A control method for reducing the vibration of pure electric vehicle when starting or accelerating or decelerating suddenly

Abstract

The present invention discloses a control method for reducing the vibration of a pure electric vehicle when starting or accelerating or decelerating suddenly, comprising: obtaining the vehicle torque input information T vcu ; Input the vehicle torque information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd ; The actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e The present invention processes the torque command through the proposed system transfer function technical solution, thereby changing the natural frequency resonance point of the vehicle body, reducing the vehicle shaking problem caused by the motor torque being the same as the natural frequency of the vehicle body, and improving the riding comfort of the user. The present invention is simple and effective to implement, and avoids the complicated transfer function calculation of the vehicle power transmission path.

Description

Technical Field

[0001] The present invention relates to the technical field of electric vehicles, and in particular to a control method for reducing jitters when starting or accelerating or decelerating a pure electric vehicle, a control device for reducing jitters when starting or accelerating or decelerating a pure electric vehicle, and a vehicle. Background Art

[0002] Electric vehicles have the advantages of high efficiency, energy saving, low noise and zero emissions, so electric vehicles are the development trend of new energy vehicles in the future. As people's environmental awareness gradually increases, electric vehicles are becoming more and more popular. Pure electric vehicles have vehicle jitters when starting or accelerating or decelerating rapidly. At this time, the motor torque is a step torque. When the vehicle torque command is a step torque, the step torque command contains multiple harmonic torques. When a certain harmonic torque is the same as the natural frequency of the vehicle body, there is a resonance phenomenon, which causes the vehicle to jitter when starting or accelerating or decelerating rapidly. The jitter problem not only seriously affects the driving comfort of electric vehicles, but also reduces the working performance and life of the transmission system. Therefore, how to suppress the jitter problem of electric vehicles and reduce the jitter of the whole vehicle has become an urgent problem to be solved in the field of motor drive. Summary of the invention

[0003] The object of the present invention is to provide a control method for reducing the vibration of a pure electric vehicle when starting or accelerating or decelerating suddenly, so as to solve at least one of the above-mentioned technical problems.

[0004] The present invention provides the following scheme:

[0005] According to one aspect of the present invention, a control method for reducing the jitter of starting or rapid acceleration and deceleration of a pure electric vehicle is provided, and the control method for reducing the jitter of starting or rapid acceleration and deceleration of a pure electric vehicle comprises:

[0006] Get vehicle torque input information T vcu ;

[0007] The vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd ;

[0008] The actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Passed to the MTPA module.

[0009] Optionally, the vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motorcmd include:

[0010] Obtaining the resonance frequency of the step torque according to the vehicle torque input information;

[0011] Obtain the natural frequency of the vehicle body;

[0012] Determine whether the vehicle body natural frequency is the same as the resonant frequency of the step torque. If so,

[0013] The resonance frequency of the step torque is processed to obtain the actual input torque information T of the motor. cmd .

[0014] Optionally, the actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include:

[0015] Get torque slope combination;

[0016] According to the actual input torque information T of the motor cmd Get ΔT cmd ;

[0017] According to the ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e ;

[0018] According to the final torque output slope ΔT e Get the final motor torque output value T e .

[0019] Optionally, the torque slope combination includes a torque rise limit slope ΔT A ;

[0020] According to the ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e include:

[0021] Determine the changing trend of the torque command. If the torque command is on an upward trend,

[0022] Determine the torque slope ΔT cmd Is it greater than or equal to the torque rise limit slope ΔT? A If yes, then the torque increase limit slope ΔT A As the torque output slope ΔT e .

[0023] Optionally, the torque slope ΔT is determined cmdIs it greater than or equal to the torque rise limit slope ΔT? A If not, then the torque slope ΔT cmd As the torque output slope ΔT e .

[0024] Optionally, the torque slope combination includes a torque reduction limit slope ΔT B ;

[0025] According to the ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e include:

[0026] Determine the changing trend of the torque command. If the torque command is in a downward trend, then

[0027] Determine the torque slope ΔT cmd Is it greater than or equal to the torque reduction limit slope ΔT? B If yes, then the torque reduction limit slope ΔT B As the torque output slope ΔT e .

[0028] Optionally, the torque slope ΔT is determined cmd Is it greater than or equal to the torque reduction limit slope ΔT? B If not, then the torque slope ΔT cmd As the torque output slope ΔT e .

[0029] Optionally, the actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include:

[0030] Get the current time point;

[0031] According to the current time point and the torque output slope ΔT e Find the corresponding output torque and obtain the final motor torque output value T e ;

[0032] The final motor torque output value T e Passed to the MTPA module.

[0033] The present application also provides a control device for reducing the vibration of a pure electric vehicle when starting or accelerating or decelerating suddenly, comprising:

[0034] A vehicle torque input information acquisition module, wherein the vehicle torque input information acquisition module is used to acquire vehicle torque input information;

[0035] A torque resonance processing module, wherein the torque resonance processing module is used to process the vehicle torque input information, thereby obtaining the actual input torque information of the motor;

[0036] The torque slope processing module is used to process the actual input torque information of the motor, so as to obtain the final motor torque output value.

[0037] The present application also provides a vehicle based on a control device for reducing the jitter when starting or rapidly accelerating or decelerating a pure electric vehicle.

[0038] Compared with the prior art, the present invention has the following advantages:

[0039] The present invention proposes a scheme for increasing the system transfer function. By controlling the torque command of the whole vehicle, the problem of vehicle shaking caused by the motor generating a torque command with the same resonance frequency as the vehicle is solved, thereby further improving the driving comfort of the electric vehicle. In addition, since the shaking of the electric vehicle is suppressed, the mechanical resonance generated during the shaking is reduced, thereby reducing the wear of the electric vehicle hardware and improving the working performance and life of the transmission system. The present invention is simple and effective to implement and avoids complex transfer function calculations of the power transmission path of the whole vehicle. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] In order to more clearly illustrate the specific implementation methods of the present invention or the technical solutions in the prior art, the drawings required for use in the specific implementation methods or the description of the prior art will be briefly introduced below. Obviously, the drawings described below are some implementation methods of the present invention. For ordinary technicians in this field, other drawings can be obtained based on these drawings without paying creative work.

[0041] Figure 1 It is a flow chart of a control method for reducing the shaking of starting or rapid acceleration and deceleration of a pure electric vehicle according to an embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a torque instruction processing flow of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0043] Figure 3 A schematic diagram of amplitude-frequency characteristics of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0044] Figure 4 A schematic diagram of phase-frequency characteristics of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle in accordance with an embodiment of the present invention;

[0045] Figure 5A schematic diagram of slope limitation in a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0046] Figure 6 A motor control schematic diagram of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0047] Figure 7 A structural diagram of an electronic device for implementing a control method of the present invention for reducing jitter during starting or rapid acceleration or deceleration of a pure electric vehicle. DETAILED DESCRIPTION

[0048] The technical solution of the present invention will be described clearly and completely below in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0049] Figure 1 It is a flow chart of a control method for reducing the shaking of starting or rapid acceleration and deceleration of a pure electric vehicle according to an embodiment of the present invention;

[0050] like Figure 1 As shown, a control method for reducing the jitter of starting or rapid acceleration and deceleration of a pure electric vehicle includes:

[0051] Step 1: Obtain vehicle torque input information T vcu ;

[0052] Step 2: Input the vehicle torque information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd ;

[0053] Step 3: Input the actual torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Passed to the MTPA module.

[0054] Compared with the prior art, the present invention has the following advantages:

[0055] The present invention proposes a scheme for increasing the system transfer function. By controlling the torque command of the whole vehicle, the problem of vehicle shaking caused by the motor generating a torque command with the same resonance frequency as the vehicle is solved, thereby further improving the driving comfort of the electric vehicle. In addition, since the shaking of the electric vehicle is suppressed, the mechanical resonance generated during the shaking is reduced, thereby reducing the wear of the electric vehicle hardware and improving the working performance and life of the transmission system. The present invention is simple and effective to implement and avoids complex transfer function calculations of the power transmission path of the whole vehicle.

[0056] In this embodiment, the vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd include:

[0057] Obtaining the resonance frequency of the step torque according to the vehicle torque input information;

[0058] Get the natural frequency of the vehicle body;

[0059] Determine whether the natural frequency of the vehicle body is the same as the resonant frequency of the step torque. If so, then

[0060] The resonance frequency of the step torque is processed to obtain the actual input torque information T of the motor. cmd .

[0061] In this embodiment, the actual input torque information T cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include:

[0062] Get torque slope combination;

[0063] According to the actual input torque information T of the motor cmd Get ΔT cmd ;

[0064] According to ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e ;

[0065] According to the final torque output slope ΔT e Get the final motor torque output value T e .

[0066] In this embodiment, the torque slope combination includes a torque rise limit slope ΔT A ;

[0067] According to ΔT cmd And the torque slope combination obtains the final torque output slope ΔTe include:

[0068] Determine the changing trend of the torque command. If the torque command is on an upward trend,

[0069] Determine the torque slope ΔT cmd Is it greater than or equal to the torque rise limit slope ΔT? A If yes, then the torque increase limit slope ΔT A As the torque output slope ΔT e .

[0070] In this embodiment, the torque slope ΔT is determined cmd Is it greater than or equal to the torque rise limit slope ΔT? A If not, then the torque slope ΔT cmd As the torque output slope ΔT e .

[0071] In this embodiment, the torque slope combination includes a torque reduction limit slope ΔT B ;

[0072] According to ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e include:

[0073] Determine the torque command T cmd If the torque command is a downward trend, then

[0074] Determine the torque slope ΔT cmd Is it greater than or equal to the torque reduction limit slope ΔT? B If yes, then the torque reduction limit slope ΔT B As the torque output slope ΔT e .

[0075] In this embodiment, the torque slope ΔT is determined cmd Is it greater than or equal to the torque reduction limit slope ΔT? B If not, then the torque slope ΔT cmd As the torque output slope ΔT e .

[0076] In this embodiment, the actual input torque information T of the motor is cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include:

[0077] Get the current time point;

[0078] According to the current time point and torque output slope ΔT e Find the corresponding output torque and obtain the final motor torque output value T e ;

[0079] The final motor torque output value T e Passed to the MTPA module.

[0080] This embodiment also provides a control device for reducing the shaking of starting or rapid acceleration and deceleration of a pure electric vehicle, comprising: a vehicle torque input information acquisition module, a torque resonance processing module and a torque slope processing module;

[0081] The vehicle torque input information acquisition module is used to acquire the vehicle torque input information;

[0082] The torque resonance processing module is used to process the vehicle torque input information, so as to obtain the actual input torque information of the motor;

[0083] The torque slope processing module is used to process the actual input torque information of the motor to obtain the final motor torque output value.

[0084] It is worth noting that although the present system only discloses basic functional modules such as the vehicle torque input information acquisition module, the torque resonance processing module, and the torque slope processing module, it does not mean that the present device is limited to the above basic functional modules. Rather, what the present invention wants to express is that, based on the above basic functional modules, those skilled in the art can arbitrarily add one or more functional modules in combination with the prior art to form an infinite number of embodiments or technical solutions. In other words, the present system is open rather than closed. Just because the present embodiment only discloses individual basic functional modules, it cannot be considered that the scope of protection of the claims of the present invention is limited to the above disclosed basic functional modules.

[0085] Figure 2 A schematic diagram of a torque instruction processing flow of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0086] Figure 3 A schematic diagram of amplitude-frequency characteristics of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0087] Figure 4 A schematic diagram of phase-frequency characteristics of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle in accordance with an embodiment of the present invention;

[0088] See also Figure 2 A torque command processing of a control method for reducing the jitter of starting or rapid acceleration and deceleration of a pure electric vehicle includes:

[0089] Get vehicle torque input information T vcu ;

[0090] The vehicle torque input information T vcu The torque resonance processing module is sent to perform torque resonance elimination processing to obtain the actual input torque information T of the motor. cmd ;

[0091] The actual input torque information T of the motor cmd The torque is sent to the torque slope processing module for torque slope processing to obtain the final motor torque output value T e .

[0092] Specifically, see the following formula:

[0093]

[0094] in,

[0095] K p is the current loop proportional term coefficient, T r is the current loop integration time, T d is the delay time corresponding to the carrier frequency period, R s is the stator resistance, S is the complex variable of the system, ω n is the system resonance frequency point. Formula 1 is the permanent magnet synchronous motor control transfer function; Formula 2 is the transfer function of the torque resonance processing module, and its amplitude-frequency characteristics are as follows: Figure 3 As shown, the phase-frequency characteristic is Figure 4 shown.

[0096] In this embodiment, the parameter setting of the torque resonance processing module depends on the natural resonance frequency of the actual vehicle control system. When the permanent magnet synchronous motor control system has no torque processing module, the resonance frequency of the vehicle at resonance is measured by step torque. This frequency is the resonance frequency that the motor torque command processing module should change. The present application uses the numerator in formula 2 to offset the denominator of the permanent magnet synchronous motor control transfer function in formula 1, so that the subsequent operation only needs to change the current loop proportional term coefficient K p , current loop integration time T r , the delay time T corresponding to the carrier frequency period d The resonant frequency of the system can be changed.

[0097] Figure 5 A schematic diagram of slope limitation in a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0098] like Figure 5 The torque slope processing shown includes:

[0099] Get torque slope combination;

[0100] According to the actual input torque information T of the motor cmd Get ΔT cmd ;

[0101] According to ΔT cmd And the torque slope combination obtains the final torque output slope ΔT e ;

[0102] According to the final torque output slope ΔT e Get the final motor torque output value T e .

[0103] Specifically, the torque slope processing is to determine whether the torque is rising or falling according to the change of the motor torque. If the torque rises, the maximum torque command slope is not allowed to exceed the torque rise limit slope ΔT A ; If the torque decreases, the maximum slope of the torque command is not allowed to exceed the torque decrease limit slope ΔT B .

[0104] At the same time, the torque rise limit slope ΔT A and torque reduction limit slope ΔT B The ultimate goal of torque slope processing is to meet the vehicle's torque responsiveness requirements and reduce the vehicle vibration during starting or rapid acceleration and deceleration of pure electric vehicles.

[0105] Torque increase limit slope ΔT A The calculation formula is as follows:

[0106] in,

[0107] T At1 represents the rising limit torque at the first time point t1, T At2 Represents the rising limit torque at the second time point t2.

[0108] Torque reduction limit slope ΔT B The calculation formula is as follows:

[0109] in,

[0110] T Bt1 represents the lowering limit torque at the first time point t1, T Bt2 Represents the decreasing limit torque at the second time point t2.

[0111] ΔT cmd is the motor torque command slope, and the specific calculation method is as follows:

[0112] Get the actual input torque information T of the motor at the first time point t1 cmdt1 ;

[0113] Get the actual input torque information T of the motor at the second time point t2 cmdt2 ;

[0114] According to the actual input torque information T of the motor at the first time point t1 cmdt1 and the actual input torque information T of the motor at the second time point t2 cmdt2 Calculate the motor torque command slope ΔT cmd , the calculation formula is as follows:

[0115]

[0116] Determine the changing trend of the torque command. If the torque command is on an upward trend,

[0117] Determine the torque slope ΔT cmd Is it greater than or equal to the torque rise limit slope ΔT? A If yes, then the torque increase limit slope ΔT A As the torque output slope ΔT e ;

[0118] If the torque slope ΔT cmd Less than the torque rise limit slope ΔT A , then the torque slope ΔT cmd As the torque output slope ΔT e .

[0119] Determine the changing trend of the torque command. If the torque command is in a downward trend, then

[0120] Determine the torque slope ΔT cmd Is it greater than or equal to the torque reduction limit slope ΔT? B If yes, then the torque reduction limit slope ΔT B As the torque output slope ΔT e ;

[0121] If the torque slope ΔT cmd Less than the torque reduction limit slope ΔT B , then the torque slope ΔT cmd As the torque output slope ΔT e .

[0122] Figure 6 A motor control schematic diagram of a control method for reducing jitter when starting or accelerating or decelerating a pure electric vehicle according to an embodiment of the present invention;

[0123] See also Figure 6 , obtain the vehicle torque input information T vcu, the vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd , and then the actual input torque information T of the motor cmd After the torque slope is processed, the final motor torque output value T is obtained. e , and the final motor torque output value T e Passed to the MTPA module, including:

[0124] Get the current time point;

[0125] According to the current time point and torque output slope ΔT e Find the corresponding output torque and obtain the final motor torque output value T e ;

[0126] The final motor torque output value T e The current is transmitted to the MTPA module, where it is decoupled into dq axis current. The decoupled dq axis current is then used as the target value, and closed-loop control is performed using rotor field oriented vector control.

[0127] Figure 7 A structural diagram of an electronic device for implementing a control method of the present invention for reducing jitter during starting or rapid acceleration or deceleration of a pure electric vehicle.

[0128] See also Figure 7 The present application also provides an electronic device, including: a processor, a communication interface, a memory and a communication bus, wherein the processor, the communication interface and the memory communicate with each other through the communication bus; a computer program is stored in the memory, and when the computer program is executed by the processor, the processor executes the steps of a control method for reducing the jitter of a pure electric vehicle when starting or accelerating or decelerating suddenly.

[0129] The present application also provides a computer-readable storage medium storing a computer program executable by an electronic device. When the computer program runs on the electronic device, the electronic device executes the steps of a control method for reducing the jitter of starting or rapid acceleration or deceleration of a pure electric vehicle.

[0130] The communication bus mentioned in the above electronic device can be a Peripheral Component Interconnect (PCI) bus or an Extended Industry Standard Architecture (EISA) bus, etc. The communication bus can be divided into an address bus, a data bus, a control bus, etc. For ease of representation, only one thick line is used in the figure, but it does not mean that there is only one bus or one type of bus.

[0131] The electronic device includes a hardware layer, an operating system layer running on the hardware layer, and an application layer running on the operating system. The hardware layer includes hardware such as a central processing unit (CPU), a memory management unit (MMU), and a memory. The operating system can be any one or more computer operating systems that implement electronic device control through a process, such as a Linux operating system, a Unix operating system, an Android operating system, an iOS operating system, or a Windows operating system. In addition, in an embodiment of the present invention, the electronic device can be a handheld device such as a smart phone or a tablet computer, or can be an electronic device such as a desktop computer or a portable computer, which is not particularly limited in the embodiment of the present invention.

[0132] The execution subject of the electronic device control in the embodiment of the present invention may be an electronic device, or a functional module in the electronic device that can call and execute a program. The electronic device may obtain the firmware corresponding to the storage medium. The firmware corresponding to the storage medium is provided by the supplier. The firmware corresponding to different storage media may be the same or different, which is not limited here. After the electronic device obtains the firmware corresponding to the storage medium, the firmware corresponding to the storage medium may be written into the storage medium, specifically, the firmware corresponding to the storage medium may be burned into the storage medium. The process of burning the firmware into the storage medium may be implemented using existing technology, which will not be described in detail in the embodiment of the present invention.

[0133] The electronic device may also obtain a reset command corresponding to the storage medium. The reset command corresponding to the storage medium is provided by the supplier. The reset commands corresponding to different storage media may be the same or different, and are not limited here.

[0134] At this time, the storage medium of the electronic device is a storage medium in which the corresponding firmware is written, and the electronic device can respond to the reset command corresponding to the storage medium in the storage medium in which the corresponding firmware is written, so that the electronic device resets the storage medium in which the corresponding firmware is written according to the reset command corresponding to the storage medium. The process of resetting the storage medium according to the reset command can be implemented by the existing technology and will not be described in detail in the embodiments of the present invention.

[0135] For the convenience of description, the above devices are described in terms of functions and are divided into various units and modules. Of course, when implementing the present application, the functions of each unit and module can be implemented in the same or multiple software and / or hardware.

[0136] Those skilled in the art will appreciate that, unless otherwise defined, all terms (including technical and scientific terms) used herein have the same meaning as those generally understood by those skilled in the art in the art to which the present invention belongs. It should also be understood that terms such as those defined in general dictionaries should be understood to have meanings consistent with the meanings in the context of the prior art, and will not be interpreted with idealized or overly formal meanings unless specifically defined.

[0137] For the method embodiments, for the sake of simplicity, they are all described as a series of action combinations, but those skilled in the art should know that the embodiments of the present invention are not limited by the order of the actions described, because according to the embodiments of the present invention, some steps can be performed in other orders or simultaneously. Secondly, those skilled in the art should also know that the embodiments described in the specification are all preferred embodiments, and the actions involved are not necessarily required by the embodiments of the present invention.

[0138] It can be known from the description of the above implementation modes that those skilled in the art can clearly understand that the present application can be implemented by means of software plus a necessary general hardware platform. Based on such an understanding, the technical solution of the present application can be essentially or partly contributed to the prior art in the form of a software product, which can be stored in a storage medium such as ROM / RAM, a magnetic disk, an optical disk, etc., and includes several instructions for enabling a computer device (which can be a personal computer, a server or a network device, etc.) to execute the methods described in the various implementation modes of the present application or certain parts of the implementation modes.

[0139] Based on the disclosure of electronic equipment and storage medium corresponding to a control method and device for reducing the start or rapid acceleration and deceleration jitter of a pure electric vehicle, the present invention further discloses a vehicle for reducing the start or rapid acceleration and deceleration jitter of a pure electric vehicle, specifically comprising:

[0140] Electronic device, used to realize a control method for reducing the shaking when starting or accelerating or decelerating a pure electric vehicle;

[0141] A processor, the processor runs a program, and when the program runs, data output from the electronic device is used to execute steps of a control method for reducing jitter when starting or accelerating or decelerating the pure electric vehicle;

[0142] The storage medium is used to store a program. When the program is running, it executes the steps of a control method for reducing the jitter of starting or rapid acceleration and deceleration of a pure electric vehicle for data output from an electronic device.

[0143] Finally, it should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it. Although the present invention has been described in detail with reference to the aforementioned embodiments, those skilled in the art should understand that they can still modify the technical solutions described in the aforementioned embodiments, or replace some or all of the technical features therein with equivalents. However, these modifications or replacements do not cause the essence of the corresponding technical solutions to deviate from the scope of the technical solutions of the embodiments of the present invention.

Claims

1. A control method for reducing the vibration of a pure electric vehicle when starting or accelerating or decelerating suddenly, characterized in that: The control method for reducing the jitter when starting or accelerating or decelerating a pure electric vehicle comprises: Get vehicle torque input information T vcu ; The vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd ; The actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Passed to MTPA module; The actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include: Get torque slope combination; According to the actual input torque information T of the motor cmd Get the motor torque command slope ; According to the And the torque slope combination to obtain the final torque output slope ; According to the final torque output slope Get the final motor torque output value T e ; The torque slope combination includes a torque rise limit slope ; According to the And the torque slope combination to obtain the final torque output slope include: Determine the changing trend of the torque command. If the torque command is on an upward trend, Determine the torque slope Is it greater than or equal to the torque rise limit slope? If yes, then the torque rise limit slope As the torque output slope ; Among them, the torque rise limit slope The calculation formula is as follows: Among them, T At1 represents the rising limit torque at the first time point t1, T At2 represents the rising limit torque at the second time point t2; The torque slope combination includes a torque reduction limit slope ; Torque reduction limit slope The calculation formula is as follows: Among them, T Bt1 represents the lowering limit torque at the first time point t1, T Bt2 represents the decreasing limit torque at the second time point t2; is the motor torque command slope, and the specific calculation method is as follows: Get the actual input torque information T of the motor at the first time point t1 cmdt1 ; Get the actual input torque information T of the motor at the second time point t2 cmdt2 ; According to the actual input torque information T of the motor at the first time point t1 cmdt1 and the actual input torque information T of the motor at the second time point t2 cmdt2 Calculate the motor torque command slope , the calculation formula is as follows: ； According to the And the torque slope combination to obtain the final torque output slope include: Determine the changing trend of the torque command. If the torque command is on an upward trend, Determine the torque slope Is it greater than or equal to the torque rise limit slope? If yes, then the torque rise limit slope As the torque output slope ; If the torque slope Less than the torque rise limit slope , then the torque slope As the torque output slope ; Determine the changing trend of the torque command. If the torque command is in a downward trend, then Determine the torque slope Is it greater than or equal to the torque reduction limit slope? If so, the torque reduction limit slope is As the torque output slope ; If the torque slope Less than the torque reduction limit slope , then the torque slope As the torque output slope .

2. The control method for reducing the vibration of a pure electric vehicle when starting or accelerating or decelerating suddenly as claimed in claim 1, characterized in that: The vehicle torque input information T vcu Perform torque resonance elimination processing to obtain the actual input torque information T of the motor cmd include: Obtaining the resonance frequency of the step torque according to the vehicle torque input information; Get the natural frequency of the vehicle body; Determine whether the vehicle body natural frequency is the same as the resonant frequency of the step torque. If so, The resonance frequency of the step torque is processed to obtain the actual input torque information T of the motor. cmd .

3. The control method for reducing the vibration of starting or rapid acceleration and deceleration of a pure electric vehicle as claimed in claim 2, characterized in that: The actual input torque information T of the motor cmd Perform torque slope processing to obtain the final motor torque output value T e , and the final motor torque output value T e Modules passed to MTPA include: Get the current time point; According to the current time point and the torque output slope Find the corresponding output torque and obtain the final motor torque output value T e ; The final motor torque output value T e Passed to the MTPA module.

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