A vehicle shake suppression method, device, vehicle, and medium

Abstract

The application discloses a vehicle jitter suppression method and device, a vehicle and a medium, and mainly relates to the field of motor control. The method is applied to a motor control system, the system comprising a signal acquisition circuit, a first processor, a signal output circuit and an inverter; the signal acquisition circuit is used for acquiring the motor speed, the motor target torque of the vehicle controller, the three-phase current of the motor and the direct current voltage of the high-voltage power supply; the first processor is used for calculating the suppression torque according to the motor speed and the motor target torque, and calculating the duty cycle according to the motor speed, the three-phase current, the direct current voltage and the suppression torque; the signal output circuit is used for generating a pulse signal according to the duty cycle and outputting the pulse signal to the inverter; and the inverter is used for converting the direct current voltage into three-phase voltage according to the pulse signal, and driving the motor to output the suppression torque through the three-phase voltage. Since the suppression torque is obtained based on the motor speed and changes with the motor speed, the vehicle jitter problem in the full-speed range can be solved.

Description

Technical Field

[0001] This application relates to the field of motor control, and in particular to a method, device, vehicle, and medium for suppressing vehicle vibration. Background Technology

[0002] When an electric motor drives a transmission shaft to propel a vehicle normally, the motor can be considered an equivalent first-order system with high inertia, high damping, and zero stiffness. When there is a gap in the transmission chain, the motor shaft rotates within this gap, forming a second-order system with low inertia, low damping, and variable stiffness. When the motor shaft rotates to the end of the gap, collisions occur between the transmission gears, causing the motor shaft to experience a collision force. This collision force is equivalent to an approximate pulse or step input for the motor. For a system with low inertia and low damping, a pulse signal can cause the system to vibrate. When the motor shaft collides and bounces back and forth within the transmission chain gap, it causes vehicle vibration. Currently, the solution is to collect motor speed vibration data, analyze the motor speed vibration frequency, calculate a suppression torque based on the motor speed vibration frequency, and then apply this suppression torque to the motor to solve the vehicle vibration problem.

[0003] The current method can only solve the problem of starting vibration when the vehicle starts, but cannot solve the problem of vehicle vibration across the entire speed range.

[0004] Therefore, how to solve vehicle vibration across the entire speed range is a problem that urgently needs to be addressed by those skilled in the art. Summary of the Invention

[0005] The purpose of this application is to provide a vehicle vibration suppression method, device, vehicle, and medium to solve the vehicle vibration problem across the entire speed range.

[0006] To solve the above-mentioned technical problems, this application provides a motor control system, including: a signal acquisition circuit 1, a first processor 2, a signal output circuit 3, and an inverter 4;

[0007] Signal acquisition circuit 1 is used to acquire motor speed, motor target torque of vehicle controller, three-phase current of motor and DC voltage of high voltage power supply;

[0008] The first processor 2 is connected to the signal acquisition circuit 1 and is used to calculate the suppression torque based on the motor speed and the target torque of the motor, calculate the duty cycle based on the motor speed, three-phase current, DC voltage and suppression torque, and output the duty cycle to the signal output circuit 3.

[0009] The signal output circuit 3 is connected to the first processor 2 and is used to generate a pulse signal according to the duty cycle and output the pulse signal to the inverter 4.

[0010] Inverter 4 is connected to signal output circuit 3 and is used to convert DC voltage into three-phase voltage according to pulse signal, and drive motor output suppressed torque through three-phase voltage.

[0011] Preferably, the signal output circuit 3 includes a pulse generator and a driver chip;

[0012] The pulse generator is connected to the first processor 2 and is used to generate pulse signals according to the duty cycle;

[0013] The driver chip is connected to inverter 4 to adjust the pulse signal and output the adjusted pulse signal to inverter 4.

[0014] Preferably, the first processor 2 includes a first filter and a second filter;

[0015] The first filter is used to extract the first jitter speed from the motor speed;

[0016] The second filter is used to extract the second jitter speed from the first jitter speed.

[0017] To address the aforementioned technical problems, this application also provides a vehicle vibration suppression method applied to a motor control system, the method comprising:

[0018] Collect motor speed, target motor torque, three-phase current and DC voltage of high-voltage power supply;

[0019] Calculate the suppression torque based on the motor speed and the target motor torque;

[0020] The duty cycle is calculated based on the motor speed, three-phase current, DC voltage, and suppression torque.

[0021] Pulse signals are generated based on the duty cycle;

[0022] The DC voltage is converted into a three-phase voltage based on the pulse signal, and the motor is driven by the three-phase voltage to output suppressed torque.

[0023] Preferably, calculating the suppression torque based on the motor speed and the target motor torque includes:

[0024] The first jitter speed is extracted from the motor speed;

[0025] The second jitter speed is extracted from the first jitter speed;

[0026] The suppression torque is calculated based on the second vibration speed and the target torque of the motor.

[0027] Preferably, the duty cycle is calculated based on the motor speed, three-phase current, DC voltage, and suppression torque, including:

[0028] Convert the three-phase current into the first two-phase current;

[0029] The second two-phase current is calculated based on the suppression torque, motor speed, and DC voltage.

[0030] Calculate the reference voltage based on the first two-phase current and the second two-phase current;

[0031] Calculate the feedforward voltage based on the motor speed, the second two-phase current, and the motor parameters;

[0032] Calculate the target voltage based on the reference voltage and the feedforward voltage;

[0033] The duty cycle is obtained by space voltage vector modulation based on the target voltage, motor speed, and DC voltage.

[0034] Preferably, after the drive motor outputs the suppressing torque, the method further includes:

[0035] Determine whether vehicle vibration has been completely eliminated;

[0036] If vehicle vibration is not completely eliminated, proceed to the steps of collecting motor speed, target motor torque of the vehicle controller, three-phase current of the motor, and DC voltage of the high-voltage power supply.

[0037] To address the aforementioned technical problems, this application also provides a vehicle vibration suppression device, comprising:

[0038] The data acquisition module 10 is used to acquire the motor speed, the target torque of the motor from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply.

[0039] The calculation module 11 is used to calculate the suppression torque based on the motor speed and the target torque of the motor, and to calculate the duty cycle based on the motor speed, three-phase current, DC voltage and suppression torque;

[0040] Generation module 12 is used to generate pulse signals according to the duty cycle;

[0041] Inverter module 13 is used to convert DC voltage into three-phase voltage based on pulse signals.

[0042] To address the aforementioned technical problems, this application also provides a vehicle, comprising:

[0043] Memory 20 is used to store computer program 201;

[0044] The second processor 21 is used to implement the steps of the above-mentioned vehicle vibration suppression method when executing the computer program 201.

[0045] To address the aforementioned technical problems, this application also provides a computer-readable storage medium storing a computer program 201, which, when executed by a second processor 21, implements the steps of the aforementioned vehicle vibration suppression method.

[0046] This application provides a vehicle vibration suppression method applied to a motor control system. The motor control system includes a signal acquisition circuit 1, a first processor 2, a signal output circuit 3, and an inverter 4. The signal acquisition circuit 1 acquires the motor speed, the target motor torque from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply. The first processor 2, connected to the signal acquisition circuit 1, calculates the suppression torque based on the motor speed and target torque, calculates the duty cycle based on the motor speed, three-phase current, DC voltage, and suppression torque, and outputs the duty cycle to the signal output circuit 3. The signal output circuit 3, connected to the first processor 2, generates a pulse signal based on the duty cycle and outputs the pulse signal to the inverter 4. The inverter 4, connected to the signal output circuit 3, converts the DC voltage into a three-phase voltage based on the pulse signal, and drives the motor to output the suppression torque using the three-phase voltage. This method calculates the suppression torque based on the motor speed, then calculates the duty cycle, generates a pulse signal based on the duty cycle, converts the DC voltage into a three-phase voltage based on the pulse signal, and drives the motor to output the suppression torque using the three-phase voltage, thereby improving the system's damping ratio and achieving vibration suppression. Since the suppression torque is calculated based on the speed, meaning that the applied suppression torque varies with the motor speed, it can solve the vehicle vibration problem across the entire speed range, effectively ensuring the driving comfort of electric vehicles under various operating conditions.

[0047] Furthermore, the device, vehicle, and medium provided in this application correspond to the vehicle vibration suppression method, and the effects are as described above. Attached Figure Description

[0048] To more clearly illustrate the embodiments of this application, the accompanying drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 A structural diagram of a motor control system provided in this application;

[0050] Figure 2 A flowchart of a vehicle vibration suppression method provided in this application;

[0051] Figure 3 This application provides a structural diagram of a vehicle vibration suppression device;

[0052] Figure 4 A structural diagram of a vehicle provided in this application.

[0053] Among them, 1 is the signal acquisition circuit, 2 is the first processor, 3 is the signal output circuit, 4 is the inverter, 10 is the acquisition module, 11 is the calculation module, 12 is the generation module, 13 is the inverter module, 20 is the memory, 21 is the second processor, 22 is the display screen, 23 is the input / output interface, 24 is the communication interface, 25 is the communication bus, 201 is the computer program, 202 is the operating system, and 203 is the data. Detailed Implementation

[0054] The technical solutions of the embodiments of this application will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of this application, and not all embodiments. Based on the embodiments of this application, all other embodiments obtained by those of ordinary skill in the art without creative effort are within the protection scope of this application.

[0055] The core of this application is to provide a vehicle vibration suppression method, device, vehicle, and medium to solve the vehicle vibration problem across the entire speed range, effectively ensuring the driving comfort of electric vehicles under various operating conditions.

[0056] To enable those skilled in the art to better understand the present application, the present application will be further described in detail below with reference to the accompanying drawings and specific embodiments.

[0057] Figure 1 The following is a structural diagram of a motor control system provided in this application. Figure 1 The structure shown will be explained.

[0058] The motor control system includes: a signal acquisition circuit 1, a first processor 2, a signal output circuit 3, and an inverter 4; the signal acquisition circuit 1 is used to acquire the motor speed, the target torque of the motor from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply; the first processor 2 is connected to the signal acquisition circuit 1 and is used to calculate the suppression torque based on the motor speed and the target torque of the motor, calculate the duty cycle based on the motor speed, the three-phase current, the DC voltage, and the suppression torque, and output the duty cycle to the signal output circuit 3; the signal output circuit 3 is connected to the first processor 2 and is used to generate a pulse signal based on the duty cycle and output the pulse signal to the inverter 4; the inverter 4 is connected to the signal output circuit 3 and is used to convert the DC voltage into a three-phase voltage based on the pulse signal, and drive the motor to output the suppression torque through the three-phase voltage.

[0059] Since the motor shaft can be equivalently represented as a second-order system with small inertia, small damping, and variable stiffness when rotating within the transmission gap, two important parameters of the second-order system can be obtained from the typical second-order system transfer function: the natural frequency and the damping ratio. The smaller the damping ratio, the more violent the vibration will occur at a frequency close to the natural frequency. Assuming the motor torque is T, the transmission gap width is a, the damping is D, and the inertia is J, the average stiffness K of the motor shaft vibrating back and forth within the transmission gap can be approximated as K = 2·T / a, and the damping ratio is... Therefore, it is evident that the smaller the damping D, the larger the inertia J, the smaller the clearance a, and the larger the motor torque T, the smaller the damping ratio, and the more likely vibration will occur. Thus, to suppress vehicle vibration and reduce hardware costs, it is necessary to improve the system's damping ratio through control strategies. Since a is an inherent parameter of the mechanical system and cannot be adjusted, and T is given by the vehicle controller and cannot be significantly intervened, the methods to improve the damping ratio are to increase damping D or decrease inertia J. Furthermore, since inertia J is inherently small and difficult to control, and decreasing J easily results in a negative value, causing the system to become a positive feedback system, leading to unpredictable consequences, this embodiment uses the method of increasing damping D to improve the system's damping ratio. Damping D is the ratio of damping force to motor speed, and it is in the opposite direction to the motor speed. The suppression torque is obtained by subtracting a torque proportional to the speed from the motor torque T. In this embodiment, the actual motor speed is obtained, and the suppression torque is calculated through damping compensation. By making the motor output this suppression torque, the system's damping ratio is improved, thereby achieving the goal of solving vehicle vibration.

[0060] This embodiment proposes a motor control system, including a signal acquisition circuit 1, a first processor 2, a signal output circuit 3, and an inverter 4. The signal acquisition circuit 1 is used to acquire motor speed, the target motor torque from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply. The first processor 2 is connected to the signal acquisition circuit 1 and is used to calculate the suppression torque based on the motor speed and the target motor torque, calculate the duty cycle based on the motor speed, three-phase current, DC voltage, and suppression torque, and output the duty cycle to the signal output circuit 3. The signal output circuit 3 is connected to the first processor 2 and is used to generate a pulse signal based on the duty cycle and output the pulse signal to the inverter 4. The inverter 4 is connected to the signal output circuit 3 and is used to convert the DC voltage into a three-phase voltage based on the pulse signal, and drive the motor to output the suppression torque using the three-phase voltage. This embodiment calculates the suppression torque based on the motor speed, then calculates the duty cycle, generates a pulse signal based on the duty cycle, converts the DC voltage into a three-phase voltage based on the pulse signal, and drives the motor to output the suppression torque using the three-phase voltage. Since the suppression torque is calculated based on the speed, meaning that the applied suppression torque varies with the motor speed, it can solve the vehicle vibration problem across the entire speed range, effectively ensuring the driving comfort of electric vehicles under various operating conditions.

[0061] The above embodiments did not describe the structure of the signal output circuit 3, but this embodiment provides a supplementary description. In this embodiment, the signal output circuit 3 includes a pulse generator and a driver chip; the pulse generator is connected to the first processor 2 and is used to acquire the duty cycle sent by the first processor 2 and generate a pulse signal according to the duty cycle; the driver chip is connected to the inverter 4 and is used to adjust the pulse signal and output the adjusted pulse signal to the inverter 4.

[0062] It should be noted that, in this embodiment, the data sent by the first processor 2 to the signal output circuit 3 includes not only the duty cycle but also data such as frequency, so that the pulse generator can generate corresponding pulses based on the data sent by the first processor 2. Furthermore, the driver chip is used to adjust the pulse signal generated by the pulse generator into the six pulse signals required by the inverter 4, and output the adjusted pulse signals to the inverter 4.

[0063] This embodiment provides a supplementary description of the structure of the signal output circuit 3. The signal output circuit 3 includes a pulse generator and a driver chip, which can generate a corresponding pulse signal based on the duty cycle and other data sent by the first processor 2, and adjust the pulse signal to the pulse signal required by the inverter 4, so that the inverter 4 can convert the DC voltage of the high-voltage power supply obtained into a three-phase AC voltage based on the pulse signal.

[0064] The above embodiments did not describe the structure of the first processor 2, but this embodiment provides a supplementary description. In this embodiment, the first processor 2 includes a first filter and a second filter; the first filter is used to extract a first jittering speed from the motor speed; the second filter is used to extract a second jittering speed from the first jittering speed.

[0065] It should be noted that, since the actual jitter speed during driving is a high-frequency component superimposed on the motor speed, a high-pass filter is needed to filter out the low-frequency component to extract the first jitter speed from the motor speed. Therefore, in this embodiment, the first filter is a high-pass filter used to filter out the low-frequency component in the motor speed to obtain the first jitter speed. Furthermore, due to the characteristics of the high-pass filter, the extracted first jitter speed has a certain phase lead and high-frequency noise compared to the actual jitter speed. A low-pass filter is needed to filter out noise and adjust the phase of the first jitter speed. Therefore, in this embodiment, the second filter is a low-pass filter used to filter out noise and adjust the phase of the first jitter speed to obtain the second jitter speed.

[0066] This embodiment provides a supplementary description of the structure of the first processor 2. The first processor 2 includes a first filter and a second filter, which can extract the second jitter speed from the motor speed, so as to facilitate the calculation of the suppression torque based on the obtained second jitter speed.

[0067] Figure 2 A flowchart of a vehicle vibration suppression method provided in this application is provided. This method is applied to a motor control system and includes:

[0068] S1: Collects motor speed, target motor torque from the vehicle controller, three-phase motor current, and DC voltage from the high-voltage power supply.

[0069] S2: Calculate the suppression torque based on the motor speed and the target motor torque;

[0070] S3: Calculate the duty cycle based on motor speed, three-phase current, DC voltage, and suppression torque;

[0071] S4: Generates a pulse signal based on the duty cycle;

[0072] S5: Converts DC voltage into three-phase voltage based on pulse signals, and drives the motor to output suppressed torque through the three-phase voltage.

[0073] In this embodiment, the motor control system collects the motor speed, the target motor torque from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply. It then calculates the suppression torque and duty cycle, generates corresponding pulse signals based on the duty cycle and other signals, and finally converts the DC voltage of the high-voltage power supply into a three-phase voltage using these pulse signals. This three-phase voltage then drives the motor to output the suppression torque. Since the suppression torque is calculated based on the motor speed, meaning the applied suppression torque varies with the motor speed, it can solve the vehicle vibration problem across the entire speed range, effectively ensuring the driving comfort of the electric vehicle under various operating conditions.

[0074] The steps for calculating the suppressing torque were not described in the above embodiments. This embodiment provides a supplementary explanation of these steps, which include:

[0075] The first jitter speed is extracted from the motor speed;

[0076] The second jitter speed is extracted from the first jitter speed;

[0077] The suppression torque is calculated based on the second vibration speed and the target torque of the motor.

[0078] When calculating the suppression torque, it is necessary to first obtain the actual motor speed. Then, the low-frequency components in the motor speed are filtered out by the first filter to obtain the first jitter speed. The first jitter speed is then subjected to noise filtering and phase adjustment by the second filter to obtain the second jitter speed. This second jitter speed is used as the actual jitter speed. The suppression torque is calculated by damping compensation based on the second jitter speed and the target motor torque required by the vehicle controller.

[0079] In practical implementation, the cutoff frequency of the first filter should be higher than the fluctuation frequency of normal vehicle acceleration and deceleration to avoid significant suppression torque output during normal vehicle acceleration and deceleration. Since the second filter performs filtering after the first filter has finished filtering, in this embodiment, the cutoff frequency of the second filter should be higher than the cutoff frequency of the first filter so that the second filter can filter out noise and adjust the phase of the first jitter speed filtered by the first filter. In this embodiment, the amplitude margin of both filters at the jitter frequency can be set to 1, so that the amplitude of the output jitter speed is consistent with the actual jitter amplitude. The unit of the calculated damping compensation gain is Nm / (rad / s) for easy calibration. In addition, theoretically, when the phase lag of the second filter and the phase lead of the first filter exactly cancel each other out, it is pure damping compensation. However, in practice, if the phase lead is slightly greater than the phase lag, that is, if a little phase lead is still retained after phase adjustment, the phase margin increases, the suppression torque increases, and a better compensation effect can be obtained. It should be noted that since compensation with phase lead is essentially a hybrid compensation of inertia and damping, if the phase lead is too large, the acceleration will change, becoming more biased towards inertia compensation. This can easily lead to positive feedback in the system, producing unpredictable results. Therefore, the phase lead should not be too large. Conversely, if the phase lead is too small, the phase adjustment space left for the second filter will be too small, and the filtering capability for high-frequency noise will be poor. Therefore, the phase lead should also not be too small. In addition, according to the general design principles of mechanical control systems, the phase lead should not exceed 90° during calibration and can be calibrated between 40° and 80°. If the phase lag exceeds the phase lead, it becomes damping compensation with reverse inertia, and the system may be unstable. Therefore, during calibration, care should also be taken to ensure that the phase lag does not exceed the phase lead.

[0080] This embodiment provides a detailed explanation of the calculation steps for the suppression torque. The actual motor speed is obtained by filtering through a first filter and a second filter to obtain the actual jitter speed, i.e., the second jitter speed. Then, based on the second jitter speed and the target motor torque, the suppression torque is calculated through damping compensation, so that signals such as the duty cycle can be calculated subsequently based on the suppression torque.

[0081] The steps for calculating the duty cycle were not described in the above embodiments. This embodiment provides a supplementary explanation of these steps, which include:

[0082] Convert the three-phase current into the first two-phase current;

[0083] The second two-phase current is calculated based on the suppression torque, motor speed, and DC voltage.

[0084] Calculate the reference voltage based on the first two-phase current and the second two-phase current;

[0085] Calculate the feedforward voltage based on the motor speed, the second two-phase current, and the motor parameters;

[0086] Calculate the target voltage based on the reference voltage and the feedforward voltage;

[0087] The duty cycle is obtained by space voltage vector modulation based on the target voltage, motor speed, and DC voltage.

[0088] In this embodiment, the signal obtained by space voltage vector modulation also includes the signal required for the frequency pulse generator to generate pulses. This embodiment provides supplementary explanation of the steps for calculating the duty cycle and other signals so that the signal output circuit 3 can generate corresponding pulse signals based on the duty cycle and other signals.

[0089] After the drive motor outputs the suppression torque in the above embodiment, it is also necessary to determine whether the suppression torque can completely eliminate vehicle vibration. This step includes:

[0090] Determine whether vehicle vibration has been completely eliminated;

[0091] If the vehicle vibration is not completely eliminated, the process proceeds to the steps of collecting motor speed, target motor torque of the vehicle controller, three-phase current of the motor, and DC voltage of the high-voltage power supply.

[0092] In this embodiment, it is first determined whether the applied suppression torque has completely eliminated the vehicle vibration. If the currently applied suppression torque cannot completely eliminate the vehicle vibration, the motor speed, the target motor torque of the vehicle controller, the three-phase current of the motor and the DC voltage of the high-voltage power supply are collected again, the suppression torque is recalculated and output, until the vehicle vibration problem is solved.

[0093] In this embodiment, after determining that the applied suppression torque cannot completely eliminate vehicle vibration, the suppression torque is recalculated and output, which can fully solve the vehicle vibration problem and effectively ensure the driving comfort of electric vehicles under various operating conditions.

[0094] The vehicle vibration suppression method has been described in detail in the above embodiments. This application also provides embodiments corresponding to the vehicle vibration suppression device. It should be noted that this application describes the embodiments of the device from two perspectives: one is based on the functional module, and the other is based on the hardware.

[0095] Figure 3 A structural diagram of a vehicle vibration suppression device provided in this application is shown below. Figure 3 As shown, the device includes:

[0096] The data acquisition module 10 is used to acquire the motor speed, the target torque of the motor from the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply.

[0097] The calculation module 11 is used to calculate the suppression torque based on the motor speed and the target torque of the motor, and to calculate the duty cycle based on the motor speed, three-phase current, DC voltage and suppression torque;

[0098] Generation module 12 is used to generate pulse signals according to the duty cycle;

[0099] Inverter module 13 is used to convert DC voltage into three-phase voltage based on pulse signals.

[0100] Since the embodiments of the apparatus and the embodiments of the method correspond to each other, please refer to the description of the embodiments of the method for the embodiments of the apparatus, which will not be repeated here.

[0101] Figure 4 A structural diagram of a vehicle provided in this application, such as Figure 4 As shown, the vehicle includes: a memory 20 for storing computer programs;

[0102] The second processor 21 is used to execute a computer program to implement the steps of the vehicle vibration suppression method mentioned in the above embodiments.

[0103] The processor 21 may include one or more processing cores, such as a quad-core processor or an octa-core processor. The processor 21 may be implemented using at least one of the following hardware forms: Digital Signal Processor (DSP), Field-Programmable Gate Array (FPGA), or Programmable Logic Array (PLA). The second processor 21 may also include a main processor and a coprocessor. The main processor, also known as the Central Processing Unit (CPU), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, the second processor 21 may integrate a Graphics Processing Unit (GPU), which is responsible for rendering and drawing the content to be displayed on the screen. In some embodiments, the second processor 21 may also include an Artificial Intelligence (AI) processor, which handles computational operations related to machine learning.

[0104] The memory 20 may include one or more computer-readable storage media, which may be non-transitory. The memory 20 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In this embodiment, the memory 20 is used to store at least the following computer program 201, which, after being loaded and executed by the second processor 21, is capable of implementing the relevant steps of the vehicle vibration suppression method disclosed in any of the foregoing embodiments. In addition, the resources stored in the memory 20 may also include an operating system 202 and data 203, and the storage method may be temporary or permanent storage. The operating system 202 may include Windows, Unix, Linux, etc. The data 203 may include, but is not limited to, data acquired by the signal acquisition circuit 1.

[0105] In some embodiments, the vehicle may also include a display screen 22, an input / output interface 23, a communication interface 24, a power supply 25, and a communication bus 26.

[0106] Those skilled in the art will understand that Figure 4 The structure shown does not constitute a limitation on the vehicle and may include more or fewer components than illustrated.

[0107] Finally, this application also provides an embodiment corresponding to a computer-readable storage medium. The computer-readable storage medium stores a computer program, which, when executed by the second processor 21, implements the steps of the vehicle vibration suppression method as described in the above method embodiment.

[0108] It is understood that if the methods in the above embodiments are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or all or part of the technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and executes all or part of the steps of the methods described in the various embodiments of this application. The aforementioned storage medium includes various media capable of storing program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0109] The vehicle vibration suppression method, apparatus, vehicle, and medium provided in this application have been described in detail above. The various embodiments in the 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 in the method section. It should be noted that those skilled in the art can make several improvements and modifications to this application without departing from the principles of this application, and these improvements and modifications also fall within the protection scope of the claims of this application.

[0110] 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 one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

Claims

1. A motor control system, characterized in that, include: Signal acquisition circuit (1), first processor (2), signal output circuit (3) and inverter (4); The signal acquisition circuit (1) is used to acquire the motor speed, the target torque of the motor of the vehicle controller, the three-phase current of the motor and the DC voltage of the high-voltage power supply. The first processor (2) is connected to the signal acquisition circuit (1) and is used to calculate the suppression torque based on the motor speed and the target torque of the motor, calculate the duty cycle based on the motor speed, the three-phase current, the DC voltage and the suppression torque, and output the duty cycle to the signal output circuit (3); wherein, calculating the suppression torque based on the motor speed and the target torque of the motor includes: extracting a first jitter speed from the motor speed; extracting a second jitter speed from the first jitter speed; calculating the suppression torque based on the second jitter speed and the target torque of the motor; the calculation of the duty cycle based on the motor speed, the three-phase current, the DC voltage and the suppression torque includes: converting the three-phase current into a first two-phase current; calculating a second two-phase current based on the suppression torque, the motor speed and the DC voltage; calculating a reference voltage based on the first two-phase current and the second two-phase current; calculating a feedforward voltage based on the motor speed, the second two-phase current and the motor parameters; calculating a target voltage based on the reference voltage and the feedforward voltage; and obtaining the duty cycle based on the target voltage, the motor speed and the DC voltage through space voltage vector modulation; The signal output circuit (3) is connected to the first processor (2) and is used to generate a pulse signal according to the duty cycle and output the pulse signal to the inverter (4). The inverter (4) is connected to the signal output circuit (3) and is used to convert the DC voltage into a three-phase voltage according to the pulse signal, and drive the motor to output the suppression torque through the three-phase voltage.

2. The motor control system according to claim 1, characterized in that, The signal output circuit (3) includes a pulse generator and a driver chip; The pulse generator is connected to the first processor (2) and is used to generate the pulse signal according to the duty cycle; The drive chip is connected to the inverter (4) and is used to adjust the pulse signal and output the adjusted pulse signal to the inverter (4).

3. The motor control system according to claim 1, characterized in that, The first processor (2) includes a first filter and a second filter; The first filter is used to extract the first jitter speed from the motor speed; The second filter is used to extract the second jitter speed from the first jitter speed.

4. A method for suppressing vehicle vibration, characterized in that, The method, applied to the motor control system of claim 1, comprises: Collect motor speed, target motor torque from the vehicle controller, three-phase motor current, and DC voltage from the high-voltage power supply; The suppression torque is calculated based on the motor speed and the target motor torque; The duty cycle is calculated based on the motor speed, the three-phase current, the DC voltage, and the suppression torque. A pulse signal is generated according to the duty cycle; The DC voltage is converted into a three-phase voltage according to the pulse signal, and the motor is driven to output the suppressed torque through the three-phase voltage. The step of calculating the suppression torque based on the motor speed and the target motor torque includes: The first jitter speed is extracted from the motor speed; The second jitter speed is extracted from the first jitter speed; The suppression torque is calculated based on the second jitter speed and the target torque of the motor; The step of calculating the duty cycle based on the motor speed, the three-phase current, the DC voltage, and the suppression torque includes: The three-phase current is converted into a first two-phase current; The second two-phase current is calculated based on the suppression torque, the motor speed, and the DC voltage. Calculate the reference voltage based on the first two-phase current and the second two-phase current; Calculate the feedforward voltage based on the motor speed, the second two-phase current, and the motor parameters; Calculate the target voltage based on the reference voltage and the feedforward voltage; The duty cycle is obtained by space voltage vector modulation based on the target voltage, the motor speed, and the DC voltage.

5. The vehicle vibration suppression method according to claim 4, characterized in that, After driving the motor to output the suppressing torque, the method further includes: Determine whether vehicle vibration has been completely eliminated; If the vehicle vibration is not completely eliminated, the process proceeds to the step of collecting the motor speed, the target motor torque of the vehicle controller, the three-phase current of the motor, and the DC voltage of the high-voltage power supply.

6. A vehicle vibration suppression device, characterized in that, include: The acquisition module (10) is used to acquire the motor speed, the target torque of the motor of the vehicle controller, the three-phase current of the motor and the DC voltage of the high-voltage power supply. The calculation module (11) is used to calculate the suppression torque based on the motor speed and the target motor torque, and to calculate the duty cycle based on the motor speed, the three-phase current, the DC voltage, and the suppression torque; wherein, calculating the suppression torque based on the motor speed and the target motor torque includes: extracting a first jitter speed from the motor speed; extracting a second jitter speed from the first jitter speed; calculating the suppression torque based on the second jitter speed and the target motor torque; the calculation of the duty cycle based on the motor speed, the three-phase current, the DC voltage, and the suppression torque includes: converting the three-phase current into a first two-phase current; calculating a second two-phase current based on the suppression torque, the motor speed, and the DC voltage; calculating a reference voltage based on the first two-phase current and the second two-phase current; calculating a feedforward voltage based on the motor speed, the second two-phase current, and motor parameters; calculating a target voltage based on the reference voltage and the feedforward voltage; and obtaining the duty cycle based on the target voltage, the motor speed, and the DC voltage through space voltage vector modulation. The generation module (12) is used to generate a pulse signal according to the duty cycle; Inverter module (13) is used to convert the DC voltage into a three-phase voltage according to the pulse signal.

7. A vehicle, characterized in that, Includes a memory (20) for storing computer programs (201); The second processor (21) is configured to implement the steps of the vehicle vibration suppression method as described in claim 4 or 5 when executing the computer program (201).

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program (201), which, when executed by the second processor (21), implements the steps of the vehicle vibration suppression method as described in claim 4 or 5.

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