A torque compensation method and system in motor jitter

Abstract

The application provides a torque compensation method and system in motor jitter, and the method comprises the following steps: acquiring a current rotating speed of the motor; when the rotating speed of the motor is less than a first predetermined value, calculating a rotating speed acceleration according to a motor rotating speed signal, and performing rotating speed compensation on the motor under different rotating speed accelerations based on a calibration value corresponding to the rotating speed acceleration; when the rotating speed of the motor is greater than the first predetermined value, calculating a vehicle acceleration according to an IPB system signal, and performing rotating speed compensation on the motor under different vehicle accelerations based on a calibration value corresponding to the vehicle acceleration. Through the scheme, the rotating speed delay generated by the low-pass filter can be reduced, the torque compensation error can be reduced, and the accuracy of torque compensation can be improved.

Description

TECHNICAL FIELD

[0001] The present application belongs to the field of electric machines, and particularly relates to a torque compensation method and system in electric machine jitter. BACKGROUND

[0002] In the field of electric vehicles, since the electric drive system is composed of a motor and a hard gear such as a reducer, there are many gear clearances in the electric drive system, and the torque rising speed of the motor is more rapid than that of a traditional fuel vehicle. The gear clearance and the rapid rising of the torque are likely to cause knocking between gears during fast pressing and fast releasing of the accelerator, which will be transmitted to the driver's cabin, i.e., the jitter or surging of the whole vehicle. For example, too fast torque loading, dynamic DR gear switching, and slope DR gear switching, etc. The electric machine jitter problem caused by the mismatch between the output speed of the electric machine and the expected speed has a very significant impact on the driving experience.

[0003] In the process of jitter suppression, the speed of the electric machine is usually filtered and processed as the expected target speed, and then the difference between the actual speed and the expected speed is calculated, and the torque is compensated in proportion. However, in the actual application process, the filtered speed is delayed, which will cause deviation in the process of anti-jitter torque compensation, and it is difficult to fundamentally solve the problem of electric machine jitter. SUMMARY

[0004] Therefore, the embodiments of the present application provide a torque compensation method and system in electric machine jitter, which is used to solve the problem that the compensation deviates due to the filtering delay in the existing anti-jitter torque compensation process.

[0005] In a first aspect of the embodiments of the present application, a torque compensation method in electric machine jitter is provided, comprising:

[0006] obtaining the current speed of the electric machine;

[0007] when the speed of the electric machine is less than a first predetermined value, calculating the speed acceleration according to the speed signal of the electric machine, and compensating the speed of the electric machine under different speed accelerations based on the corresponding calibration value of the speed acceleration;

[0008] when the speed of the electric machine is greater than the first predetermined value, calculating the vehicle acceleration according to the IPB system signal, and compensating the speed of the electric machine under different vehicle accelerations based on the corresponding calibration value of the vehicle acceleration.

[0009] In a second aspect of the embodiments of the present application, a torque compensation system in electric machine jitter is provided, comprising:

[0010] an obtaining module, configured to obtain the current speed of the electric machine;

[0011] a judging module, configured to judge whether the speed of the electric machine is less than a first predetermined value;

[0012] The first rotating speed compensation module is configured to, when the rotating speed of the motor is less than a first predetermined value, calculate a rotating speed acceleration according to a motor rotating speed signal, and compensate the motor at different rotating speed accelerations based on a corresponding calibration value of the rotating speed acceleration.

[0013] The second rotating speed compensation module is configured to, when the rotating speed of the motor is greater than the first predetermined value, calculate a vehicle acceleration according to an IPB system signal, and compensate the motor at different vehicle accelerations based on a corresponding calibration value of the vehicle acceleration.

[0014] In a third aspect, an electronic device is provided, which includes a memory, a processor, and a computer program stored in the memory and executable by the processor, and the processor implements the steps of the method in the first aspect of the embodiments of the present application when executing the computer program.

[0015] In a fourth aspect, a computer readable storage medium is provided, which stores a computer program, and the computer program is executable by a processor to implement the steps of the method in the first aspect of the embodiments of the present application.

[0016] In the embodiments of the present application, by judging the threshold range of the rotating speed of the motor, the calibrated value at different accelerations is used to compensate the filtered rotating speed, which can effectively reduce the rotating speed delay caused by low-pass filtering, thereby reducing the torque compensation error in the process of stable rising or falling of the rotating speed of the motor. At the same time, the rotating speed jitter point can be more accurately identified, and the anti-jitter torque compensation can be more accurately performed. BRIEF DESCRIPTION OF DRAWINGS

[0017] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed to be used in the embodiments or prior art description. Obviously, the drawings described below are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor on the basis of these drawings.

[0018] Figure 1 A flowchart of a torque compensation method in motor jitter provided by an embodiment of the present application;

[0019] Figure 2 A principle diagram of a torque compensation method in motor jitter provided by an embodiment of the present application;

[0020] Figure 3 A structure diagram of a torque compensation system in motor jitter provided by an embodiment of the present application;

[0021] Figure 4A structural schematic diagram of an electronic device is provided for an embodiment of the present application. DETAILED DESCRIPTION

[0022] In order to make the application purpose, features and advantages of the present application more obvious and easy to understand, the technical solutions in the embodiments of the present application will be clearly and completely described below in combination with the drawings in the embodiments of the present application. Obviously, the embodiments described below are only part of the embodiments of the present application, rather than all the embodiments. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor fall within the scope of protection of the present application.

[0023] It should be understood that, when used in the specification and the appended claims, the term "comprising" indicates the storage of the described features, whole, steps, operations, elements and / or components, but does not exclude the existence or addition of one or more other features, whole, steps, operations, elements, components and / or their sets.

[0024] The terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification and the appended claims of the present application, the singular forms "a", "an" and "the" are intended to include the plural forms, unless the context clearly indicates otherwise.

[0025] The term "comprising" and other similar means in the specification of the present application or claims and the above drawings mean to cover the non-exclusive inclusion, such as the process, method or system, device including a series of steps or units, which is not limited to the listed steps or units. In addition, "first" and "second" are used to distinguish different objects, and are not used to describe a specific order.

[0026] For the problem of vehicle jitter, a motor speed filtering method is proposed, which can obtain an ideal motor speed curve without obvious speed fluctuation. By calculating the difference between the actual motor speed and the ideal speed, the compensation value is determined according to the difference to prevent the jitter torque compensation, so that the motor speed remains smooth during the rapid rise and fall of the torque. However, in the process of filtering the motor speed, the filtered speed is delayed, which leads to deviation in the calculation of the anti-jitter torque during the anti-jitter torque compensation process. In order to eliminate the delay generated in the speed filtering process, the filtered motor speed needs to be compensated to eliminate the influence of the filtering delay on the calculation of the difference between the actual speed and the filtered speed and the subsequent anti-jitter torque calculation, so as to more accurately calculate the actual required anti-jitter torque value.

[0027] The vehicle acceleration is calculated to compensate the rotation speed, so that the compensation can be accurate, but the acceleration acquisition accuracy is different under different working conditions, so the acceleration acquisition under different working conditions is needed to calculate the acceleration according to different working conditions of the vehicle.

[0028] For details, please refer to Figure 1 The flowchart of the torque compensation method in the motor jitter provided by the embodiment of the application comprises the following steps.

[0029] S101, acquiring the current rotation speed of the motor;

[0030] The motor rotation speed is collected in real time during the driving of the vehicle, and is sent to the central control system or ECU through the CAN bus, and the corresponding motor rotation speed information can be directly acquired through the CAN in the embodiment.

[0031] The current rotation speed of the motor can be collected through the motor rotation speed sensor, and the rotation speed sensor can be an optical rotation speed sensor, a magneto-rotational speed sensor, a vibration speed sensor, etc.

[0032] The actual rotation speed of the motor is subjected to a low-pass filtering, and high-frequency noise is filtered out.

[0033] S102, when the motor rotation speed is less than a first predetermined value, the rotation speed acceleration is calculated according to the motor rotation speed signal, and the motor under different rotation speed accelerations is subjected to rotation speed compensation based on the calibration value corresponding to the rotation speed acceleration.

[0034] The real-time collected motor rotation speed is compared with the first predetermined value, so that the corresponding acceleration calculation method can be judged and selected, and then the calibration value is determined. The first predetermined value is a threshold value obtained through actual test, and the accuracy of the two acceleration calculation methods is compared through actual measurement, and the corresponding predetermined value is set. The current rotation speed of the motor is compared with the first predetermined value, so that it can be judged which method is used to calculate the motor rotation speed acceleration.

[0035] When the motor rotation speed is less than a certain value, due to the sampling accuracy problem of the IPB vehicle speed sampling sensor, there will be a 0-1kph jump, and this jump feedback to the acceleration is a sudden acceleration, which will greatly affect the accuracy of the rotation speed compensation, so in this case, the rotation speed of the motor is used to calculate the rotation speed acceleration (rpm / s) as the basis for rotation speed compensation, which can reduce the torque compensation error.

[0036] Preferably, the first predetermined value is 300rpm.

[0037] For example, when the rotation speed is less than or equal to 300 rpm, the rotation speed acceleration is calculated by using the motor rotation speed signal, and then the rotation speed compensation is performed on the filtered rotation speed in the whole vehicle under different motor rotation speed accelerations. The rotation speed acceleration (rpm / s) is calculated by using the motor rotation speed signal, and needs to be calibrated in the whole vehicle. Under different motor rotation speed accelerations, the corresponding rotation speed delay values can be obtained. The same rotation speed acceleration is tested for multiple times, and the average value is taken. The rotation speed compensation value corresponding to the rotation speed acceleration is added to the filtered motor rotation speed.

[0038] In the method, the relationship between the motor rotation speed acceleration and the rotation speed compensation value is calibrated based on experimental measurement.

[0039] The corresponding rotation speed delay values under different motor rotation speed accelerations are tested. The same rotation speed acceleration is tested for multiple times, and the average value is taken. The relationship between the rotation speed acceleration and the compensation value is calibrated. The rotation speed compensation value corresponding to the rotation speed acceleration is added to the filtered motor rotation speed.

[0040] In the method, when the motor rotation speed is greater than a first predetermined value, the vehicle acceleration is calculated according to the IPB system signal, and the motor rotation speed is compensated based on the calibration value corresponding to the vehicle acceleration under different vehicle accelerations.

[0041] The IPB (Integrated Power Brake) system is an intelligent integrated brake system. Compared with the traditional vacuum booster pump brake system, the IPB system can make the response of the brake system more rapid and the control more accurate. The IPB system obtains the vehicle rotation speed for calculating the vehicle acceleration.

[0042] Generally, the vehicle speed and acceleration calculated by the IPB system are more accurate than those calculated directly by using the motor rotation speed. However, in special cases, such as when the vehicle is just starting, due to the sampling accuracy problem of the IPB vehicle speed sampling sensor, there may be a 0-1 kph jump. This jump feedback to the acceleration is a sudden acceleration, which greatly affects the accuracy of the rotation speed compensation. In this case, it is more accurate and reasonable to directly use the motor rotation speed to calculate the rotation speed acceleration as the basis for rotation speed compensation.

[0043] In the method, when the motor rotation speed is greater than a first predetermined value, the vehicle acceleration is calculated according to the IPB system obtaining the vehicle speed data, and the rotation speed is compensated based on the calibration value corresponding to the vehicle acceleration.

[0044] For example, when the rotation speed is greater than 300 rpm, the whole vehicle speed acceleration is calculated by using the IPB vehicle speed, and then the rotation speed compensation is performed on the filtered rotation speed in the whole vehicle under different whole vehicle speed accelerations.

[0045] Wherein, based on experimental measurement, the relationship between vehicle acceleration and speed compensation value is calibrated.

[0046] Under different vehicle accelerations, the corresponding speed delay values are tested, and under the same acceleration, multiple tests are taken to obtain the average value, and the motor speed compensation value corresponding to different vehicle accelerations is calibrated.

[0047] It should be understood that the biggest difficulty for the speed filtering delay existing in the anti-shake process is how to effectively and accurately compensate the delayed speed, so that the actual anti-shake torque value required in the anti-shake torque calculation process is more accurately calculated. In the embodiment, two methods for calculating acceleration according to different operating conditions of the vehicle are proposed. Due to the sampling accuracy problem, the chassis speed signal jumps at 0-1 kph, and the motor speed below 300 rpm is used to calculate the speed acceleration as the basis for speed compensation; when the motor speed is greater than 300 rpm, the vehicle speed in the chassis signal is used to calculate the vehicle acceleration at this time as the basis for the filtered speed compensation. It can ensure that the speed delay is accurately compensated in the entire anti-shake opening speed range.

[0048] In the embodiment, by calculating the acceleration and its corresponding calibration value, the speed delay caused by low-pass filtering can be effectively reduced after the filtered speed is compensated, thereby reducing the torque error compensation in the process of stable rising or falling of the motor speed. At the same time, the speed jitter point can be more accurately identified, and more accurate anti-shake torque compensation can be performed.

[0049] In one embodiment, based on the difference between the actual speed of the motor and the expected speed after speed compensation, the calibration value is corrected.

[0050] In actual application, when there is still an error between the actual speed of the motor and the expected speed after torque compensation, the error value existing after multiple compensations is counted to correct the calibration value.

[0051] In one embodiment, as shown in Figure 2 the actual speed of the motor is filtered once by a low-pass filter to filter out high-frequency noise; due to the inherent delay of the low-pass filter, unintended errors will be introduced when calculating the speed difference, which will affect the calculation and output of the final anti-shake torque. Therefore, additional speed compensation is needed on the filtered speed.

[0052] Wherein, the first-order low-pass filter is a software programming to realize the function of a common hardware RC low-pass filter. The algorithm formula of the first-order low-pass filter is:

[0053] Y(n) = aX(n) + (1-a)Y(n-1);

[0054] In the formula, a = filter coefficient, X(n) = this sampling value, Y(n-1) = last filter output value, Y(n) = this filter output value.

[0055] The first-order low-pass filter method uses the current sampling value and the last filter output value to obtain the effective filter value, so that the output has a feedback effect on the input. Generally, the smaller the filter coefficient, the more stable the filter result, but the lower the sensitivity (i.e. delay); the larger the filter coefficient, the higher the sensitivity, but the more unstable the filter result.

[0056] In the vehicle CAN signal, because the vehicle speed signal calculated by IPB has high accuracy, but when the vehicle just starts (vehicle speed is between 0-2km / h), there is a numerical jump, so when the speed is compensated, according to the comparison result of the speed and the predetermined value, two different ways are used to calculate the torque compensation value:

[0057] For example Figure 2 When the motor speed is less than 300rpm, the compensation speed is calculated based on the motor speed acceleration;

[0058] The motor speed signal is used to calculate the speed acceleration (rpm / s), which needs to be calibrated in the vehicle. Under different motor speed accelerations, the corresponding speed delay values are obtained. Under the same speed acceleration, 10 tests are performed to take the average value. The speed compensation value corresponding to the speed acceleration is added to the filtered motor speed

[0059] When the motor speed is greater than 300rpm, the compensation speed is calculated based on the IPB vehicle speed acceleration;

[0060] The IPB vehicle speed is used to calculate the vehicle speed acceleration, and then calibrated in the vehicle. Under different motor speed accelerations, the corresponding speed delay values are obtained. Under the same speed acceleration, 10 tests are performed to take the average value. The speed compensation value corresponding to the speed acceleration is added to the filtered motor speed.

[0061] In the figure, n represents the speed, Δn represents the supplementary speed, *k p represents the compensation torque, T add represents the superimposed control parameter.

[0062] Among them, the actual speed and the speed after adding the speed compensation are taken as difference to obtain Δn, and the speed difference Δn is multiplied by the torque compensation coefficient Kp to obtain the compensation torque Kp. The two-dimensional MAP table is obtained by table lookup according to the motor speed and the request torque size (the horizontal axis of the table is the motor speed, the vertical axis is the request torque size, and the table is the compensation torque coefficient). This way can distinguish different working conditions and control the compensation torque size in different working conditions, and the control is more accurate.

[0063] In this embodiment, after the filtered speed is compensated using acceleration, the speed delay caused by low-pass filtering can be effectively reduced, thereby reducing the torque compensation error during the stable rising or falling process of the motor speed, and more accurate identification of the speed jitter point can be performed to achieve more accurate anti-jitter torque compensation. Anti-jitter in the full speed range can ensure that the motor speed fluctuation is ≤40 rpm, bringing a very smooth driving experience, and can distinguish the working conditions for anti-jitter torque compensation to achieve precise anti-jitter.

[0064] It should be understood that the sequence numbers of the steps in the above embodiments do not mean the order of execution, and the execution order of the processes should be determined according to their functions and internal logic, and should not constitute any limitation on the implementation process of the embodiments of the present application.

[0065] Figure 3 A structural schematic diagram of a torque compensation system in a motor jitter provided by an embodiment of the present application, comprising:

[0066] The acquisition module 310 is configured to acquire the current speed of the motor.

[0067] The acquisition module acquires the current speed of the motor through a speed sensor, and sends the speed signal to the central control system or ECU of the vehicle through a bus.

[0068] The judgment module 320 is configured to judge whether the motor speed is less than a first predetermined value.

[0069] The judgment module compares the motor speed with the pre-set threshold value (i.e. the first predetermined value) and outputs a corresponding control signal to the speed compensation module.

[0070] The first speed compensation module 330 is configured to calculate the speed acceleration according to the motor speed signal when the motor speed is less than the first predetermined value, and compensate the motor speed under different speed accelerations based on the corresponding calibration value of the speed acceleration.

[0071] The first speed compensation module decides whether to calculate the acceleration using the motor speed information according to the control signal output by the judgment module. When the first speed compensation module is enabled for speed compensation, the first speed compensation module will output a corresponding speed compensation value according to the received motor speed signal, and the servo control motor will receive the speed compensation value to drive the motor for speed compensation.

[0072] The first predetermined value is a threshold value obtained by actual test, and the comparison between the current motor speed and the first predetermined value can determine which way to calculate the motor speed acceleration.

[0073] Preferably, the first predetermined value is 300 rpm.

[0074] For example, when the rotation speed is less than or equal to 300 rpm, the rotation speed acceleration is calculated by using the motor rotation speed signal, and then the rotation speed compensation is performed in the whole vehicle under different motor rotation speed accelerations. The rotation speed acceleration (rpm / s) is calculated by using the motor rotation speed signal, and needs to be calibrated in the whole vehicle. Under different motor rotation speed accelerations, the corresponding rotation speed delay values can be obtained. Under the same rotation speed acceleration, multiple tests are performed, the average value is taken, and the rotation speed compensation value corresponding to the rotation speed acceleration is added to the filtered motor rotation speed.

[0075] In the method, the relationship between the motor rotation speed acceleration and the rotation speed compensation value is calibrated based on experimental measurement.

[0076] The second rotation speed compensation module 340 is configured to, when the motor rotation speed is greater than a first predetermined value, calculate the vehicle acceleration according to the IPB system signal, and perform rotation speed compensation on the motor under different vehicle accelerations based on the calibration value corresponding to the vehicle acceleration.

[0077] The second rotation speed compensation module decides whether to calculate the acceleration by using the IPB system signal according to the control signal output by the judgment module. The IPB system generally collects the current speed of the vehicle in real time. When the second rotation speed compensation module is enabled to perform rotation speed compensation, the second rotation speed compensation module calculates the acceleration according to the vehicle speed signal collected by the IPB system, and outputs the rotation speed compensation value corresponding to the current acceleration. The servo control motor receives the rotation speed compensation value to drive the motor to perform rotation speed compensation.

[0078] The IPB (Integrated Power Brake) system is an intelligent integrated brake system. Compared with the traditional vacuum booster pump brake system, it can make the response of the brake system more rapid and the control more accurate. The IPB system collects the vehicle rotation speed for calculating the vehicle acceleration.

[0079] The vehicle speed and acceleration calculated by the IPB system are more accurate than those calculated directly by using the motor rotation speed. However, in special cases, such as when the vehicle is just starting, due to the sampling accuracy problem of the vehicle speed sampling sensor of the IPB, there may be a 0-1 kph jump. This jump feedback to the acceleration is a sudden acceleration, which greatly affects the accuracy of the rotation speed compensation. Therefore, in this case, the rotation speed acceleration (rpm / s) is calculated by using the motor rotation speed as the basis for rotation speed compensation.

[0080] If the motor rotation speed is greater than a first predetermined value, the vehicle acceleration is calculated according to the vehicle speed data obtained by the IPB system, and the rotation speed compensation is performed based on the calibration value corresponding to the vehicle acceleration.

[0081] For example, when the speed is greater than 300 rpm, the vehicle speed acceleration is calculated using the IPB vehicle speed, and then calibrated in the whole vehicle. Under different vehicle speed accelerations, speed compensation is performed on the filtered speed.

[0082] Among them, the relationship between vehicle acceleration and speed compensation value was calibrated based on experimental measurements.

[0083] Preferably, the second speed compensation module 340 further includes:

[0084] Based on the difference between the actual motor speed and the expected speed after speed compensation, the calibration value is corrected.

[0085] Because the inherent delay of low-pass filtering can introduce unexpected errors when calculating speed differences, affecting the calculation and output of the final anti-shake torque, it is necessary to compensate for the filtered speed. In this embodiment, the system compensates for the filtered speed by calculating the acceleration and its corresponding calibration value. This effectively reduces the speed delay caused by low-pass filtering, thereby reducing torque miscompensation during the stable rise or fall of motor speed, and enabling more accurate identification of speed fluctuation points for more precise anti-shake torque compensation.

[0086] Those skilled in the art will understand that all or part of the steps in the methods of the above embodiments can be implemented by a program instructing related hardware. The program can be stored in a computer-readable storage medium. When the program is executed, it implements part or all of the processes in steps S101 to S103. The storage medium includes, for example, ROM / RAM.

[0087] In one embodiment, such as Figure 4 As shown, Figure 4 This is a schematic diagram of an electronic device for motor torque compensation according to an embodiment of the present invention. The electronic device can be a mobile terminal device, such as a mobile phone or tablet computer. Figure 4 As shown, the electronic device 4 of this embodiment includes at least: a memory 410, a processor 420, and a system bus 430. The memory 410 includes an executable program 4101 stored thereon. As those skilled in the art will understand, Figure 4 The electronic device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0088] The following is combined with Figure 4 A detailed introduction to each component of the electronic device:

[0089] The memory 410 can be used to store software programs and modules, and the processor 420 executes various function applications and data processing of the electronic device by running the software programs and modules stored in the memory 410. The memory 410 can mainly include a program storage area and a data storage area, wherein the program storage area can store an operating system, application programs required by at least one function (such as a sound playing function, an image playing function, etc.), and the like; and the data storage area can store data (such as cache data) created according to the use of the electronic device. In addition, the memory 410 can include a high-speed random access memory, and can also include a non-volatile memory, such as at least one magnetic disk storage device, a flash memory device, or other volatile solid-state memory device.

[0090] The executable program 4101 containing the network request method in the memory 410 can be divided into one or more modules / units stored in the memory 410 and executed by the processor 420 to realize motor torque compensation and the like. The one or more modules / units can be a series of computer program instruction segments capable of completing a specific function, which are used to describe the execution process of the computer program 4101 in the electronic device 4. For example, the computer program 4101 can be divided into an acquisition module, a judgment module, a first torque compensation module, a second torque compensation module, and the like.

[0091] The processor 420 is the control center of the electronic device, connects all parts of the electronic device through various interfaces and lines, executes various functions and processes data of the electronic device by running or executing software programs and / or modules stored in the memory 410 and calling data stored in the memory 410, and thus monitors the overall state of the electronic device. Optionally, the processor 420 can include one or more processing units; preferably, the processor 420 can integrate an application processor and a modem processor, wherein the application processor mainly processes an operating system, application programs, and the like, and the modem processor mainly processes wireless communication. It can be understood that the above-mentioned modem processor can also not be integrated into the processor 420.

[0092] The system bus 430 is used to connect the internal functional components of the computer and can transmit data information, address information, and control information, and its type can be, for example, a PCI bus, an ISA bus, a CAN bus, and the like. The instructions of the processor 420 are transmitted to the memory 410 through the bus, and the memory 410 feeds back data to the processor 420, and the system bus 430 is responsible for the data and instruction interaction between the processor 420 and the memory 410. Of course, the system bus 430 can also access other devices, such as a network interface, a display device, and the like.

[0093] In the embodiments of the present application, the executable program executed by the processing 420 included in the electronic device comprises:

[0094] Obtaining the current speed of the motor;

[0095] When the motor speed is less than a first predetermined value, the motor speed acceleration is calculated according to the motor speed signal, and the motor at different motor speed accelerations is compensated for speed based on the corresponding calibration value of the motor speed acceleration;

[0096] When the motor speed is greater than the first predetermined value, the vehicle acceleration is calculated according to the IPB system signal, and the motor at different vehicle accelerations is compensated for speed based on the corresponding calibration value of the vehicle acceleration.

[0097] Further, the first predetermined value is 300 rpm.

[0098] Further, based on experimental measurement, the relationship between the motor speed acceleration and the speed compensation value is calibrated.

[0099] Further, based on experimental measurement, the relationship between the vehicle acceleration and the speed compensation value is calibrated.

[0100] Further, based on the difference between the actual speed of the motor after speed compensation and the expected speed, the calibration value is corrected.

[0101] In one embodiment, a computer readable storage medium is also provided, and the computer program is stored on the computer readable storage medium, which can be a readable storage on the vehicle, such as a ROM, and the computer program can be executed by a processor. When the vehicle system executes the computer program, the speed signal input by the speed sensor and the vehicle speed signal in the IPB system are received, and the corresponding speed compensation value is output to the servo control motor, so as to realize the torque compensation in the motor jitter.

[0102] In the above embodiments, the description of each embodiment has its own emphasis, and the parts not described or recorded in a certain embodiment can be referred to the related description of other embodiments.

[0103] It should be understood that numerous technical details have been described in this specification, and embodiments thereof may be practiced in conjunction with common general knowledge without further details. In some embodiments, well-known methods, structures, and techniques have not been shown in detail so as not to obscure the understanding of this specification. Similarly, it can be understood that, in order to streamline the disclosure of this invention and aid in the understanding of one or more of the various aspects of the invention, various features of the invention are sometimes grouped together in a single embodiment, figure, or description thereof in the above description of exemplary embodiments of the invention. However, this disclosure should not be interpreted as reflecting an intention that the claimed invention requires more features than those expressly recited in each claim. Rather, as reflected in the claims, inventive aspects lie in fewer than all features of a single foregoing disclosed embodiment. Therefore, the claims following the detailed description are hereby expressly incorporated into the detailed description, wherein each claim itself is a separate embodiment of the invention. It should be noted that, without conflict, the embodiments and features in the embodiments of this application may be combined with each other. The invention is not limited to any single aspect, nor to any single embodiment, nor to any combination and / or substitution of these aspects and / or embodiments. Moreover, each aspect and / or embodiment of the invention can be used alone or in combination with one or more other aspects and / or embodiments thereof.

[0104] The above-described embodiments are only used to illustrate the technical solutions of the present invention, and are not intended to limit it. Although the present invention has been described in detail with reference to the foregoing embodiments, those skilled in the art should understand that modifications can still be made to the technical solutions described in the foregoing embodiments, or equivalent substitutions can be made to some of the technical features. Such modifications or substitutions do not cause the essence of the corresponding technical solutions to deviate from the spirit and scope of the technical solutions of the embodiments of the present invention.

Claims

1. A method of torque compensation in motor dithering, characterized by, The method comprises the following steps: acquiring the current rotating speed of the motor; when the rotating speed of the motor is less than a first predetermined value, calculating the rotating speed acceleration according to the rotating speed signal of the motor, calibrating the relationship between the rotating speed acceleration and the rotating speed compensation value based on experimental measurement, testing the corresponding rotating speed delay value under different rotating speed accelerations, taking the average value under the same rotating speed acceleration, calibrating the relationship between the rotating speed acceleration and the compensation value, and adding the rotating speed compensation value corresponding to the rotating speed acceleration to the filtered rotating speed of the motor; when the rotating speed of the motor is greater than the first predetermined value, calculating the vehicle acceleration according to the intelligent integrated braking system signal, calibrating the relationship between the vehicle acceleration and the rotating speed compensation value based on experimental measurement, testing the corresponding rotating speed delay value under different vehicle accelerations, taking the average value under the same acceleration, and calibrating the motor rotating speed compensation value corresponding to different vehicle accelerations; based on the calibrated value corresponding to the vehicle acceleration, the motor rotating speed is compensated under different vehicle accelerations, and based on the difference between the actual rotating speed and the expected rotating speed of the motor after the rotating speed compensation, the calibrated value is corrected.

2. The method of claim 1, wherein, The first predetermined value is 300 rpm.

3. A torque compensation system in motor jitter to which the torque compensation method in motor jitter according to one of claims 1 to 2 is applied, characterized by The method comprises the following steps: an acquisition module for acquiring the current rotating speed of the motor; a judgment module for judging whether the rotating speed of the motor is less than a first predetermined value; a first rotating speed compensation module for, when the rotating speed of the motor is less than the first predetermined value, calculating the rotating speed acceleration according to the rotating speed signal of the motor, and compensating the rotating speed of the motor under different rotating speed accelerations based on the calibrated value corresponding to the rotating speed acceleration; a second rotating speed compensation module for, when the rotating speed of the motor is greater than the first predetermined value, calculating the vehicle acceleration according to the intelligent integrated braking system signal, compensating the rotating speed of the motor under different vehicle accelerations based on the calibrated value corresponding to the vehicle acceleration, and correcting the calibrated value based on the difference between the actual rotating speed and the expected rotating speed of the motor after the rotating speed compensation.

4. An electronic device comprising a memory, a processor, and a computer program stored in the memory and executable on the processor, characterized in that, The processor executes the computer program to realize the steps of the motor torque compensation method in the torque jitter according to any one of claims 1 to 2.

5. A computer-readable storage medium storing a computer program, the computer program comprising instructions that, when executed by a computer, cause the computer to perform the method of any one of claims 1 to 4. The computer program is executed to realize the steps of the motor torque compensation method in the torque jitter according to any one of claims 1 to 2.

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