disclosure are described in detail above, but the present disclosure is not limited to these specific embodiments. Those skilled in the art can make various variations and modifications to the embodiments based on the concepts of the present disclosure, and these variations and modifications should all fall within the scope of protection required by the present disclosure.

Claims

1. A control method for suppressing the vibration of a driving motor, characterized in that: include: Get power information for each powertrain in the vehicle; Acquiring a current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity; In response to a powertrain mode switching request, the torque output of the drive motor is controlled based on the required torque of the drive motor and the current torque capacity, wherein, in response to the powertrain mode switching request, it is determined whether the vehicle enters dynamic smoothing processing; when the vehicle enters the dynamic smoothing processing, the difference between the current torque capacity and the torque capacity average value is obtained; based on the difference, the torque output of the drive motor is controlled, wherein when the difference is positive, the difference is filtered, and the filtering is a method of limiting the slope of the difference, and the torque capacity limit value is determined based on the filtered difference and the torque capacity average value; when the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average value.

2. The control method according to claim 1, characterized in that: The obtaining of the current torque capacity of the vehicle, wherein the torque capacity at least includes a driving torque capacity and a recovery torque capacity, comprises: Obtaining a current powertrain mode of the vehicle; Determining a current power capability of the drive motor based on the current powertrain mode and the reserved power; A current torque capability of the drive motor is determined based on the current power capability.

3. The control method according to claim 2, characterized in that: The powertrain modes include at least a pure electric mode, a series mode and a parallel mode.

4. The control method according to claim 1, characterized in that: Also includes: When the vehicle does not enter the dynamic smoothing process, the torque output of the driving motor is controlled based on the current torque capacity.

5. A control device for suppressing the vibration of a driving motor, characterized in that: include: A power information acquisition module, used to acquire power information of each powertrain in the vehicle; A torque capacity acquisition module, which acquires the current torque capacity of the vehicle, wherein the current torque capacity at least includes a driving torque capacity and a recovery torque capacity; A control module, configured to control the torque output of the drive motor in response to a powertrain mode switching request based on a required torque of the drive motor and the current torque capacity, the control module comprising: A judgment unit, for judging whether the vehicle enters dynamic smoothing processing in response to a powertrain mode switching request; a difference acquisition unit, for acquiring the difference between the current torque capacity and the torque capacity average value after the vehicle enters the dynamic smoothing processing; an output control unit, for controlling the torque output of the drive motor based on the difference, wherein when the difference is positive, the difference is filtered, and the filtering is a method of limiting the slope of the difference, and the torque capacity limit value is determined based on the filtered difference and the torque capacity average value; when the difference is negative, the torque capacity limit value is determined based on the difference and the torque capacity average value.

6. A storage medium storing a computer program, characterized in that: When the computer program is executed by a processor, the steps of the method according to any one of claims 1 to 5 are implemented.

7. An electronic device, comprising at least a memory and a processor, wherein a computer program is stored in the memory, wherein: The processor implements the steps of the method of any one of claims 1 to 5 when executing the computer program on the memory.

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