Torsional vibration control method, device, equipment and medium based on slip state

Abstract

The present invention discloses a torsional vibration control method based on a slip state, the method comprising: obtaining the real-time angular acceleration of the motor rotor and calculating a target angular acceleration based on the real-time angular acceleration; comparing the target angular acceleration with an angular acceleration threshold; revising the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold; superimposing the revised torque with the anti-shake torque to obtain the actual motor electromagnetic torque; and controlling the torsional vibration of the vehicle using the actual motor electromagnetic torque. The present invention determines whether the vehicle is in a slip state using real-time angular acceleration and then controls the actual torque of the vehicle based on the slip state, thereby solving the problem of tire slip control on low-adhesion roads caused by VCU arbitration response and transmission delays. It can more effectively calculate the actual wheel-end load and avoid vibration and noise problems caused by abnormal tire speed acceleration.

Description

Technical Field

[0001] The present invention relates to the field of active vibration control of motors, and in particular to a torsional vibration control method, device, equipment and medium based on a slip state. Background Art

[0002] Active torsional vibration control in pure electric vehicles is crucial. Electromechanical coupling creates significant interference torque in the system, which can cause abnormal impacts and severely compromise the reliability and vibration / noise characteristics of drivetrain components. This can directly impact the passenger experience, dynamics, and energy recovery, further impacting brand awareness. Unreasonable vibration levels can even affect the fatigue durability of key components, impacting driver safety. In traditional powertrain architectures, the vehicle control unit (VCU) arbitrates torque requests from various control units or subsystems to ensure safety and drivability. The chassis (ESP) monitors road slippage and issues appropriate torque requests. However, due to CAN bus transmission delays, these chassis torque requests cannot be transmitted to the motor control unit (IPU) in a timely manner, resulting in abnormal driveline vibration during slippage. CN113752853A proposes a torque compensation scheme followed by vehicle control, but this compensation scheme does not achieve precise vehicle control. Summary of the Invention

[0003] In view of the above-mentioned shortcomings of the prior art, the present invention provides a torsional vibration control method, device, equipment and medium based on the slip state to solve the above-mentioned technical problems.

[0004] The present invention provides a torsional vibration control method based on a slip state, the method comprising:

[0005] Obtaining the real-time angular acceleration of the motor rotor, and calculating the target angular acceleration based on the real-time angular acceleration;

[0006] comparing the target angular acceleration with an angular acceleration threshold;

[0007] When the target angular acceleration is equal to or greater than the angular acceleration threshold, revising the requested torque to obtain a revised torque;

[0008] Superimposing the revised torque and the anti-shake torque to obtain the actual motor electromagnetic torque;

[0009] The actual electromagnetic torque of the motor is used to control the torsional vibration of the vehicle.

[0010] In one embodiment of the present invention, the target angular acceleration is calculated as follows:

[0011]

[0012] in, is the target angular acceleration, is the real-time angular acceleration of the motor rotor.

[0013] In one embodiment of the present invention, the revision torque is:

[0014]

[0015] in, For the revision torque, TqReq is the requested torque, c m is the motor end damping, is the angular velocity of the motor rotor, J m is the motor rotor moment of inertia, is the real-time angular acceleration of the motor rotor.

[0016] In one embodiment of the present invention, the anti-shake torque is:

[0017]

[0018] Among them, δTq is the anti-shake torque, is the derivative of δTq, λ is the speed ratio, k s is the semi-axle equivalent stiffness, δ is a constant, Δθ is the relative gap angle, is the derivative of Δθ, g m The derivative of α is the equivalent clearance of the transmission system, TqReq is the requested torque, c m is the motor end damping, is the angular velocity of the motor rotor, J m is the motor rotor moment of inertia, is the real-time angular acceleration of the motor rotor. When |Δθ|>α, the vehicle half-axles are in contact.

[0019] In one embodiment of the present invention, the relative gap angle is calculated as follows:

[0020]

[0021] In one embodiment of the present invention, when the vehicle is in a slipping state, the maximum motor angular acceleration is limited by limiting the gradient of the half-axle load or the gradient of the equivalent requested torque.

[0022] In one embodiment of the present invention, the half-axle load is expressed as follows:

[0023]

[0024] Among them, T hsis the half-axle load.

[0025] The present invention provides a torsional vibration control device based on a slip state, the device comprising:

[0026] An acceleration calculation module is used to obtain the real-time angular acceleration of the motor rotor and calculate the target angular acceleration based on the real-time angular acceleration;

[0027] a comparison module, configured to compare the target angular acceleration with an angular acceleration threshold;

[0028] a revision module, configured to revise the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold;

[0029] A superposition module, configured to superimpose the correction torque and the anti-shake torque to obtain an actual electromagnetic torque of the motor;

[0030] A control module is used to perform torsional vibration control on the vehicle using the actual electromagnetic torque of the motor.

[0031] The present invention provides an electronic device, comprising:

[0032] one or more processors;

[0033] A storage device is used to store one or more programs, which, when executed by the one or more processors, enable the electronic device to implement the steps of the above-mentioned torsional vibration control method based on the slip state.

[0034] The present invention provides a computer-readable storage medium having a computer program stored thereon. When the computer program is executed by a processor of a computer, the computer is caused to execute the steps of the above-mentioned torsional vibration control method based on a slip state.

[0035] Beneficial effects of the present invention: The present invention provides a method, device, equipment, and medium for torsional vibration control based on a slipping state, the method comprising: obtaining the real-time angular acceleration of the motor rotor and calculating a target angular acceleration based on the real-time angular acceleration; comparing the target angular acceleration with an angular acceleration threshold; revising the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold; superimposing the revised torque with the anti-shake torque to obtain the actual motor electromagnetic torque; and controlling the torsional vibration of the vehicle using the actual motor electromagnetic torque. The present invention determines whether the vehicle is in a slipping state using real-time angular acceleration, and then controls the actual torque of the vehicle based on the slipping state, thereby solving the problem of tire slip control on low-adhesion roads caused by VCU arbitration response and transmission delays, more effectively calculating the actual wheel-end load, and avoiding vibration and noise problems caused by abnormal tire speed acceleration.

[0036] It should be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the present application. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] The accompanying drawings are incorporated into and constitute a part of the specification, illustrating embodiments consistent with the present application and, together with the specification, serving to explain the principles of the present application. It is obvious that the drawings described below are merely some embodiments of the present application, and a person of ordinary skill in the art can derive other drawings based on these drawings without inventive effort. In the drawings:

[0038] Figure 1 A schematic diagram of an implementation environment of a torsional vibration control method based on a slip state is shown as an exemplary embodiment of the present application;

[0039] Figure 2 This is a flow chart of a torsional vibration control method based on a slip state according to an exemplary embodiment of the present application;

[0040] Figure 3 This is a flow chart of a torsional vibration control device based on a slip state, showing an exemplary embodiment of the present application;

[0041] Figure 4 A schematic diagram of the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application is shown. DETAILED DESCRIPTION

[0042] The following describes the embodiments of the present invention with reference to the accompanying drawings and preferred embodiments. Those skilled in the art will readily appreciate the other advantages and benefits of the present invention from the disclosure herein. The present invention may also be implemented or applied through various other specific embodiments, and the various details in this specification may be modified or altered based on different viewpoints and applications without departing from the spirit of the present invention. It should be understood that the preferred embodiments are intended only to illustrate the present invention and are not intended to limit the scope of protection of the present invention.

[0043] It should be noted that the illustrations provided in the following embodiments are merely schematic illustrations of the basic concept of the present invention. Therefore, the illustrations only show components related to the present invention and are not drawn according to the number, shape, and size of components in actual implementation. In actual implementation, the type, quantity, and proportion of each component may be changed arbitrarily, and the component layout may also be more complex.

[0044] In the following description, numerous details are discussed to provide a more thorough explanation of the embodiments of the present invention. However, it will be apparent to those skilled in the art that the embodiments of the present invention may be practiced without these specific details. In other embodiments, well-known structures and devices are shown in block diagram form rather than in detail to avoid obscuring the embodiments of the present invention.

[0045] In traditional powertrain architectures, for safety and drivability, the vehicle control unit (VCU) arbitrates torque requests from various control units or subsystems. The chassis (ESP) monitors road slip and issues reasonable torque requests. However, due to CAN bus transmission delays, the torque requests from the chassis cannot be transmitted to the motor control unit (IPU) in a timely manner, causing abnormal vibrations in the drivetrain during slip. To address this issue, it is necessary to monitor and actively intervene in the arbitrated torque of the vehicle control unit (VCU) in advance. To address the stability control issues associated with pure electric vehicles (BEVs) when slipping on low-friction roads, a torsional vibration control method based on slippage is proposed. This method is an active control solution implemented within the motor controller to effectively control abnormal tire acceleration caused by slippage.

[0046] Figure 1 This is a schematic diagram of an exemplary implementation environment of a torsional vibration control method based on a slip state of the present application. In this implementation environment, a vehicle control unit 110 and a motor control unit are included. Data exchange between the vehicle control unit 110 and the motor control unit 120 can be carried out through a CAN bus. In this implementation environment, the vehicle control unit can obtain the real-time angular acceleration of the motor rotor, and calculate the target angular acceleration based on the real-time angular acceleration; compare the target angular acceleration with the angular acceleration threshold; when the target angular acceleration is equal to or greater than the angular acceleration threshold, revise the requested torque to obtain a revised torque; superimpose the revised torque with the anti-shake torque to obtain the actual motor electromagnetic torque; and use the actual motor electromagnetic torque to perform torsional vibration control on the vehicle.

[0047] The embodiments of the present application respectively propose a torsional vibration control method based on a slip state, a torsional vibration control device based on a slip state, an electronic device, and a computer-readable storage medium. These embodiments will be described in detail below.

[0048] Before describing in detail the torsional vibration control method based on a slipping state and the torsional vibration control device based on a slipping state in this embodiment, the active control strategy will be described first.

[0049] Consider establishing a torsional vibration model of a transmission system with clearance. Assume that the moment of inertia of the motor rotor is J m , the actual motor electromagnetic torque is T m, the motor equivalent damping is c m , the speed ratio is λ, the transmission system equivalent gap angle is α, then the equivalent dynamic model of the motor end is:

[0050]

[0051] Among them, J m is the rotor moment of inertia, is the motor rotor angular velocity, is the motor rotor angular acceleration, T hs is the half-shaft torque

[0052] The active torsional vibration control logic is defined as follows:

[0053]

[0054] TqReq is the requested torque, δTq is the anti-shake torque

[0055] Introduce the following new variables

[0056]

[0057] Then we can get the expression of the half-axle load and establish the half-axle load observer

[0058]

[0059] The torque intervention strategy consists of two main parts. The first part is to analyze the anti-shake logic at the moment of gap and contact. At this time, the requested torque remains unchanged. The second part is to analyze the problem and logic of controlling slip on low-adhesion roads. At this time, the main focus is to intervene and correct the unreasonable torque requested by the VCU. At this time, the anti-shake logic remains unchanged. The following formula is used to calculate the gap state in two cases

[0060]

[0061] Δθ is the relative gap angle, is the derivative of Δθ, c s represents the semi-axis equivalent viscous damping coefficient

[0062] 1.1 General active control strategy

[0063] Calculating the anti-shake torque only requires integration. The following is one of the control schemes

[0064]

[0065] Since the integrand contains unknowns, it is necessary to adopt a reasonable discrete numerical integration scheme, such as the implicit Euler method. In practical applications, there is no limit to the numerical discrete scheme.

[0066] Δp control parameter,

[0067] η is the amplitude of the angular acceleration uncertainty, η B is the upper limit of the amplitude of the angular acceleration uncertainty.

[0068] See also Figure 2 , Figure 2 This is a flowchart of a torsional vibration control method based on a slip state, shown in an exemplary embodiment of the present application. This method can be applied to Figure 1 It should be understood that the method can also be applied to other exemplary implementation environments and be specifically executed by devices in other implementation environments, and this embodiment does not limit the implementation environment to which the method is applicable.

[0069] See also Figure 2 , Figure 2 This is a flowchart of an exemplary torsional vibration control method based on a slip state of the present application. The torsional vibration control method includes at least steps S210 to S240, which are described in detail as follows:

[0070] Step S210, obtaining the real-time angular acceleration of the motor rotor, and calculating the target angular acceleration according to the real-time angular acceleration;

[0071] Step S220, comparing the target angular acceleration with an angular acceleration threshold;

[0072] Step S230, when the target angular acceleration is equal to or greater than the angular acceleration threshold, revising the requested torque to obtain a revised torque;

[0073] Step S240, superimposing the revised torque and the anti-shake torque to obtain the actual motor electromagnetic torque;

[0074] Step S250: performing torsional vibration control on the vehicle using the actual electromagnetic torque of the motor.

[0075] The present invention uses real-time angular acceleration to determine whether the vehicle is in a slipping state, and then controls the actual torque of the vehicle according to the slipping state. This solves the problem of tire slip control on low-adhesion roads caused by VCU arbitration response and transmission delays, can more effectively calculate the actual wheel-end load, and avoid vibration and noise problems caused by abnormal tire speed acceleration.

[0076] The following describes in detail the various steps of the slip-state-based torsional vibration control method in the above embodiment.

[0077] In step S210, the real-time angular acceleration of the motor rotor is obtained, and the target angular acceleration is calculated according to the real-time angular acceleration;

[0078] On low-adhesion roads, slipping is possible. When the tire slips, the friction decreases and the requested torque is too high. The CAN delay will cause the IPU to not receive the correct requested torque in time, but the wrong requested torque. At this time, the requested torque is too large, and the motor will drive the tire to accelerate violently. Therefore, the real-time angular acceleration of the motor rotor can be used to determine whether the tire is slipping. Therefore, the real-time angular acceleration of the motor rotor must be obtained first, and the target angular acceleration is calculated based on the real-time angular acceleration. Specifically, the target angular acceleration is calculated as follows:

[0079]

[0080] in, is the target angular acceleration, is the real-time angular acceleration of the motor rotor.

[0081] It should be noted that the real-time angular acceleration can be collected by a sensor device arranged on the motor.

[0082] In step S220, the target angular acceleration is compared with the angular acceleration threshold; that is, the target angular acceleration calculated in step S210 is compared with the angular acceleration threshold. The angular acceleration is compared with an angular acceleration threshold, wherein the angular acceleration threshold may be predetermined. Specifically, the angular acceleration during rigid transmission may be assumed to be the angular acceleration threshold.

[0083] In step S230, when the target angular acceleration is equal to or greater than the angular acceleration threshold, the requested torque is revised to obtain a revised torque;

[0084] When the target angular acceleration is equal to or greater than the angular acceleration threshold, the tire is considered to be slipping. Therefore, the motor controller must revise the unreasonable requested torque requested by the vehicle controller. At this time, the new requested torque is calculated based on the target angular acceleration as

[0085]

[0086] Or the revised moment, that is, the revised moment is

[0087]

[0088] in, For the revision torque, TqReq is the requested torque, c m is the motor end damping, is the angular velocity of the motor rotor, J m is the motor rotor moment of inertia, is the real-time angular acceleration of the motor rotor.

[0089] After active torque reduction, it is easier to maintain a balance with the actual friction torque at the wheel end, calculate the new torque and replace the original requested torque.

[0090] In step S240, the revised torque is superimposed on the anti-shake torque to obtain the actual motor electromagnetic torque;

[0091] After revising the torque when the tire slips to obtain the revised torque, the revised torque and the anti-shake torque can be superimposed to obtain the actual motor electromagnetic torque.

[0092]

[0093] Where δTq is the anti-shake torque, and TqReq is the requested torque. In step S230, a new torque is generated due to tire slip, that is, after the revised torque, the requested torque here is the revised torque. replace.

[0094] In one embodiment, the anti-shake torque is:

[0095]

[0096] Among them, δTq is the anti-shake torque, is the derivative of δTq, λ is the speed ratio, k s is the semi-axle equivalent stiffness, δ is a constant, Δθ is the relative gap angle, is the derivative of Δθ, g m The derivative of α is the equivalent clearance of the transmission system, TqReq is the requested torque, c m is the motor end damping, is the angular velocity of the motor rotor, J m is the motor rotor moment of inertia, is the real-time angular acceleration of the motor rotor. When |Δθ|>α, the vehicle half-axles are in contact.

[0097] In one embodiment, the relative gap angle is calculated as follows:

[0098]

[0099] in, is the reciprocal of Δθ.

[0100] Specifically,

[0101] In step S250, torsional vibration control is performed on the vehicle using the actual electromagnetic torque of the motor.

[0102] In one embodiment, when the vehicle is handling a slip condition, the maximum motor angular acceleration is limited by limiting the gradient of the half-axle load or, equivalently, the gradient of the requested torque.

[0103] When a tire slips, incorrect torque calculations can cause the motor-driven tire to accelerate violently, leading to abnormal vibration. Therefore, vibration control is necessary. Specifically, limiting the maximum motor angular acceleration can be achieved by limiting the gradient of the axle load, or equivalently, the gradient of the requested torque, thereby limiting abnormal vibration.

[0104] Specifically, the half-axle load T hs The expression method is:

[0105]

[0106] It should be noted that

[0107] J m is the motor rotor moment of inertia, is the real-time angular acceleration of the motor rotor, T m is the actual motor electromagnetic torque, c m is the motor end damping, is the angular velocity of the motor rotor, T hs is the half-shaft load, and λ is the speed ratio.

[0108] In summary, the present invention obtains the real-time angular acceleration of the motor rotor and calculates a target angular acceleration based on the real-time angular acceleration; compares the target angular acceleration with an angular acceleration threshold; revises the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold; superimposes the revised torque with the anti-shake torque to obtain the actual motor electromagnetic torque; and uses the actual motor electromagnetic torque to perform torsional vibration control on the vehicle. The present invention determines whether the vehicle is in a slipping state using real-time angular acceleration and then controls the vehicle's actual torque based on the slipping state. This solves the problem of tire slip control on low-adhesion roads caused by VCU arbitration response and transmission delays, allows for more efficient calculation of the actual wheel-end load, and avoids vibration and noise problems caused by abnormal tire speed acceleration.

[0109] It should be understood that the size of the serial numbers of the steps in the above embodiments does not mean the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present invention.

[0110] Figure 3 This is a block diagram of a torsional vibration control device based on a slip state, shown in an exemplary embodiment of the present application. The device can be applied to Figure 1The implementation environment shown in FIG. 1 is specifically configured in the motor control unit (IPU). The device may also be applicable to other exemplary implementation environments and specifically configured in other devices. This embodiment does not limit the implementation environment to which the device is applicable.

[0111] like Figure 3 As shown, the present application provides a torsional vibration control device based on a slip state, the device comprising:

[0112] The acceleration calculation module 310 is used to obtain the real-time angular acceleration of the motor rotor and calculate the target angular acceleration based on the real-time angular acceleration;

[0113] a comparison module 320, configured to compare the target angular acceleration with an angular acceleration threshold;

[0114] A revision module 330 is configured to revise the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold;

[0115] A superposition module 340 is configured to superimpose the revised torque and the anti-shake torque to obtain an actual electromagnetic torque of the motor;

[0116] The control module 350 is configured to perform torsional vibration control on the vehicle using the actual electromagnetic torque of the motor.

[0117] It should be noted that the slip-state-based torsional vibration control device provided in the above-mentioned embodiment and the slip-state-based torsional vibration control method provided in the above-mentioned embodiment are based on the same concept. The specific manner in which the various modules and units perform their operations has been described in detail in the method embodiments and will not be repeated here. In actual applications, the slip-state-based torsional vibration control device provided in the above-mentioned embodiment can, as needed, allocate the aforementioned functions to different functional modules, i.e., divide the internal structure of the device into different functional modules to perform all or part of the functions described above. This is not a limitation herein.

[0118] An embodiment of the present application also provides an electronic device, comprising: one or more processors; a storage device for storing one or more programs, wherein when the one or more programs are executed by the one or more processors, the electronic device implements the torsional vibration control method based on the slip state provided in the above-mentioned embodiments.

[0119] Figure 4 The following is a schematic diagram showing the structure of a computer system suitable for implementing an electronic device according to an embodiment of the present application. Figure 4 The computer system of the electronic device shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present application.

[0120] like Figure 4 As shown, the computer system includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage portion into the random access memory (RAM), such as executing the method described in the above embodiment. Various programs and data required for system operation are also stored in the RAM. The CPU, ROM, and RAM are connected to each other via a bus. The input / output (I / O) interface is also connected to the bus.

[0121] The following components are connected to the I / O interface: an input section including a keyboard, mouse, etc.; an output section including a cathode ray tube (CRT), liquid crystal display (LCD), and speakers; a storage section including a hard disk; and a communication section including a network interface card such as a LAN (Local Area Network) card and a modem. The communication section performs communication processing via a network such as the Internet. A drive is also connected to the I / O interface as needed. Removable media such as magnetic disks, optical disks, magneto-optical disks, semiconductor memories, etc. are installed in the drive as needed so that computer programs read from them can be installed in the storage section as needed.

[0122] In particular, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product, which includes a computer program carried on a computer readable medium, the computer program including a computer program for executing the process. Figure 2 A computer program for the slip-based torsional vibration control method is provided. In such an embodiment, the computer program can be downloaded and installed from a network via the communication section and / or installed from a removable medium. When the computer program is executed by a central processing unit (CPU), the various functions defined in the system of the present application are performed.

[0123] It should be noted that the computer-readable medium shown in the embodiments of the present application can be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium can be, for example, 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 can 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), a 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 application, a computer-readable signal medium can include a data signal propagated in baseband or as part of a carrier wave, which carries a computer-readable computer program. This propagated data signal can take a variety of forms, including but not limited to an electromagnetic signal, an optical signal, or any suitable combination of the above. A computer-readable signal medium may also be any computer-readable medium other than a computer-readable storage medium that can transmit, propagate, or transport a program for use by or in connection with an instruction execution system, apparatus, or device. A computer program embodied on a computer-readable medium may be transmitted using any suitable medium, including but not limited to wireless, wired, or any suitable combination thereof.

[0124] The flowcharts and block diagrams in the accompanying drawings illustrate the possible implementation architecture, functions and operations of the systems, methods and computer program products according to various embodiments of the present application. Among them, each box in the flowchart or block diagram can represent a module, program segment, or part of the code, and the above-mentioned module, program segment, or part of the code contains one or more executable instructions for implementing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in an order different from that marked in the accompanying drawings. For example, two 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 box in the block diagram or flowchart, and the combination of boxes in the block diagram or flowchart, can be implemented with a dedicated hardware-based system that performs the specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0125] The units involved in the embodiments described in this application may be implemented by software or hardware, and the units described may also be set in a processor. In some cases, the names of these units do not constitute limitations on the units themselves.

[0126] Another aspect of the present application provides a computer-readable storage medium having a computer program stored thereon. When executed by a computer processor, the computer program causes the computer to perform the aforementioned slip-state-based torsional vibration control method. The computer-readable storage medium may be included in the electronic device described in the above embodiments, or may exist independently and not be incorporated into the electronic device.

[0127] Another aspect of the present application provides a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. A processor of a computer device reads the computer instructions from the computer-readable storage medium and executes the computer instructions, causing the computer device to perform the slip-based torsional vibration control method provided in each of the above-mentioned embodiments.

[0128] The above embodiments are merely illustrative of the principles and effects of the present invention and are not intended to limit the present invention. Anyone skilled in the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, any equivalent modifications or alterations made by one of ordinary skill in the art without departing from the spirit and technical principles disclosed herein are intended to be covered by the claims of the present invention.

Claims

1. A torsional vibration control method based on slip state, characterized in that: The method comprises: Obtaining the real-time angular acceleration of the motor rotor, and calculating the target angular acceleration based on the real-time angular acceleration; comparing the target angular acceleration with an angular acceleration threshold; When the target angular acceleration is equal to or greater than the angular acceleration threshold, revising the requested torque to obtain a revised torque; Superimposing the revised torque and the anti-shake torque to obtain the actual motor electromagnetic torque; performing torsional vibration control on the vehicle using the actual electromagnetic torque of the motor; The target angular acceleration is calculated as follows: in, is the target angular acceleration, is the real-time angular acceleration of the motor rotor; The revision torque is: in, For the revision torque, TqReq is the requested torque, c m is the motor end damping, is the angular velocity of the motor rotor, J m is the motor rotor moment of inertia.

2. The torsional vibration control method based on slip state according to claim 1, characterized in that: The anti-shake torque is: Among them, δTq is the anti-shake torque, is the derivative of δTq, λ is the speed ratio, k s is the semi-axle equivalent stiffness, δ is a constant, Δθ is the relative gap angle, is the derivative of Δθ, g m The derivative of α is the equivalent clearance of the transmission system. When |Δθ|>α, the vehicle half-axles are in contact.

3. The torsional vibration control method based on slip state according to claim 2, characterized in that: The calculation method of the relative gap angle is: Among them, c s represents the semi-axis equivalent viscous damping coefficient, T hs Represents the half-axle load.

4. The torsional vibration control method based on slip state according to claim 2, characterized in that: When the vehicle is in a slip state, the maximum motor angular acceleration is limited by limiting the gradient of the half-axle load or, equivalently, the gradient of the requested torque.

5. The torsional vibration control method based on slip state according to claim 3, characterized in that: The expression method of the half-axle load is:

6. A torsional vibration control device using the torsional vibration control method according to any one of claims 1 to 5, characterized in that: The device comprises: An acceleration calculation module is used to obtain the real-time angular acceleration of the motor rotor and calculate the target angular acceleration based on the real-time angular acceleration; a comparison module, configured to compare the target angular acceleration with an angular acceleration threshold; a revision module, configured to revise the requested torque to obtain a revised torque when the target angular acceleration is equal to or greater than the angular acceleration threshold; A superposition module, configured to superimpose the correction torque and the anti-shake torque to obtain an actual electromagnetic torque of the motor; A control module is used to perform torsional vibration control on the vehicle using the actual electromagnetic torque of the motor.

7. An electronic device, characterized in that: The electronic device comprises: one or more processors; A storage device for storing one or more programs, which, when executed by the one or more processors, enables the electronic device to implement the steps of the torsional vibration control method based on the slip state as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that A computer program is stored thereon, and when the computer program is executed by a processor of a computer, the computer is caused to execute the steps of the torsional vibration control method based on a slip state as claimed in any one of claims 1 to 5.

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