Vibration suppression method, device and equipment of transmission system and readable storage medium

Abstract

The application discloses a vibration suppression method, device and equipment of a transmission system and a readable storage medium, belongs to the field of transmission systems, and is used for suppressing vibration in the transmission system. Considering that after the output torque direction is switched, the impact of the driving transmission and the driven transmission in the re-gearing process in the transmission system will increase with the increase of the speed difference at the time of impact, and a large noise is generated due to strong energy vibration, therefore, the application can control the output torque to remain at the preset threshold for a preset time length after the torque direction is switched and when the output torque reaches the preset threshold, so as to limit the speed difference growth of the driving transmission and the driven transmission, so that the driving transmission and the driven transmission complete the re-gearing process with a small speed difference, thereby reducing the vibration intensity generated by the two, reducing the noise, and improving the user experience.

Description

Technical Field

[0001] This invention relates to the field of transmission systems, and in particular to a method for vibration suppression in transmission systems. This invention also relates to a vibration suppression device, apparatus, and computer-readable storage medium for transmission systems. Background Technology

[0002] Due to factors such as insufficient precision in manufacturing processes, mechanical gaps often exist between the mechanical materials in the transmission system. When the direction of the output torque of the equipment in the transmission system changes (the output torque switches from positive to negative and from negative to positive), the mechanical transmission will successively undergo the processes of elastic release, gap elimination, and elastic establishment. During this process, the active and driven transmission parts in the transmission system will experience impacts and vibrations, resulting in significant noise and affecting the user experience.

[0003] Therefore, how to provide a solution to the above-mentioned technical problems is a problem that needs to be solved by those skilled in the art. Summary of the Invention

[0004] The purpose of this invention is to provide a vibration suppression method for a transmission system, which enables the active transmission to re-engage with the driven transmission with a small speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience. Another purpose of this invention is to provide a vibration suppression device, apparatus, and computer-readable storage medium for a transmission system, which enables the active transmission to re-engage with the driven transmission with a small speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience.

[0005] To solve the above-mentioned technical problems, the present invention provides a vibration suppression method for a transmission system, comprising:

[0006] Determine whether the system's required torque undergoes a shift between positive and negative directions;

[0007] If a direction change occurs, determine whether the output torque of the actuator reaches a preset threshold after the direction change.

[0008] If the threshold is reached, the output torque of the actuator is controlled to remain at the preset threshold for a preset duration.

[0009] After maintaining the preset duration, the output torque of the actuator is controlled to follow the torque required by the system.

[0010] Preferably, if a direction change occurs, determining whether the output torque of the actuator reaches a preset threshold after the direction change specifically involves:

[0011] If the system's required torque switches from negative to positive, determine whether the output torque of the actuator reaches the first sub-preset threshold after the direction switch.

[0012] If the system's required torque switches from positive to negative, determine whether the output torque of the actuator reaches the second preset threshold after the direction switch.

[0013] If the threshold is reached, then controlling the output torque of the actuator to remain at the preset threshold for a preset duration specifically involves:

[0014] If the first sub-preset threshold is reached, the output torque of the actuator is controlled to remain at the first sub-preset threshold for a first sub-preset duration;

[0015] If the second sub-preset threshold is reached, the output torque of the actuator is controlled to remain at the second sub-preset threshold for a second sub-preset duration.

[0016] The preset threshold includes a first sub-preset threshold and a second sub-preset threshold, wherein the first sub-preset threshold is a positive value and the second sub-preset threshold is a negative value, and the preset duration includes a first sub-preset duration and a second sub-preset duration.

[0017] Preferably, the calibration process of the preset threshold is as follows:

[0018] Add the first preset step size to the undetermined value of the preset threshold;

[0019] During the switching between positive and negative directions of the system's required torque, the output torque is controlled to remain at the current undetermined value of the preset threshold for a preset duration;

[0020] Generate the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the required torque of the system;

[0021] Determine whether the preset termination condition has been met;

[0022] If the threshold is not reached, then the step of adding the first preset step size to the undetermined value of the preset threshold is executed.

[0023] If this is achieved, the undetermined value corresponding to the one with the highest stability among all the generated speed waveforms will be used as the calibration value of the preset threshold.

[0024] Specifically, when the preset threshold is the first sub-preset threshold, the positive-negative direction switching process is from negative to positive; when the preset threshold is the second sub-preset threshold, the positive-negative direction switching process is from positive to negative.

[0025] Preferably, the calibration process for the preset duration is as follows:

[0026] Add the first preset step size to the undetermined value of the preset duration;

[0027] During the switching between positive and negative directions of the system's required torque, the output torque is controlled to maintain the current undetermined value of the preset duration at the preset threshold.

[0028] Generate the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the required torque of the system;

[0029] Determine whether the preset termination condition has been met;

[0030] If the target is not reached, then the step of adding the first preset step size to the undetermined value of the preset duration is executed.

[0031] If this is achieved, the undetermined value corresponding to the one with the highest stability among all the generated rotational speed waveforms will be used as the calibration value for the preset duration.

[0032] Specifically, when the preset duration is the first sub-preset duration, the positive-negative direction switching process is from negative to positive; when the preset duration is the second sub-preset duration, the positive-negative direction switching process is from positive to negative.

[0033] Preferably, after generating the rotational speed waveform of the transmission system during the switching process of the positive and negative directions of the system's required torque, and before determining whether a preset termination condition has been met, the vibration suppression method of the transmission system further includes:

[0034] The control indicator displays the speed waveform;

[0035] The step of using the undetermined value corresponding to the one with the highest stability among all the generated rotational speed waveforms as the calibration value of the preset threshold specifically involves:

[0036] One of the preset threshold values ​​received through the human-computer interaction device is used as the calibration value of the preset threshold.

[0037] Specifically, the undetermined value corresponding to the one with the highest stability among all the generated speed waveforms is used as the calibration value for the preset duration.

[0038] One of the preset duration values ​​received through the human-computer interaction device is used as the calibration value of the preset duration.

[0039] Preferably, the preset termination condition is:

[0040] When a termination command is received through a human-computer interaction device, it is determined that the preset termination conditions have been met.

[0041] Preferably, the vibration suppression method for the transmission system further includes:

[0042] At preset intervals, the rotational speed waveform of the actuator's output torque during the switching process between positive and negative directions is acquired;

[0043] Determine whether the preset index of the speed waveform meets the preset standard;

[0044] If it does not meet the requirements, the control prompt will issue a warning.

[0045] To address the aforementioned technical problems, the present invention also provides a vibration suppression device for a transmission system, comprising:

[0046] The first judgment module is used to determine whether the system demand torque has changed from positive to negative. If a change in direction occurs, the second judgment module is triggered.

[0047] The second judgment module is used to determine whether the output torque of the actuator reaches a preset threshold after the direction is switched. If it does, the holding module is triggered.

[0048] The holding module is used to control the output torque of the actuator to be maintained at the preset threshold for a preset duration;

[0049] The control module is used to control the output torque of the actuator to follow the system's required torque after maintaining the preset duration.

[0050] To address the aforementioned technical problems, the present invention also provides a vibration suppression device for a transmission system, comprising:

[0051] Memory, used to store computer programs;

[0052] A processor is used to implement the vibration suppression method for the transmission system as described above when executing the computer program.

[0053] To address the aforementioned technical problems, the present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vibration suppression method for the transmission system described above.

[0054] This invention provides a vibration suppression method for a transmission system. Considering that after the output torque changes direction, the impact between the active and driven transmissions during the re-engagement process increases with the increase of the speed difference during the impact, and generates significant noise due to the strong energy vibration, this application can control the output torque to remain at the preset threshold for a preset duration after the torque direction changes and when the output torque reaches a preset threshold. This limits the increase of the speed difference between the active and driven transmissions, allowing the active transmission to complete the re-engagement process with the driven transmission at a smaller speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience.

[0055] The present invention also provides a vibration suppression device, equipment, and computer-readable storage medium for a transmission system, which have the same beneficial effects as the vibration suppression method for the transmission system described above. Attached Figure Description

[0056] To more clearly illustrate the technical solutions in the embodiments of the present invention, the drawings used in the prior art and embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0057] Figure 1 A schematic flowchart of a vibration suppression method for a transmission system provided by the present invention;

[0058] Figure 2 A schematic diagram of torque variation provided by the present invention;

[0059] Figure 3 The speed waveform of the transmission system before vibration suppression;

[0060] Figure 4 The speed waveform of the transmission system after vibration suppression;

[0061] Figure 5 This is a schematic diagram of the structure of a vibration suppression device for a transmission system provided by the present invention;

[0062] Figure 6 This is a schematic diagram of the structure of a vibration suppression device for a transmission system provided by the present invention. Detailed Implementation

[0063] The core of this invention is to provide a vibration suppression method for a transmission system, which enables the active transmission to re-engage with the driven transmission with a small speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience. Another core aspect of this invention is to provide a vibration suppression device, equipment, and computer-readable storage medium for a transmission system, which enables the active transmission to re-engage with the driven transmission with a small speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience.

[0064] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, not all embodiments. Based on the embodiments of the present invention, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of the present invention.

[0065] Please refer to Figure 1 , Figure 1 This is a flowchart illustrating a vibration suppression method for a transmission system provided by the present invention. The vibration suppression method for the transmission system includes:

[0066] S101: Determine whether the system demand torque undergoes a change between positive and negative directions;

[0067] Specifically, considering the technical problems mentioned above, and taking into account that before the output torque reverses, the active drive (e.g., the driving gear) and the driven drive (e.g., the driven gear) mesh and move as a unit on one side, and when the output torque of the actuator changes to zero and increases in the opposite direction, the speed of the active drive will decrease or even rotate in the other direction, while the speed of the driven drive will decrease due to friction. At this time, the speed difference between the active and driven drives will cause them to collide, which will cause vibration and eventually the other side of the active and driven drives will re-mesh. Considering that the vibration intensity generated by the collision depends on the speed difference at the time of the collision, and the speed of the active drive can be affected by the output torque, this embodiment of the invention aims to limit the speed of the active drive during the direction switching of the output torque of the actuator, so that the re-meshing process of the active and driven drives is carried out at a lower speed, thereby reducing the vibration intensity of the re-meshing process. Therefore, this embodiment of the invention can first determine whether the system demand torque has a positive and negative direction switching.

[0068] The actuator can be the part of the system that generates output torque. The system can be of various types, such as a wheeled vehicle, etc. This embodiment of the invention is not limited to these types.

[0069] Specifically, switching between positive and negative directions can include switching from positive to negative and from negative to positive.

[0070] S102: If a direction change occurs, determine whether the output torque of the actuator reaches the preset threshold after the direction change.

[0071] Specifically, when a direction change occurs, the torque after the direction change will increase in the other direction. Therefore, in this embodiment of the invention, a preset threshold can be set in advance so that when the output torque reaches the preset threshold, the output torque can be controlled to be maintained for a period of time. Therefore, in the steps of this embodiment of the invention, when a direction change occurs, it can be determined whether the output torque of the actuator reaches the preset threshold after the direction change, so as to trigger subsequent actions based on the determination result.

[0072] S103: If the target is reached, the output torque of the control actuator will be maintained at the preset threshold for a preset duration.

[0073] Specifically, when the output torque is determined to reach a preset threshold, the output torque of the actuator can be controlled to remain at the preset threshold for a preset duration. This limits the speed of the active transmission by restricting the continuous increase of the output torque, thereby reducing the vibration intensity during the re-engagement process.

[0074] The preset threshold and preset duration can be set independently, and this embodiment of the invention does not impose any limitations on them.

[0075] S104: After maintaining the preset duration, control the output torque of the actuator to follow the system's required torque.

[0076] Specifically, after maintaining the preset time, the active and driven transmissions can be re-engaged, thus returning to the original torque output logic of the actuator. In other words, the output torque of the actuator is controlled to follow the torque required by the system, thereby ensuring the normal operation of the transmission system.

[0077] This invention provides a vibration suppression method for a transmission system. Considering that after the output torque changes direction, the impact between the active and driven transmissions during the re-engagement process increases with the increase of the speed difference during the impact, and generates significant noise due to the strong energy vibration, this application can control the output torque to remain at the preset threshold for a preset duration after the torque direction changes and when the output torque reaches a preset threshold. This limits the increase of the speed difference between the active and driven transmissions, allowing the active transmission to complete the re-engagement process with the driven transmission at a smaller speed difference, thereby reducing the vibration intensity generated by both, reducing noise, and improving the user experience.

[0078] For a better explanation of the embodiments of the present invention, please refer to Figures 2-4 , Figure 2 A schematic diagram of torque variation provided by the present invention; Figure 3 The speed waveform of the transmission system before vibration suppression; Figure 4 The following is a waveform diagram of the rotational speed of the transmission system after vibration suppression, based on the above embodiment:

[0079] In a preferred embodiment, if a direction change occurs, the determination of whether the output torque of the actuator reaches a preset threshold after the direction change is specifically as follows:

[0080] If the system's required torque switches from negative to positive, determine whether the output torque of the actuator reaches the first sub-preset threshold after the direction switch.

[0081] If the system's required torque switches from positive to negative, determine whether the output torque of the actuator reaches the second preset threshold after the direction switch.

[0082] If this is achieved, the output torque of the control actuator will be maintained at the preset threshold for a preset duration, specifically:

[0083] If the first sub-preset threshold is reached, the output torque of the control actuator is maintained at the first sub-preset threshold for the first sub-preset duration;

[0084] If the second sub-preset threshold is reached, the output torque of the control actuator is maintained at the second sub-preset threshold for the second sub-preset duration.

[0085] The preset thresholds include a first sub-preset threshold and a second sub-preset threshold. The first sub-preset threshold is a positive value, and the second sub-preset threshold is a negative value. The preset duration includes a first sub-preset duration and a second preset duration.

[0086] Specifically, considering that due to differences in structure or process, the required preset threshold and preset duration for the transmission system during forward and reverse rotation are different, different first and second sub-preset thresholds, as well as different first and second sub-preset durations, can be set in this embodiment of the invention. This allows for differentiated control of the vibration suppression process during forward and reverse motion of the transmission system, which is beneficial for achieving better vibration suppression and further improving the user experience.

[0087] Among them, Figure 2 In the diagram, t1 and t4 both correspond to a period of time after the output torque begins to switch directions, while t2 corresponds to the first sub-preset duration, t5 corresponds to the second sub-preset duration, and t3 and t6 correspond to the stage of "controlling the output torque to follow the system demand torque" after the output torque has remained constant for a period of time.

[0088] Specifically, in Figure 3 as well as Figure 4 In the diagram, waveform 1 is the speed waveform of the transmission system, waveform 2 is the demand torque waveform, and waveform 3 is the output torque waveform. Figure 3 and Figure 4 The comparison shows that Figure 4 The smoothness of the rotational speed waveform after vibration suppression control is relatively high, thus reducing the vibration intensity of the transmission system and reducing noise.

[0089] As a preferred embodiment, the calibration process for the preset threshold is as follows:

[0090] Add the first preset step size to the undetermined value of the preset threshold;

[0091] During the switching between positive and negative directions of the system's required torque, the control output torque is maintained at the current preset threshold value for a preset duration.

[0092] Generate the speed waveform of the transmission system during the switching process between the positive and negative directions of the system's required torque;

[0093] Determine whether the preset termination condition has been met;

[0094] If the threshold is not reached, then the step of adding the first preset step size to the undetermined value of the preset threshold is executed.

[0095] If this is achieved, the undetermined value corresponding to the one with the highest stability among all generated speed waveforms will be used as the calibration value of the preset threshold.

[0096] Specifically, when the preset threshold is the first sub-preset threshold, the positive-to-negative direction switching process is from negative to positive; when the preset threshold is the second sub-preset threshold, the positive-to-negative direction switching process is from positive to negative.

[0097] Specifically, in order to obtain a more suitable preset threshold, the present invention provides a preset threshold calibration process, which can be executed in advance.

[0098] The initial value of the undetermined value of the preset threshold can be set independently, for example, it can be set to zero, etc., and this embodiment of the invention does not limit it.

[0099] Specifically, the first preset step size and the preset termination condition can be set independently according to the actual situation, and the embodiments of the present invention are not limited here.

[0100] In this embodiment of the invention, considering that the intensity of vibration can be reflected by the rotational speed waveform of the transmission system, the stability of the rotational speed waveform during each test can be analyzed, and the undetermined value corresponding to the one with the highest stability can be used as the calibration value of the preset threshold, which is beneficial to improving the reliability of the calibrated preset threshold.

[0101] Specifically, the stability of the rotational speed waveform can be judged by various methods, such as by analyzing the fluctuation amplitude and the duration of the fluctuation. For example, the first product of the fluctuation amplitude and the corresponding weight, and the second product of the fluctuation duration and the corresponding weight can be calculated. Then, the sum of the first product and the second product can be used as a quantitative indicator of stability. This embodiment of the invention does not limit the scope of the problem.

[0102] As a preferred embodiment, the calibration process for the preset duration is as follows:

[0103] Add the first preset step size to the undetermined value of the preset duration;

[0104] During the switching between positive and negative directions of the system's required torque, the control output torque is kept at a predetermined value for a preset duration at a preset threshold.

[0105] Generate the speed waveform of the transmission system during the switching process between the positive and negative directions of the system's required torque;

[0106] Determine whether the preset termination condition has been met;

[0107] If the target is not reached, then the step of adding the first preset step size to the undetermined value of the preset duration will be executed.

[0108] If this is achieved, the undetermined value corresponding to the one with the highest stability among all generated speed waveforms will be used as the calibration value for the preset duration.

[0109] Specifically, when the preset duration is the first sub-preset duration, the positive-to-negative direction switching process is from negative to positive; when the preset duration is the second sub-preset duration, the positive-to-negative direction switching process is from positive to negative.

[0110] Specifically, in order to obtain a more suitable preset duration, the present invention provides a calibration process for the preset duration, and the calibration process for the preset duration can be executed in advance.

[0111] The initial value of the preset duration can be set independently, for example, it can be set to a higher value, and the corresponding preset step size can be set to a negative value. This embodiment of the invention does not limit this.

[0112] Specifically, the first preset step size and the preset termination condition can be set independently according to the actual situation, and the embodiments of the present invention are not limited here.

[0113] In this embodiment of the invention, considering that the intensity of vibration can be reflected by the rotational speed waveform of the transmission system, the stability of the rotational speed waveform during each test can be analyzed, and the undetermined value corresponding to the one with the highest stability can be used as the calibration value of the preset time, which is beneficial to improving the reliability of the preset time of calibration.

[0114] As a preferred embodiment, after generating the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the system's required torque, and before determining whether a preset termination condition has been met, the vibration suppression method of the transmission system further includes:

[0115] The control indicator displays the speed waveform;

[0116] The undetermined value corresponding to the one with the highest stability among all generated speed waveforms is used as the calibration value of the preset threshold. Specifically:

[0117] The undetermined value of one of the preset thresholds received through the human-computer interaction device is used as the calibration value of the preset threshold.

[0118] The undetermined value corresponding to the most stable of all generated speed waveforms is used as the calibration value for the preset duration, specifically:

[0119] One of the preset duration values ​​received through the human-computer interaction device is used as the calibration value of the preset duration.

[0120] Specifically, considering that in some cases, the reliability of the speed waveform analysis by the staff is relatively high, the speed waveform can be displayed in this embodiment of the invention, and the staff can analyze the speed waveform and send a preset threshold value to be determined through the human-computer interaction device, thereby using it as the calibration value of the preset threshold.

[0121] The human-computer interaction device can be of various types, such as a keyboard and mouse, and this embodiment of the invention does not limit it.

[0122] As a preferred embodiment, the preset termination condition is:

[0123] When a termination command is received through a human-computer interaction device, it is determined that the preset termination conditions have been met.

[0124] Specifically, considering the difficulty in defining the exact number of tests, the calibration process can be terminated by staff in this embodiment of the invention.

[0125] Of course, in addition to this specific method, the preset termination condition can also be that the number of trials reaches a preset number, etc., and the embodiments of the present invention are not limited here.

[0126] As a preferred embodiment, the vibration suppression method for the transmission system further includes:

[0127] At preset intervals, the rotational speed waveform of the actuator's output torque during the switching process between positive and negative directions is acquired;

[0128] Determine whether the preset indicators of the speed waveform meet the preset standards;

[0129] If it does not meet the requirements, the control prompt will issue a warning.

[0130] Specifically, considering that the current preset threshold and preset duration may weaken the vibration suppression effect as the transmission system operates for a long time, this embodiment of the invention can acquire the speed waveform of the output torque of the actuator during the switching process in the positive and negative directions at preset intervals, and determine whether the preset index of the speed waveform meets the preset standard. If it does not meet the standard, the control prompt will issue a prompt so that the staff can carry out maintenance.

[0131] The preset indicators can be of various types, such as the aforementioned stability, and are not limited to any particular type in this embodiment of the invention.

[0132] Please refer to Figure 5 , Figure 5This is a schematic diagram of a vibration suppression device for a transmission system provided by the present invention. The vibration suppression device for the transmission system includes:

[0133] The first judgment module 51 is used to determine whether the system demand torque has a positive and negative direction switch. If a direction switch occurs, the second judgment module 52 is triggered.

[0134] The second judgment module 52 is used to determine whether the output torque of the actuator reaches a preset threshold after the direction is switched. If it does, the holding module 53 is triggered.

[0135] The holding module 53 is used to control the output torque of the actuator to be maintained at a preset threshold for a preset time.

[0136] The control module 54 is used to control the output torque of the actuator to follow the system's required torque after maintaining a preset time.

[0137] For a description of the vibration suppression device for the transmission system provided in this embodiment of the invention, please refer to the aforementioned embodiment of the vibration suppression method for the transmission system. This embodiment of the invention will not be repeated here.

[0138] Please refer to Figure 6 , Figure 6 This is a schematic diagram of the structure of a vibration suppression device for a transmission system provided by the present invention. The vibration suppression device for the transmission system includes:

[0139] Memory 61 is used to store computer programs;

[0140] The processor 62 is used to execute a computer program to implement the steps of the vibration suppression method for the transmission system as described in the foregoing embodiments.

[0141] For a description of the vibration suppression device for the transmission system provided in this embodiment of the invention, please refer to the aforementioned embodiment of the vibration suppression method for the transmission system. This embodiment of the invention will not be repeated here.

[0142] The present invention also provides a computer-readable storage medium storing a computer program, which, when executed by a processor, implements the steps of the vibration suppression method for the transmission system as described in the foregoing embodiments.

[0143] For a description of the computer-readable storage medium provided in the embodiments of the present invention, please refer to the aforementioned embodiments of the vibration suppression method for the transmission system; the embodiments of the present invention will not be repeated here.

[0144] The various embodiments in this specification are described in a progressive manner, with each embodiment focusing on its differences from other embodiments. Similar or identical parts between embodiments can be referred to interchangeably. For the apparatus disclosed in the embodiments, since it corresponds to the method disclosed in the embodiments, the description is relatively simple; relevant parts can be referred to the method section. It should also be noted that in this specification, relational terms such as "first" and "second" are used only to distinguish one entity or operation from another, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising a..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes that element.

[0145] The above description of the disclosed embodiments enables those skilled in the art to make or use the invention. Various modifications to these embodiments will be readily apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the invention. Therefore, the invention is not to be limited to the embodiments shown herein, but is to be accorded the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A vibration suppression method for a transmission system, characterized in that, include: Determine whether the system's required torque undergoes a shift between positive and negative directions; If the system's required torque switches from negative to positive, determine whether the output torque of the actuator reaches the first sub-preset threshold after the direction switch. If the system's required torque switches from positive to negative, determine whether the output torque of the actuator reaches the second preset threshold after the direction switch. If the first sub-preset threshold is reached, the output torque of the actuator is controlled to remain at the first sub-preset threshold for a first sub-preset duration; If the second sub-preset threshold is reached, the output torque of the actuator is controlled to remain at the second sub-preset threshold for a second sub-preset duration. Wherein, the first sub-preset threshold is a positive value, and the second sub-preset threshold is a negative value; After maintaining the preset duration, the output torque of the actuator is controlled to follow the system's required torque. The preset duration includes a first sub-preset duration and a second sub-preset duration. The calibration process for the preset threshold is as follows: Add the first preset step size to the undetermined value of the preset threshold; During the switching between positive and negative directions of the system's required torque, the output torque is controlled to remain at the current undetermined value of the preset threshold for a preset duration; Generate the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the required torque of the system; Determine whether the preset termination condition has been met; If the threshold is not reached, then the step of adding the first preset step size to the undetermined value of the preset threshold is executed. If this is achieved, the undetermined value corresponding to the one with the highest stability among all the generated speed waveforms will be used as the calibration value of the preset threshold. Specifically, when the preset threshold is the first sub-preset threshold, the positive-negative direction switching process is from negative to positive; when the preset threshold is the second sub-preset threshold, the positive-negative direction switching process is from positive to negative.

2. The vibration suppression method for a transmission system according to claim 1, characterized in that, The calibration process for the preset duration is as follows: Add the first preset step size to the undetermined value of the preset duration; During the switching between positive and negative directions of the system's required torque, the output torque is controlled to maintain the current undetermined value of the preset duration at the preset threshold. Generate the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the required torque of the system; Determine whether the preset termination condition has been met; If the target is not reached, then the step of adding the first preset step size to the undetermined value of the preset duration is executed. If this is achieved, the undetermined value corresponding to the one with the highest stability among all the generated rotational speed waveforms will be used as the calibration value for the preset duration. Specifically, when the preset duration is the first sub-preset duration, the positive-negative direction switching process is from negative to positive; when the preset duration is the second sub-preset duration, the positive-negative direction switching process is from positive to negative.

3. The vibration suppression method for a transmission system according to claim 2, characterized in that, After generating the rotational speed waveform of the transmission system during the positive and negative direction switching process of the system's required torque, and before determining whether a preset termination condition has been met, the vibration suppression method of the transmission system further includes: The control indicator displays the speed waveform; The step of using the undetermined value corresponding to the one with the highest stability among all the generated rotational speed waveforms as the calibration value of the preset threshold specifically involves: One of the preset threshold values ​​received through the human-computer interaction device is used as the calibration value of the preset threshold. Specifically, the undetermined value corresponding to the one with the highest stability among all the generated speed waveforms is used as the calibration value for the preset duration. One of the preset duration values ​​received through the human-computer interaction device is used as the calibration value of the preset duration.

4. The vibration suppression method for a transmission system according to claim 2, characterized in that, The preset termination condition is: When a termination command is received through a human-computer interaction device, it is determined that the preset termination conditions have been met.

5. The vibration suppression method for a transmission system according to any one of claims 1 to 4, characterized in that, Vibration suppression methods for transmission systems also include: At preset intervals, the rotational speed waveform of the actuator's output torque during the switching process between positive and negative directions is acquired; Determine whether the preset index of the speed waveform meets the preset standard; If it does not meet the requirements, the control prompt will issue a warning.

6. A vibration suppression device for a transmission system, characterized in that, include: The first judgment module is used to determine whether the system demand torque has changed from positive to negative. If a change in direction occurs, the second judgment module is triggered. The second judgment module is used to determine whether the output torque of the actuator reaches the first sub-preset threshold after the direction switch if the system demand torque switches from negative to positive. If the system's required torque switches from positive to negative, determine whether the output torque of the actuator reaches the second preset threshold after the direction switch. A holding module is configured to control the output torque of the actuator to be maintained at the first sub-preset threshold for a first sub-preset duration if the first sub-preset threshold is reached; and to control the output torque of the actuator to be maintained at the second sub-preset threshold for a second sub-preset duration if the second sub-preset threshold is reached; wherein the first sub-preset threshold is a positive value and the second sub-preset threshold is a negative value. The control module is used to control the output torque of the actuator to follow the system's required torque after maintaining the preset duration. The preset duration includes a first sub-preset duration and a second sub-preset duration. The calibration process for the preset threshold is as follows: Add the first preset step size to the undetermined value of the preset threshold; During the switching between positive and negative directions of the system's required torque, the output torque is controlled to remain at the current undetermined value of the preset threshold for a preset duration; Generate the rotational speed waveform of the transmission system during the switching process between the positive and negative directions of the required torque of the system; Determine whether the preset termination condition has been met; If the threshold is not reached, then the step of adding the first preset step size to the undetermined value of the preset threshold is executed. If this is achieved, the undetermined value corresponding to the one with the highest stability among all the generated speed waveforms will be used as the calibration value of the preset threshold. Specifically, when the preset threshold is the first sub-preset threshold, the positive-negative direction switching process is from negative to positive; when the preset threshold is the second sub-preset threshold, the positive-negative direction switching process is from positive to negative.

7. A vibration suppression device for a transmission system, characterized in that, include: Memory, used to store computer programs; A processor, configured to implement the steps of the vibration suppression method for the transmission system as described in any one of claims 1 to 5 when executing the computer program.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the vibration suppression method for the transmission system as described in any one of claims 1 to 5.

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