An equivalent motor rotating speed observation method, device, equipment and medium

Abstract

Embodiments of the present application disclose a method, device, equipment and medium for observing equivalent motor speed. The method comprises: obtaining motor torque of a vehicle motor through a vehicle controller; inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of the equivalent motor speed; wherein the state quantity of the Luenberger state observer is determined according to the operating parameters of the motor and the transmission system. The present technical solution observes the equivalent motor speed through the Luenberger state observer, and obtains the observation result of the equivalent motor speed. The observation result can reflect the equivalent motor speed without phase delay, and solves the problem that the motor speed obtained through filtering in the prior art may have phase lag. When the vehicle is compensated for torque according to the equivalent motor speed, the effect of quickly and accurately suppressing vehicle jitter is achieved, and the riding experience is improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of vehicle control, and particularly relates to a method and device for observing equivalent motor speed, an equipment and a medium. BACKGROUND

[0002] The transmission system of a vehicle has elastic and low-damping characteristics. When the motor speed changes and is applied to the transmission system, the inherent frequency vibration of the vehicle is generated. Therefore, how to accurately determine the motor speed affected by the transmission system to precisely suppress the vehicle shaking is an urgent problem to be solved.

[0003] The existing technical solution mainly filters the actual motor speed to obtain the motor speed fluctuation. However, whether it is a first-order filter or a multi-order filter, phase lag is caused, the determined motor speed result has deviation, the subsequent motor torque compensation effect is not ideal or even completely invalid, and the riding experience is affected. SUMMARY

[0004] The present application provides a method and device for observing equivalent motor speed, an equipment and a medium, which can accurately determine the equivalent motor speed of the wheel end without phase delay.

[0005] According to an aspect of the present application, a method for observing equivalent motor speed is provided, and the method comprises:

[0006] acquiring the motor torque of the vehicle motor through the vehicle controller;

[0007] inputting the motor torque into a pre-established Luenberger state observer to determine the observation result of the equivalent motor speed;

[0008] The state quantity of the Luenberger state observer is determined according to the operating parameters of the motor and the transmission system.

[0009] According to another aspect of the present application, a device for observing equivalent motor speed is provided, and the device comprises:

[0010] a motor torque acquisition module, configured to acquire the motor torque of the vehicle motor through the vehicle controller;

[0011] an observation result determination module, configured to input the motor torque into a pre-established Luenberger state observer to determine the observation result of the equivalent motor speed;

[0012] The state quantity of the Luenberger state observer is determined according to the operating parameters of the motor and the transmission system.

[0013] According to another aspect of the present application, an electronic device is provided, and the electronic device comprises:

[0014] at least one processor; and

[0015] a memory in communication with the at least one processor; wherein

[0016] The memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to perform the equivalent motor speed observation method according to any one of the embodiments of the application.

[0017] According to another aspect of the application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the equivalent motor speed observation method according to any one of the embodiments of the application when executed by the processor.

[0018] The technical solution of the embodiments of the application comprises: obtaining a motor torque of a vehicle motor through a vehicle controller; inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of an equivalent motor speed; wherein a state quantity of the Luenberger state observer is determined according to operating parameters of the motor and a transmission system. The technical solution observes the equivalent motor speed through the Luenberger state observer to obtain an observation result of the equivalent motor speed, which can reflect the equivalent motor speed without phase delay, thereby solving the problem that the motor speed obtained through filtering in the prior art has phase lag. When the vehicle is compensated for torque according to the equivalent motor speed, the effect of quickly and accurately suppressing vehicle jitter is achieved, and the riding experience is improved.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the application, nor is it used to limit the scope of the application. Other features of the application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the application, the following will briefly introduce the drawings needed to be used in the embodiment description. Obviously, the drawings in the following description are only some embodiments of the application, and other drawings can be obtained by those skilled in the art without creative effort on the basis of these drawings.

[0021] Figure 1 is a flowchart of an equivalent motor speed observation method according to an embodiment of the application;

[0022] Figure 2 is a flowchart of a method for determining a Luenberger state observer parameter matrix according to an embodiment of the application;

[0023] Figure 3It is a structural schematic diagram of an equivalent motor speed observation device provided by an embodiment of the present application.

[0024] Figure 4 It is a structural schematic diagram of an electronic device for implementing an equivalent motor speed observation method of an embodiment of the present application. DETAILED DESCRIPTION

[0025] In order to enable those skilled in the art to better understand the present application, the technical solutions in the embodiments of the present application will be described clearly and completely below with reference to the drawings in the embodiments of the present application. Obviously, the described embodiments are only a 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 efforts should fall within the scope of the present application.

[0026] It should be noted that the terms "first", "second", "target" and the like in the specification and claims of the present application and the above-described drawings are used to distinguish similar objects, and do not necessarily have to be used to describe a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not have to be limited to only those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to the process, method, product or device.

[0027] Figure 1 A flowchart of an equivalent motor speed observation method is provided for an embodiment of the present application. The embodiment of the present application can be applicable to the case of determining the motor speed. The method can be performed by an equivalent motor speed observation device, which can be realized in the form of hardware and / or software, and can be configured in an electronic device with data processing capability. As shown in the figure, the method comprises: Figure 1

[0028] S110, obtaining the motor torque of the vehicle motor by the vehicle controller.

[0029] In the embodiment of the present application, the number of vehicle motors can be one or more, and the number of motors on the vehicle is not limited in the embodiment of the present application. The vehicle described in the embodiment of the present application can be an electric vehicle, a hybrid vehicle, a fuel cell vehicle, etc., and the vehicle can be any type of vehicle, such as a small car, a truck, a bus, etc.

[0030] ​In one possible embodiment, the motor torque of the vehicle motor can be acquired by the vehicle controller in real time. In another possible embodiment, the motor torque of the vehicle motor can be acquired by the vehicle controller at a preset time. In yet another possible embodiment, the motor torque of the vehicle motor can be acquired by the vehicle controller when a jitter control condition is met, which can reflect a situation in which jitter suppression of the vehicle is needed.

[0031] S120, inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of the equivalent motor speed; wherein a state quantity of the Luenberger state observer is determined according to operating parameters of the motor and the transmission system.

[0032] The Luenberger state observer can observe the real state of the system and output the observation result. The state quantity of the Luenberger state observer can be any one or more of the operating parameters. The parameter matrix of the Luenberger state observer can be adaptively determined according to the specific content of the state quantity and the number of the state quantity. The parameter matrix can be a state matrix, an input matrix, etc. of the Luenberger state observer.

[0033] Further, the operating parameters can be any one or more of parameters related to the motor and the transmission system during operation. The operating parameters can reflect the interaction between the motor and the transmission system.

[0034] In the embodiments of the present application, the operating parameters can be determined by at least one of the following: the motor rotor mechanical angle, the equivalent motor mechanical angle, the load torque, the motor rotor angular velocity, and the equivalent motor angular velocity. The operating parameters can also include the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle.

[0035] Any one or more of the motor rotor mechanical angle, the equivalent motor mechanical angle, the load torque, the motor rotor angular velocity, the equivalent motor angular velocity, and the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle can be the operating parameter, i.e., the state quantity in the Luenberger state observer. It should be noted that the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle indirectly reflects the influence of the motor rotor mechanical angle and the equivalent motor mechanical angle on the equivalent motor speed.

[0036] It should be noted that the load torque in the embodiments of the present application is a wheel end load torque. The motor rotor angular velocity is a motor output angular velocity. The motor rotor mechanical angle is a current motor rotor mechanical angle. The equivalent motor angular velocity is a wheel end equivalent mechanical angular velocity to a motor end, and is an angular velocity after the influence of a transmission mechanism is offset (the influence of the transmission mechanism refers to that the transmission mechanism may amplify or reduce the motor angular velocity due to the design of its own structure, therefore, the influence of the transmission mechanism needs to be offset to obtain the equivalent motor angular velocity not affected by the transmission mechanism). The equivalent motor mechanical angle is a wheel end equivalent mechanical angle to a motor end, and is a mechanical angle after the influence of a transmission mechanism is offset. The difference between the motor rotor mechanical angle and the equivalent motor mechanical angle is the difference between the motor end rotor mechanical angle and the wheel end equivalent motor mechanical angle.

[0037] In the embodiments of the present application, optionally, the Lyapunov state observer is established according to a state quantity and a parameter matrix; and the parameter matrix of the Lyapunov state observer is determined according to the state quantity and attribute parameters of the transmission system.

[0038] The attribute parameters can reflect information of various attributes of the transmission system, and the state quantity and the attribute parameters have a physical structural connection, so the parameter matrix of the Lyapunov state observer can be determined according to the state quantity and the attribute parameters of the transmission system.

[0039] In the embodiments of the present application, the equivalent motor speed can reflect the motor speed affected by the transmission system, and in the specific application process, the equivalent motor speed can be used to suppress vehicle jitter, that is, the speed of the equivalent motor is equivalent to the filtered motor speed. It should be noted that the transmission system in the embodiments of the present application can transmit the power of the motor to the wheel, and the transmission system has elastic and damping characteristics. When a rapidly changing torque is applied to the transmission system and transmitted to the wheel end through the transmission system, vehicle jitter will occur.

[0040] Specifically, the motor torque is input into the pre-established Luenberger state observer in real time to obtain a real-time observation result. If the observation result is an equivalent motor speed, the equivalent motor speed can be directly determined. If the observation result is another parameter, the equivalent motor speed can be obtained through corresponding transformation (for example, if the observation result is an equivalent motor angular velocity, the equivalent motor angular velocity is multiplied by a conversion coefficient to obtain the equivalent motor speed). After the equivalent motor speed is obtained, the vehicle can be compensated for torque according to the equivalent motor speed to suppress vehicle jitter. In another possible embodiment, corresponding to a scenario in which an angle signal is acquired (for example, only an angle sensor is present), an angle value observer can be established. The state quantity of the angle value observer can be adaptively changed. For example, the state quantity can be a difference between a load torque, a motor rotor angular velocity, an equivalent motor angular velocity, a motor rotor mechanical angle and an equivalent motor mechanical angle. The input is the motor torque. The output can be an observer rotor mechanical angle or an electrical angle value.

[0041] It should be noted that if the number and / or position of the state quantity of the Luenberger state observer changes, the parameter matrix needs to be adaptively adjusted in terms of dimension and order and parameters need to be set, so as to establish a reasonable observer.

[0042] The technical scheme of the embodiment of the application comprises: acquiring, by a vehicle controller, a motor torque of a vehicle motor; inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of an equivalent motor speed; wherein the state quantity of the Luenberger state observer is determined according to the operating parameters of the motor and the transmission system. The technical scheme observes the equivalent motor speed by the Luenberger state observer to obtain the observation result of the equivalent motor speed. The observation result can reflect the equivalent motor speed without phase delay. The problem that the motor speed obtained by filtering in the prior art has phase lag is solved. When the vehicle is compensated for torque according to the equivalent motor speed, the effect of quickly and accurately suppressing vehicle jitter is achieved, and the ride experience is improved.

[0043] The embodiment of the application further particularizes the Luenberger state observer based on the above-described embodiment.

[0044] In the embodiment of the application, the attribute parameters comprise at least one of the following: a motor end moment of inertia, a wheel end moment of inertia, a transmission system elasticity parameter and a transmission system damping coefficient.

[0045] The motor end moment of inertia is the total moment of inertia of the motor rotor and the output shaft. It can be acquired by a general test method. The wheel end moment of inertia is the total moment of inertia of the motor output after passing through the transmission system to the wheel end. It can be acquired by a general test method. The transmission system elasticity parameter can be acquired by a torque step response test to obtain the natural period of the transmission system, and then determine the natural frequency corresponding to the natural period. The transmission system elasticity parameter is determined according to the following formula:

[0046] k = (2p f) 2 *J1;

[0047] wherein k is a transmission system elasticity parameter, f is a natural frequency, and J1 is a motor end moment of inertia.

[0048] Further, the speed and time curve of the motor can be obtained through a torque step response test, and the transmission system damping coefficient is adjusted so that the damping coefficient under the condition that the simulation result and the test result are most consistent is taken as the transmission system damping coefficient. For example, the adjustment range of the damping coefficient is less than 0.9. The transmission system damping coefficient obtained by the above method is accurate in value.

[0049] In the embodiment of the application, optionally, as shown in Figure 2 The determination process of the state matrix and / or the input matrix in the parameter matrix includes steps A1-A2.

[0050] In step A1, a relationship between the derivative of the state quantity, the state quantity, the motor torque and the attribute parameter is determined according to the dual-mass dynamics model of the motor and the transmission system.

[0051] In the embodiment of the application, the dual-mass dynamics model of the motor and the transmission system can reflect the interaction relationship between the motor and the transmission system, for example, the mutual influence relationship between the parameters of the motor, the parameters of the transmission system and other parameters. Therefore, the expression between the state quantity, the motor torque, the attribute parameter and the like can be obtained according to the dual-mass dynamics model of the motor and the transmission system, and the above expression is substituted into the equation of the Luenberger state observer to determine the parameter matrix of the Luenberger state observer.

[0052] Specifically, since the dual-mass dynamics model of the motor and the transmission system reflects the action relationship between the parameters of the motor and the parameters of the transmission system, the relationship between the derivative of each state quantity, the state quantity, the motor torque and the attribute parameter can be determined therefrom. For example, one relationship can be expressed as:

[0053] wherein is the motor rotor angular acceleration, b is the transmission system damping coefficient, J1 is the motor end moment of inertia, is the motor rotor angular velocity, k is the transmission system elasticity parameter, is the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle, is the equivalent motor angular velocity, and u is the motor torque. It should be noted that the relationship is only a specific example, and other relationships can be determined according to the dual-mass dynamics model. The embodiment of the application will not be described one by one.

[0054] Step A2, substituting the relationship into the Luenberger state observer model to determine the parameters of the state matrix and the input matrix.

[0055] In the embodiments of the present application, optionally, the state quantity and the parameter matrix in the Luenberger state observer are determined according to the following formula:

[0056]

[0057]

[0058] wherein,

[0059] C = [0 1 0 0], D = 0, is the load torque, is the derivative of the load torque, is the motor rotor angular velocity, is the motor rotor angular acceleration, is the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle, is the derivative of the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle, is the equivalent motor angular velocity, is the equivalent motor angular acceleration, y is the motor rotor angular velocity, is the observed value of the equivalent motor angular velocity, L is the gain matrix, u is the motor torque, k is the transmission system elasticity parameter, b is the transmission system damping coefficient, J1 is the motor end moment of inertia, and J2 is the wheel end moment of inertia.

[0060] It should be noted that the matrix A is the state matrix, the matrix B is the input matrix, and the matrix C is the output matrix, and since and u do not affect, the matrix D can be 0.

[0061] In the embodiments of the present application, optionally, the determination process of the gain matrix of the Luenberger state observer includes steps B1-B2:

[0062] Step B1, determining an expected pole matrix that satisfies a preset condition.

[0063] Step B2, determining the gain matrix according to the expected pole matrix, the state matrix, and the output matrix.

[0064] The gain matrix L can be obtained by configuring desired poles, configuring the desired poles on the negative real axis, and denoting the desired pole matrix as P matrix, and needing to be far away from the original pole to ensure system stability (the preset condition can be any condition that can satisfy system stability), and according to the A matrix (state matrix), the C matrix (output matrix) and the desired pole matrix P, the observer gain matrix L can be obtained.

[0065] The technical scheme of the embodiment of the application takes the difference between the load torque, the motor rotor angular velocity, the equivalent motor angular velocity, the motor rotor mechanical angle and the equivalent motor mechanical angle as a state quantity, so that the observed equivalent motor speed can comprehensively reflect the influence of the vehicle and the transmission system on the motor speed.

[0066] Figure 3 A structural schematic diagram of an equivalent motor speed observation device provided by an embodiment of the application is provided, the device can execute the equivalent motor speed observation method provided by any embodiment of the application, and has the function modules and beneficial effects corresponding to the execution method. As shown in the figure, the device comprises: Figure 3

[0067] The motor torque acquisition module 310 is configured to acquire the motor torque of the vehicle motor through the vehicle controller.

[0068] The observation result determination module 320 is configured to input the motor torque into a pre-established Luenberger state observer to determine the observation result of the equivalent motor speed.

[0069] The state quantity of the Luenberger state observer is determined according to the operating parameters of the motor and the transmission system.

[0070] Optionally, the Luenberger state observer is established according to the state quantity and a parameter matrix.

[0071] The parameter matrix of the Luenberger state observer is determined according to the state quantity and the attribute parameters of the transmission system.

[0072] Optionally, the operating parameters are determined by at least one of the following:

[0073] The motor rotor mechanical angle, the equivalent motor mechanical angle, the load torque, the motor rotor angular velocity and the equivalent motor angular velocity.

[0074] The operating parameters further comprise:

[0075] The difference between the motor rotor mechanical angle and the equivalent motor mechanical angle.

[0076] Optionally, the attribute parameters comprise at least one of the following:

[0077] The motor end moment of inertia, the wheel end moment of inertia, the transmission system elastic parameter and the transmission system damping coefficient.​

[0078] Optionally, the determining process of the state matrix and / or the input matrix in the parameter matrix comprises:

[0079] determining a relationship between the derivative of the state variable, the state variable, the motor torque and the attribute parameter according to a dual-mass dynamic model of the motor and the transmission system;

[0080] substituting the relationship into a Luenberger state observer model to determine the parameters of the state matrix and the input matrix.

[0081] Optionally, the state variable and the parameter matrix in the Luenberger state observer are determined according to the following formula:

[0082]

[0083]

[0084] wherein,

[0085] C=[0 1 0 0], D=0, is the load torque, is the derivative of the load torque, is the motor rotor angular velocity, is the motor rotor angular acceleration, is the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle, is the derivative of the difference between the motor rotor mechanical angle and the equivalent motor mechanical angle, is the equivalent motor angular velocity, is the equivalent motor angular acceleration, y is the motor rotor angular velocity, is the observed value of the equivalent motor angular velocity, L is a gain matrix, u is the motor torque, k is a transmission system elasticity parameter, b is a transmission system damping coefficient, J1 is a motor end moment of inertia, and J2 is a wheel end moment of inertia.

[0086] Optionally, the determining process of the gain matrix of the Luenberger state observer comprises:

[0087] determining a desired pole matrix satisfying a preset condition;

[0088] determining the gain matrix according to the desired pole matrix, the state matrix and the output matrix.

[0089] The equivalent motor speed observation device provided by the embodiment of the application can perform the equivalent motor speed observation method provided by any embodiment of the application, and has the corresponding function modules and beneficial effects of the execution method.

[0090] Figure 4A structural diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0091] As shown, Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., connected in communication with the at least one processor 11, where the memory stores computer programs executable by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer programs stored in the read-only memory (ROM) 12 or loaded into the random access memory (RAM) 13 from the storage unit 18. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0092] Various components in the electronic device 10 are connected to the I / O interface 15, including an input unit 16, such as a keyboard, a mouse, etc., an output unit 17, such as various types of displays, a speaker, etc., a storage unit 18, such as a magnetic disk, an optical disk, etc., and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0093] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various special-purpose artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, controller, microcontroller, etc. The processor 11 performs various methods and processes described above, such as the equivalent motor speed observation method.

[0094] In some embodiments, the method of observing an equivalent motor speed can be implemented as a computer program tangibly embodied in a computer readable storage medium, e.g., storage unit 18. In some embodiments, parts or all of the computer program can be loaded and / or installed onto electronic device 10 via, e.g., ROM 12 and / or communication unit 19. When the computer program is loaded onto RAM 13 and executed by processor 11, one or more steps of the method of observing an equivalent motor speed described above can be performed. Alternatively, in other embodiments, processor 11 can be configured to perform the method of observing an equivalent motor speed by other means, e.g., with the aid of firmware.

[0095] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a complex programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0096] Computer programs used to implement the methods of the present application can be written in any combination of one or more programming languages. These computer programs can be provided to a processor of a general purpose computer, special purpose computer, or other programmable data processing apparatus to produce a machine, such that the computer program, when executed by the processor, implements the functions / acts specified in the flowcharts and / or block diagrams. The computer program can be executed entirely on a machine, partially on a machine, partially on a machine as part of a standalone software package, partially on a machine and partially on a remote machine or entirely on a remote machine or server.

[0097] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store a computer program for use by or in connection with an instruction execution system, apparatus, or device. A computer-readable storage medium can include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of a program of instructions in a transitory signal, a portable computer diskette, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or Flash memory), an optical fiber, a portable compact disc read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0098] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0099] The systems and techniques described here can be implemented in a computing system that includes a back end component (e.g., as a data server), or that includes a middleware component (e.g., an application server), or that includes a front end component (e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described here), or any combination of such back end, middleware, or front end components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include a local area network (LAN), a wide area network (WAN), a blockchain network, and the Internet.

[0100] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0101] It should be understood that the various forms of flow shown above can be used to reorder, add or delete steps. For example, each step described in the present application can be executed in parallel, sequentially or in a different order, as long as the desired results of the technical solutions of the present application can be achieved, which is not limited herein.

[0102] The above detailed description does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent replacements and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A method of observing an equivalent motor rotation speed, characterized by, The method comprises: obtaining a motor torque of a vehicle motor through a vehicle controller; inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of an equivalent motor speed; wherein state variables of the Luenberger state observer are determined according to operating parameters of the motor and a drive system; the Luenberger state observer is established according to the state variables and a parameter matrix; the parameter matrix of the Luenberger state observer is determined according to the state variables and attribute parameters of the drive system; the state variables and the parameter matrix in the Luenberger state observer are determined according to the following formula: ； ； wherein , , , , is a load torque, is a load torque derivative, is a motor rotor angular velocity, is a motor rotor angular acceleration, is a difference between a motor rotor mechanical angle and an equivalent motor mechanical angle, is a derivative of a difference between a motor rotor mechanical angle and an equivalent motor mechanical angle, is an equivalent motor angular velocity, is an equivalent motor angular acceleration, is a motor rotor angular velocity, is an equivalent motor angular velocity observation, is a gain matrix, is a motor torque, is a driveline stiffness parameter, is a driveline damping coefficient, is a motor end moment of inertia, is a wheel end moment of inertia, is a state matrix, is an input matrix, is an output matrix, is 0.​​​ 2. The method of claim 1, wherein, the operating parameters are determined by at least one of the following: a motor rotor mechanical angle, an equivalent motor mechanical angle, a load torque, a motor rotor angular velocity, and an equivalent motor angular velocity; the operating parameters further include: a difference between the motor rotor mechanical angle and the equivalent motor mechanical angle.

3. The method of claim 1, wherein, the attribute parameters include at least one of the following: a motor end rotational inertia, a wheel end rotational inertia, a drive train elastic parameter, and a drive train damping coefficient.

4. The method of claim 1, wherein, the determination process of a state matrix and / or an input matrix in the parameter matrix comprises: determining a relationship between derivatives of the state variables and the state variables, the motor torque, and the attribute parameters according to a dual-mass dynamics model of the motor and the drive system; substituting the relationship into a Luenberger state observer model to determine parameters of the state matrix and the input matrix.

5. The method of claim 1, wherein, the determination process of a gain matrix of the Luenberger state observer comprises: determining a desired pole matrix that meets a preset condition; determining the gain matrix according to the desired pole matrix, the state matrix, and an output matrix.

6. An observation device of an equivalent motor rotation speed, characterized by, The method comprises: a motor torque acquisition module for obtaining a motor torque of a vehicle motor through a vehicle controller; an observation result determination module for inputting the motor torque into a pre-established Luenberger state observer to determine an observation result of an equivalent motor speed; wherein state variables of the Luenberger state observer are determined according to operating parameters of the motor and a drive system; the Luenberger state observer is established according to the state variables and a parameter matrix; the parameter matrix of the Luenberger state observer is determined according to the state variables and attribute parameters of the drive system; the state variables and the parameter matrix in the Luenberger state observer are determined according to the following formula: ； ； wherein , , , , is a load torque, is a load torque derivative, is a motor rotor angular velocity, is a motor rotor angular acceleration, is a difference between a motor rotor mechanical angle and an equivalent motor mechanical angle, is a derivative of a difference between a motor rotor mechanical angle and an equivalent motor mechanical angle, is an equivalent motor angular velocity, is an equivalent motor angular acceleration, is a motor rotor angular velocity, is an equivalent motor angular velocity observation, is a gain matrix, is a motor torque, is a driveline spring parameter, is a driveline damping coefficient, is a motor end moment of inertia, is a wheel end moment of inertia, is a state matrix, is an input matrix, is an output matrix, is 0.​​​ 7. An electronic device, comprising: The electronic device comprises: at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program executable by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the observation method of the equivalent motor speed according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer readable storage medium stores computer instructions for enabling the processor to execute the observation method of the equivalent motor speed according to any one of claims 1-5 when executed.

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