Control Method, Device, Equipment and Medium for Suppressing Shift Jitter of Electric Vehicles

Abstract

The present invention discloses a control method, device, equipment and medium for suppressing gear shifting jitter of an electric vehicle, belonging to the technical field of vehicle control. The control method includes: when the vehicle starts the gear engaging action, obtaining the rotational distance of the gear; in response to the rotational distance of the gear being less than the set distance, controlling the motor to perform the gear engaging action with the minimum gear engaging torque, so as to start the gear engaging action at the first time; in response to the rotational distance of the gear being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, controlling the motor to perform the gear engaging action with the target gear engaging torque until the gear engaging is completed. Since the target gear engaging torque is less than the minimum gear engaging torque, it can make the motor torque further decrease in the second half of the gear engaging, so that the actual motor torque is smaller and the rotational speed is lower at the moment of gear engaging, minimizing the motor jitter to the greatest extent.

Description

Technical Field

[0001] The present invention relates to the technical field of vehicle control, and particularly to a control method, device, equipment and medium for suppressing gear - shifting jitter of electric vehicles. Background Art

[0002] When an electric vehicle performs dynamic gear - shifting, it needs to rely on gear engagement. The rotational speed and torque impact during gear engagement will cause vehicle jitter. The VCU (Vehicle Control Unit) gives the torque command of the motor according to the gear position information and changes the direction of the torque command when receiving the gear - change information. Due to the clearance of the motor gear, the torque command at the actual gear engagement of the motor is not zero, but rises from zero to a relatively large value, which will result in a relatively large torque and rotational speed at the actual gear engagement, causing relatively large jitter.

[0003] Therefore, how to reduce the jitter of the motor during actual gear engagement is a technical problem that needs to be solved urgently at present. Summary of the Invention

[0004] In view of the above problems, the present invention provides a control method, device, equipment and medium for suppressing gear - shifting jitter of electric vehicles that overcomes or at least partially solves the above problems. This method can reduce the motor torque when the rotational distance of the gear is close to the gear clearance, and rely on inertia to make the gear continue to rotate until the gear engagement is completed, so that the motor torque is relatively small and the rotational speed is relatively low at the moment of actual gear engagement, minimizing the motor jitter to the greatest extent.

[0005] In a first aspect, the present invention provides a control method for suppressing gear - shifting jitter of electric vehicles, and the control method includes:

[0006] When the vehicle starts the gear - engagement action during gear - shifting, obtain the rotational distance of the gear;

[0007] In response to the rotational distance of the gear being less than the set distance, control the motor to perform the gear - engagement action with the minimum gear - engagement torque, where the minimum gear - engagement torque is the minimum torque required for the motor to rotate at a speed greater than the set speed value under the set gear position of the vehicle, which is pre - calibrated;

[0008] In response to the rotational distance of the gear being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, control the motor to perform the gear - engagement action with the target gear - engagement torque until the gear engagement is completed, where the target gear - engagement torque is less than the minimum gear - engagement torque.

[0009] Optionally, controlling the motor to perform the gear - engagement action with the target gear - engagement torque includes:

[0010] During the gear - engagement process of the motor, control the motor to execute the torque to decay from the minimum gear - engagement torque at a set slope.

[0011] Optionally, the control motor performs the tooth engagement action with the minimum tooth engagement torque, including:

[0012] When the vehicle is shifted from the second gear to the first gear, the control motor performs the tooth engagement action with the first minimum tooth engagement torque, where the first minimum tooth engagement torque is the motor execution torque corresponding to the vehicle in the first gear and the motor at the set speed;

[0013] When the vehicle is shifted from the first gear to the second gear, the control motor performs the tooth engagement action with the second minimum tooth engagement torque, where the second minimum tooth engagement torque is the motor execution torque corresponding to the vehicle in the second gear and the motor at the set speed.

[0014] Optionally, the control motor execution torque decays from the minimum tooth engagement torque at a set slope, including:

[0015] When the vehicle is shifted from the second gear to the first gear, in response to the gear rotation distance being greater than or equal to the first set distance and less than or equal to the actual gear clearance of the motor, the control motor execution torque linearly decays from the first minimum tooth engagement torque at the first slope, so that the motor execution torque can decay to 0 before the end of the gear tooth engagement process;

[0016] When the vehicle is shifted from the first gear to the second gear, in response to the gear rotation distance being greater than or equal to the second set distance and less than or equal to the actual gear clearance of the motor, the control motor execution torque linearly decays from the second minimum tooth engagement torque at the second slope, so that the motor execution torque can decay to 0 before the end of the gear tooth engagement process.

[0017] Optionally, before the control motor performs the tooth engagement action with the minimum tooth engagement torque, the control method further includes:

[0018] Obtain the set distance and the set slope determined according to the set calibration method;

[0019] Wherein, the set calibration method includes:

[0020] When the vehicle shifts to the target gear and starts the tooth engagement action, the motor execution torque is given as the minimum tooth engagement torque corresponding to the target gear, the set distance is controlled to gradually increase from the initial distance to the target distance at the first step length, and at different set distances, the set slope is controlled to increase from 0 to 1 at the second step length, and record the combination of the set distance and the set slope that meets the set conditions, and the set conditions include that when the gear rotation distance is the set distance, the motor execution torque linearly decays from the minimum tooth engagement torque at the set slope until the motor execution torque can decay to 0 before the end of the tooth engagement.

[0021] Select a set of the set distance and the set slope with the smallest motor speed fluctuation amount from the combinations of the set distance and the set slope that meet the set conditions for calibration.

[0022] Optionally, the control method further includes:

[0023] When the vehicle starts to engage gears during a shift, obtain the motor torque and perform active compensation on the motor torque until the gear engagement is completed.

[0024] Optionally, the performing active compensation on the motor torque includes:

[0025] Obtain the current speed of the motor and perform two low-pass filtering processes on the speed;

[0026] Determine the motor acceleration according to the speed after low-pass filtering, and filter the motor acceleration;

[0027] Perform phase compensation on the speed by using the filtered motor acceleration;

[0028] Use the speed after filtering and phase compensation as the given value, and the original motor speed as the feedback, and calculate the torque compensation amount through PI loop regulation;

[0029] Limit the torque compensation amount;

[0030] Compensate the motor torque according to the torque compensation amount after limiting.

[0031] In a second aspect, the present invention provides a control device for suppressing shift jitter of an electric vehicle, and the control device includes:

[0032] An acquisition module, configured to obtain the gear rotation distance when the vehicle starts to engage gears during a shift;

[0033] A first control module, configured to control the motor to perform the gear engagement action with the minimum gear engagement torque in response to the gear rotation distance being less than the set distance, where the minimum gear engagement torque is the minimum torque required for the motor to rotate at a speed greater than the set speed value in the set gear position of the vehicle;

[0034] A second control module, configured to control the motor to perform the gear engagement action with the target gear engagement torque until the gear engagement is completed in response to the gear rotation distance being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, where the target gear engagement torque is less than the minimum gear engagement torque.

[0035] Optionally, the second control module is further configured to:

[0036] During the gear engagement process of the motor, control the motor execution torque to decay at a set slope starting from the minimum gear engagement torque.

[0037] Optionally, the first control module is further configured to:

[0038] When the vehicle switches from the second gear to the first gear, control the motor to perform the gear engagement action with the first minimum gear engagement torque, where the first minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the first gear and the motor at the set speed;

[0039] When the vehicle switches from the first gear to the second gear, control the motor to perform the gear engagement action with the second minimum gear engagement torque, where the second minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the second gear and the motor at the set speed.

[0040] Optionally, the second control module is further configured to:

[0041] When the vehicle switches from the second gear to the first gear, in response to the gear rotation distance being greater than or equal to the first set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay at the first slope starting from the first minimum gear engagement torque, so that the motor execution torque can decay to 0 before the end of the gear engagement process;

[0042] When the vehicle switches from the first gear to the second gear, in response to the gear rotation distance being greater than or equal to the second set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay at the second slope starting from the second minimum gear engagement torque, so that the motor execution torque can decay to 0 before the end of the gear engagement process.

[0043] Optionally, the acquisition module is further configured to:

[0044] Acquire the set distance and the set slope determined according to the set calibration method;

[0045] Wherein, the set calibration method includes:

[0046] When the vehicle shifts to the target gear and starts the tooth engagement action, the motor execution torque is given as the minimum tooth engagement torque corresponding to the target gear. Control the set distance to gradually increase from the initial distance to the target distance at a first step length, and at different set distances, control the set slope to increase from 0 to 1 at a second step length. Record the combinations of the set distance and the set slope that meet the set conditions. The set conditions include that when the gear rotation distance is the set distance, the motor execution torque starts to linearly decay from the minimum tooth engagement torque according to the set slope until before the tooth engagement ends, the motor execution torque can decay to 0;

[0047] Select a set of the set distance and the set slope with the smallest motor speed fluctuation amount from the combinations of the set distance and the set slope that meet the set conditions for calibration.

[0048] Optionally, the control device further includes a torque compensation module for:

[0049] When the vehicle starts the tooth engagement action during shifting, obtain the motor torque and perform active compensation on the motor torque until the tooth engagement is completed.

[0050] Optionally, the torque compensation module is further used for:

[0051] Obtain the current speed of the motor and perform two low-pass filtering processes on the speed;

[0052] Determine the motor acceleration according to the speed after low-pass filtering and filter the motor acceleration;

[0053] Perform phase compensation on the speed by using the filtered motor acceleration;

[0054] Use the speed after filtering and phase compensation as the given value, and the original motor speed as the feedback, and calculate the torque compensation amount through PI loop regulation;

[0055] Limit the torque compensation amount;

[0056] Compensate the motor torque according to the limited torque compensation amount.

[0057] In a third aspect, the present invention provides an electronic device, including: a memory and a processor, which are communicatively connected to each other. The memory stores computer instructions, and the processor executes the computer instructions to execute the control method as described in the first aspect.

[0058] Fourthly, the present invention provides a computer-readable storage medium storing computer instructions for causing a computer to execute the control method as described in the first aspect.

[0059] The technical solutions provided in the embodiments of the present invention have at least the following technical effects or advantages:

[0060] A control method, device, equipment and medium for suppressing shift jitter of an electric vehicle provided by an embodiment of the present invention. When the vehicle starts the gear engagement action during shifting, the rotation distance of the gear is obtained, and the motor torque is controlled according to the rotation distance of the gear. Among them, in response to the rotation distance of the gear being less than the set distance, the motor is controlled to perform the gear engagement action with the minimum gear engagement torque, so as to start the gear engagement action at the first time. In response to the rotation distance of the gear being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, the motor is controlled to perform the gear engagement action with the target gear engagement torque until the gear engagement is completed. Since the target gear engagement torque is less than the minimum gear engagement torque, the motor torque can be further reduced in the second half of the gear engagement until the gear engagement is completed, so that the motor torque is smaller and the rotation speed is lower at the actual gear engagement moment, minimizing the motor jitter to the greatest extent.

[0061] The above description is only an overview of the technical solutions of the present invention. In order to be able to understand the technical means of the present invention more clearly, it can be implemented according to the content of the description. And in order to make the above and other purposes, features and advantages of the present invention more obvious and understandable, the specific embodiments of the present invention are hereinafter specifically exemplified. Description of the Drawings

[0062] By reading the following detailed description of the preferred embodiments, various other advantages and benefits will become clear to those of ordinary skill in the art. The drawings are only for the purpose of showing the preferred embodiments and are not considered to be a limitation of the present invention. And throughout the drawings, the same reference numerals are used to represent the same components. In the drawings:

[0063] Figure 1 is a flowchart of a control method for suppressing shift jitter of an electric vehicle provided by an embodiment of the present invention;

[0064] Figure 2 is a structural block diagram of a control device for suppressing shift jitter of an electric vehicle provided by an embodiment of the present invention. Detailed Embodiments

[0065] To make the objectives, technical solutions and advantages of the present application clearer, the embodiments of the present application will be described in further detail below in conjunction with the drawings.

[0066] Figure 1 is a flowchart of a control method for suppressing shift jitter of an electric vehicle provided by an embodiment of the present invention, as Figure 1As shown, the control method includes:

[0067] Step S110: When the vehicle starts the gear engagement movement during gear shifting, obtain the rotational distance of the gear.

[0068] In this embodiment, vehicle gear shifting includes the vehicle switching from the first gear to the second gear, or from the second gear to the first gear. Among them, the first gear can be the reverse gear (i.e., R gear), and the second gear can be the forward gear (i.e., D gear). The rotational distance of the gear can be obtained through devices such as sensors, and this embodiment does not limit this.

[0069] Step S120: In response to the rotational distance of the gear being less than the set distance, control the motor to perform the gear engagement movement with the minimum gear engagement torque.

[0070] Among them, the minimum gear engagement torque is the minimum torque required for the motor calibrated in advance to rotate at a speed greater than the set speed value in the set gear of the vehicle.

[0071] In this embodiment, the set gear can be the first gear (i.e., R gear) or the second gear (i.e., D gear). The set speed value can be set according to actual needs. For example, the set speed value can be 10 r / min.

[0072] Optionally, step S120 includes:

[0073] When the vehicle switches from the second gear to the first gear, control the motor to perform the gear engagement movement with the first minimum gear engagement torque, where the first minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the first gear and the motor at the set speed;

[0074] When the vehicle switches from the first gear to the second gear, control the motor to perform the gear engagement movement with the second minimum gear engagement torque, where the second minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the second gear and the motor at the set speed.

[0075] It should be noted that when the vehicle switches from the first gear to the second gear or from the second gear to the first gear, the positive and negative of the motor torque change, and the torque will have a zero-crossing phenomenon. The torque zero-crossing includes torque rising zero-crossing and torque falling zero-crossing. Torque rising zero-crossing is when the torque crosses zero during the process of changing from negative to positive; torque falling zero-crossing is when the torque crosses zero during the process of changing from positive to negative.

[0076] In this embodiment, when the vehicle switches from the second gear (D gear) to the first gear (R gear), the VCU torque command Vcu_Trqcmd_DR at the time when the actual motor torque crosses zero can be obtained. When the VCU torque command is [Vcu_Trqcmd_DR, 0], it means that the motor torque is in the torque falling zero-crossing stage. At this time, the motor execution torque can be given as the first minimum gear engagement torque TRmin 。

[0077] When the vehicle is switched from the first gear (R gear) to the second gear (D gear), the VCU torque command Vcu_Trqcmd_RD at the time when the actual torque of the motor passes through zero can be obtained. When the VCU torque command is within [0, Vcu_Trqcmd_RD], it means that the motor torque is in the rising and zero-crossing stage. At this time, the motor execution torque can be given as the second smallest tooth-engaging torque T Dmin 。

[0078] Optionally, before performing step S120, the control method further includes:

[0079] Obtaining a pre-calibrated first smallest tooth-engaging torque and a second smallest tooth-engaging torque.

[0080] Exemplarily, the first smallest tooth-engaging torque and the second smallest tooth-engaging torque obtained by using the following calibration method can be obtained.

[0081] When the vehicle is stationary, control the vehicle to engage the first gear (i.e., R gear), give the motor an initial torque, and control the motor execution torque to increase from the initial torque to the maximum torque of the motor at a set torque step; during the increase of the motor execution torque, when it is detected that the motor rotates at a speed greater than the set speed value, determine the execution torque of the motor at this time as the smallest tooth-engaging torque corresponding to the vehicle in the first gear, denoted as the first smallest tooth-engaging torque T Rmin 。

[0082] When the vehicle is stationary, control the vehicle to engage the second gear (i.e., D gear), give the motor an initial torque, and control the motor execution torque to increase from the initial torque to the maximum torque of the motor at a set torque step; during the increase of the motor execution torque, when it is detected that the motor rotates at a speed greater than the set speed value, determine the execution torque of the motor at this time as the smallest tooth-engaging torque corresponding to the vehicle in the second gear, denoted as the second smallest tooth-engaging torque T Dmin 。

[0083] Among them, the above initial torque and set torque step can be set according to actual needs. For example, in this embodiment, the initial torque is 2 N·m and the set torque step is 1 N·m

[0084] Step S130, in response to the gear rotation distance being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, control the motor to perform the tooth-engaging action with the target tooth-engaging torque until the tooth-engaging is completed, and the target tooth-engaging torque is less than the smallest tooth-engaging torque.

[0085] In one implementation manner of this embodiment, controlling the motor to perform the tooth-engaging action with the target tooth-engaging torque in step S130 includes:

[0086] During the process of the motor engaging with the gear, control the motor's execution torque to decay from the minimum engaging torque at a set slope.

[0087] In the above implementation, step S130 may include:

[0088] When the vehicle switches from the second gear to the first gear (i.e., from D gear to R gear), in response to the gear rotation distance l D being greater than or equal to the first set distance α R ·L and less than or equal to the actual gear clearance L of the motor, control the motor's execution torque to start linearly decaying from the first minimum engaging torque T Rmin at the first slope β R so that the motor's execution torque can decay to 0 before the end of the gear engaging process.

[0089] The specific expression is as follows:

[0090]

[0091] where Trq_ref is the motor's execution torque, T Rmin is the first minimum engaging torque, l R is the gear rotation distance, which can be calculated by integrating the motor speed over time, α R ·L is the first set distance, β R is the first slope, and L is the actual gear clearance.

[0092] When the vehicle switches from the first gear to the second gear (i.e., from R gear to D gear), in response to the gear rotation distance l D being greater than or equal to the second set distance α D ·L and less than or equal to the actual gear clearance L of the motor, control the motor's execution torque to start linearly decaying from the second minimum engaging torque T Dmin at the second slope β D so that the motor's execution torque can decay to 0 before the end of the gear engaging process.

[0093] The specific expression is as follows:

[0094]

[0095] where Trq_ref is the motor's execution torque, T Dmin is the second minimum engaging torque, l D is the gear rotation distance, which can be calculated by integrating the motor speed over time, α D ·L is the second set distance, β D is the second slope, and L is the actual gear clearance.

[0096] When the rotation distance of the gear reaches the set distance α*L, control the execution torque of the motor to linearly decay from the minimum tooth-engaging torque to 0 according to the set slope. Within the actual gear clearance L range, when the rotation distance of the gear reaches the position of α*L, start to reduce the motor torque, so that the gear can continue to rotate by inertia within the remaining tooth-engaging distance until the tooth-engaging is completed. Thus, the motor torque is relatively small and the rotation speed is relatively low at the actual moment of tooth-engaging, which can minimize the motor jitter to the greatest extent.

[0097] Optionally, before performing step S130, the control method may further include:

[0098] Obtain the actual gear clearance of the motor.

[0099] In this embodiment, the actual gear clearance of the motor can be obtained through the following method:

[0100] Control the whole vehicle to perform dynamic gear shifting, and record the relationship curve between the motor speed and time during the period from the moment when the motor torque passes through zero to the moment when the speed shows obvious jitter; according to the relationship curve between the motor speed and time, calculate the actual gear clearance by integrating the speed with respect to time.

[0101] Exemplarily, before calculating the actual gear clearance, the speed can also be low-pass filtered, and the actual gear clearance is calculated by integrating the low-pass filtered speed with respect to time, which can make the calculation of the actual gear clearance more accurate. Specifically, the actual gear clearance of the motor can be calculated by the following formulas (1) and (2):

[0102] Spd_motor_flt(k)=(1―2πT·10)·Spd_motor_flt(k―1)+

[0103] 2πT·10·Spd_motor(k); (1)

[0104]

[0105] where T is the execution period of the filtering function; Spd_motor_flt(k) is the output value of the filtered speed; Spd_motor_flt(k―1) is the output of the filtered speed in the previous period; Spd_motor(k) is the current speed input value; t is the tooth-engaging time, that is, the time from the actual torque passing through zero to the obvious fluctuation of the speed before filtering; L is the actual gear clearance.

[0106] Optionally, before performing steps S120 and S130, the control method may further include:

[0107] Obtain the set distance and set slope determined according to the set calibration method;

[0108] where the set calibration method includes:

[0109] When the vehicle shifts to the target gear and starts the tooth engagement operation, the motor execution torque is given as the minimum tooth engagement torque corresponding to the target gear. The control set distance gradually increases from the initial distance to the target distance in the first step length, and at different set distances, the control set slope increases from 0 to 1 in the second step length. Record the combination of the set distance and the set slope that meet the set conditions. The set conditions include that when the gear rotation distance is the set distance, the motor execution torque starts from the minimum tooth engagement torque and linearly decays according to the set slope until the motor execution torque can decay to 0 before the end of tooth engagement;

[0110] Select a set of set distance and set slope with the smallest motor speed fluctuation amount from the combinations of set distance and set slope that meet the set conditions for calibration.

[0111] In this embodiment, the set distance includes the first set distance α R ·L and the second set distance α D ·L, and the set slope includes the first slope β R and the second slope β D .

[0112] The calibration method for the first set distance α R ·L and the first slope β R specifically includes:

[0113] When the vehicle switches from the second gear to the first gear (i.e., from D gear to R gear), during the motor torque zero-crossing stage, the motor execution torque is given as the first minimum tooth engagement torque T Rmin , control α to increase from 0 to 1 in the first step length, and at each α value, control β to increase from 0 to 1 in the second step length. Record the combination of α and β that meet the set conditions. The set conditions include that when the gear rotation distance is α*L, the motor execution torque starts from the minimum tooth engagement torque and linearly decays according to the set slope β until the motor execution torque can decay to 0 before the end of tooth engagement;

[0114] Select a set of α and β with the smallest speed fluctuation amount from the combinations of α and β that meet the set conditions, denoted as α R and β R , thereby calibrating the first set distance α R ·L and the first slope β R .

[0115] The calibration method for the second set distance α D ·L and the second slope β D specifically includes:

[0116] When the vehicle is shifted from the first gear to the second gear (i.e., from the R gear to the D gear), during the stage when the motor torque passes through zero, the motor execution torque is given as the second smallest tooth-engaging torque T Dmin , control α to increase from 0 to 1 with the first step size, and at each value of α, control β to increase from 0 to 1 with the second step size, record the combinations of α and β that meet the set conditions, and the set conditions include that when the gear rotation distance is α*L, the motor execution torque starts from the minimum tooth-engaging torque and linearly decays according to the set slope β until before the end of tooth engagement, the motor execution torque can decay to 0;

[0117] Select a set of α and β with the smallest rotational speed fluctuation from the combinations of α and β that meet the set conditions, denoted as α D and β D , so as to calibrate and obtain the second set distance α D ·L and the second slope β D .

[0118] Among them, the above first step size and second step size can be set according to actual needs. For example, both the first step size and the second step size are set to 0.1. The embodiments of the present invention do not limit this.

[0119] Optionally, the control method further includes:

[0120] When the vehicle starts the tooth-engaging action during shifting, obtain the motor torque and perform active compensation on the motor torque until the tooth engagement is completed.

[0121] Among them, performing active compensation on the motor torque may include the following steps:

[0122] The first step, obtain the current rotational speed of the motor and perform two low-pass filtering processes on the rotational speed;

[0123] In this embodiment, to ensure the smoothness of the filtered rotational speed, the rotational speed is subjected to two low-pass filtering processes. Specifically, the rotational speed can be subjected to two low-pass filtering processes through the following formulas (3) and (4):

[0124]

[0125]

[0126] Among them, Spd_motor_flt(k) is the current filtered rotational speed output; T spdflt is the execution period of the filtering function; f cut―offis the filter cut-off frequency, with a value range of 3 Hz - 5 Hz, determined by calibration; Spd_motor_flt(k−1) is the filtered rotational speed output of the previous cycle; Spd_motor(k) is the current rotational speed input; Spd_motor_flt_2(k) is the current filtered rotational speed output of the second low-pass filter; Spd_motor_flt_2(k−1) is the filtered rotational speed output of the previous cycle of the second low-pass filter.

[0127] Step 2: Determine the motor acceleration based on the filtered rotational speed, and filter the motor acceleration.

[0128] In this embodiment, the magnitude of the motor acceleration is calculated using the ratio of the rotational speed difference between the current cycle and the previous cycle to the cycle time. To ensure the smoothness of the acceleration curve, the rotational speed after the first low-pass filter is used for the calculation, and the calculated acceleration is low-pass filtered.

[0129] Exemplarily, the following formula (5) can be used to determine the motor acceleration, and the following formula (6) is used to filter the motor acceleration:

[0130]

[0131] Acc_Spd_flt(k) = (1 - 2πT acc ·f cut_off_acc )·Acc_Spd_flt(k−1) + 2πT acc ·f cut_off_acc ·Acc_Spd(k); (6)

[0132] where Acc_Spd is the acceleration; Spd_motor_flt(k) is the current filtered rotational speed output; Spd_motor_flt(k−1) is the filtered rotational speed output of the previous cycle; T acc is the execution cycle of the acceleration calculation function; Acc_Spd_flt(k) is the acceleration filtered output value; f cut_off_acc is the acceleration filter cut-off frequency; Acc_Spd_flt(k−1) is the filtered rotational speed output of the previous cycle; Acc_Spd(k) is the current acceleration input value.

[0133] Step 3: Use the filtered motor acceleration to perform phase compensation on the rotational speed.

[0134] In this embodiment, the acceleration calculated in the second step is used to perform phase compensation on the rotational speed after two low-pass filters in the first step. The phase delay generated by the filter is compensated in combination with the actual frequency of the motor and the cut-off frequency. The specific formula is as follows:

[0135]

[0136] Spd_flt_phase = Spd_motor_flt_2(k) + Spd_flt_Phase_comp; (8)

[0137] Wherein, Spd_flt_Phase_comp is the rotational speed compensation amount of the filtering phase delay; T spdflt is the execution period of the filtering function; f cut―off is the filtering cut-off frequency, with a value range of 3 Hz - 5 Hz, determined by calibration; Acc_Spd_flt(k) is the output value of the acceleration filtering; Spd_flt_phase is the value of the motor rotational speed after filtering and phase compensation; Spd_motor_flt_2(k) is the output of the current filtering rotational speed of the second-order low-pass filtering.

[0138] It can be seen from the above formula that in this embodiment, the coefficient composed of the execution period T spdflt of the filtering function and the filtering cut-off frequency f cut―off is directly used as the phase compensation coefficient of the motor acceleration, and it is not necessary to calibrate the phase compensation coefficient of the motor acceleration filtering delay at different rotational speeds and torques, which is simpler.

[0139] Step 4: Take the rotational speed after filtering and phase compensation as the given value, and the original motor rotational speed as the feedback, and calculate the torque compensation amount through PI loop regulation;

[0140] Exemplarily, the torque compensation amount can be calculated according to the following formula (9):

[0141] Trq_comp = (k p + ∫k i ) · (Spd_flt_phase - Spd_motor(k)); (9)

[0142] Wherein, Trq_comp is the torque compensation amount; k p is the proportional parameter of the torque compensation loop; k i is the integral parameter of the torque compensation loop. Spd_flt_phase is the value of the motor rotational speed after filtering and phase compensation, which can be calculated by the above formula (8); Spd_motor(k) is the current rotational speed input.

[0143] In this embodiment, the torque compensation amount is directly calculated through PI loop regulation, and it is not necessary to calibrate the torque compensation amount at different rotational speeds and torques, greatly reducing the workload.

[0144] Step 5: Limit the compensated torque amount;

[0145] Exemplarily, the compensation torque amount can be limited according to the following formula:

[0146]

[0147] Where Trq_comp_lmt is the compensated torque after the limiting process, Tmax is the maximum torque of the motor, and Trq_comp is the torque compensation amount.

[0148] Step 6: Compensate the motor torque according to the limited torque compensation amount.

[0149] In this embodiment, according to the allowable torque compensation range, the obtained compensated torque is compensated to the current given torque. Specifically, the given torque can be compensated according to the following formula:

[0150]

[0151] Where Trq_ref_comp is the torque command after compensation, and Trq_ref is the motor execution torque before compensation.

[0152] In this embodiment, by filtering the rotational speed and performing phase compensation, the real-time fluctuation amount of the motor rotational speed is calculated, and then the PI adjustment is performed on the rotational speed fluctuation amount to output the torque compensation amount, actively compensating the motor execution torque. Without calibration, the compensated torque is accurately adjusted to further suppress the rotational speed fluctuation during motor gear shifting.

[0153] Based on the same inventive concept, an embodiment of the present invention also provides a control device for an oil-cooled motor cooling oil pump. Figure 2 It is a structural block diagram of a control device for suppressing gear shifting jitter of an electric vehicle provided by an embodiment of the present invention. As Figure 2 shown, the control device 200 includes an acquisition module 210, a first control module 220, and a second control module 230.

[0154] The acquisition module 210 is configured to acquire the gear rotation distance when the vehicle starts the gear engagement action.

[0155] The first control module 220 is configured to control the motor to perform the gear engagement action with the minimum gear engagement torque in response to the gear rotation distance being less than the set distance. The minimum gear engagement torque is the minimum torque required for the motor pre-calibrated at the set gear position of the vehicle to rotate at a speed greater than the set speed value.

[0156] The second control module 230 is configured to control the motor to perform the gear engagement action with the target gear engagement torque until the gear engagement is completed in response to the gear rotation distance being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor. The target gear engagement torque is less than the minimum gear engagement torque.

[0157] Optionally, the second control module 230 is further configured to:

[0158] During the tooth engagement process of the motor, control the motor execution torque to decay from the minimum tooth engagement torque at a set slope.

[0159] Optionally, the first control module 220 is further configured to:

[0160] When the vehicle switches from the second gear to the first gear, control the motor to perform the tooth engagement action with the first minimum tooth engagement torque, where the first minimum tooth engagement torque is the motor execution torque corresponding to the vehicle in the first gear and the motor at the set speed;

[0161] When the vehicle switches from the first gear to the second gear, control the motor to perform the tooth engagement action with the second minimum tooth engagement torque, where the second minimum tooth engagement torque is the motor execution torque corresponding to the vehicle in the second gear and the motor at the set speed.

[0162] Optionally, the second control module 230 is further configured to:

[0163] When the vehicle switches from the second gear to the first gear, in response to the gear rotation distance being greater than or equal to the first set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay from the first minimum tooth engagement torque at the first slope, so that the motor execution torque can decay to 0 before the end of the gear tooth engagement process;

[0164] When the vehicle switches from the first gear to the second gear, in response to the gear rotation distance being greater than or equal to the second set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay from the second minimum tooth engagement torque at the second slope, so that the motor execution torque can decay to 0 before the end of the gear tooth engagement process.

[0165] Optionally, the acquisition module 210 is further configured to:

[0166] Acquire the set distance and set slope determined according to the set calibration method;

[0167] Wherein, the set calibration method includes:

[0168] When the vehicle shifts to the target gear and starts the tooth engagement action, give the motor execution torque as the minimum tooth engagement torque corresponding to the target gear, control the set distance to gradually increase from the initial distance to the target distance at the first step length, and at different set distances, control the set slope to increase from 0 to 1 at the second step length, and record the combination of the set distance and set slope that meet the set conditions. The set conditions include that when the gear rotation distance is the set distance, the motor execution torque starts from the minimum tooth engagement torque and linearly decays at the set slope until the motor execution torque can decay to 0 before the end of the tooth engagement;

[0169] Select a set of set distance and set slope with the smallest motor speed fluctuation amount from the combinations of set distance and set slope that meet the set conditions for calibration.

[0170] Optionally, the control device 200 further includes a torque compensation module for:

[0171] When the vehicle starts to engage gears, obtain the motor torque and actively compensate the motor torque until the gear engagement is completed.

[0172] Optionally, the torque compensation module is further used for:

[0173] Obtain the current speed of the motor and perform two low-pass filtering processes on the speed;

[0174] Determine the motor acceleration according to the low-pass filtered speed and filter the motor acceleration;

[0175] Use the filtered motor acceleration to perform phase compensation on the speed;

[0176] Take the speed after filtering and phase compensation as the given value, and the original motor speed as the feedback, and calculate the torque compensation amount through PI loop regulation;

[0177] Limit the torque compensation amount;

[0178] Compensate the motor torque according to the limited torque compensation amount.

[0179] It can be understood that the control device provided in the above embodiments is only illustrated by dividing the above functional modules. In practical applications, the above functions can be allocated to different functional modules according to needs, that is, the internal structure of the control device is divided into different functional modules to complete all or part of the functions described above.

[0180] The embodiment of the present invention also provides an electronic device, which may include a processor and a memory, and the processor and the memory may be communicatively connected to each other through a bus or other means.

[0181] The processor may be a central processing unit (CPU), or an application specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application.

[0182] The memory may include a mass storage for data or instructions. By way of example and not limitation, the memory may include a hard disk drive (HDD), a floppy disk drive, flash memory, an optical disk, a magneto-optical disk, a magnetic tape, or a universal serial bus (USB) drive, or a combination of two or more of these. Where appropriate, the memory may include removable or non-removable (or fixed) media. Where appropriate, the memory may be internal or external to the electronic device. In a particular embodiment, the memory may be non-volatile solid-state memory.

[0183] In one example, the memory may be a read only memory (ROM). In one example, the ROM may be a mask-programmed ROM, a programmable ROM (PROM), an erasable PROM (EPROM), an electrically erasable PROM (EEPROM), an electrically rewritable ROM (EAROM), or flash memory, or a combination of two or more of these.

[0184] The processor reads and executes the computer program instructions stored in the memory to implement any one of the control methods in the above embodiments.

[0185] In one example, the electronic device may include a communication interface and a bus. Among them, the processor, the memory, and the communication interface are connected through the bus and communicate with each other. The communication interface is mainly used to implement the communication between the modules, devices, units, and / or devices in the embodiments of the present application. Where appropriate, the bus may include one or more buses.

[0186] In addition, in combination with the control method in the above embodiments, the embodiments of the present invention may provide a computer-readable storage medium to implement. Computer program instructions are stored on the computer-readable storage medium; when the computer program instructions are executed by the processor, any one of the control methods in the above embodiments is implemented.

[0187] The technical solutions in the embodiments of the present application at least have the following technical effects or advantages:

[0188] A control method, device, equipment and medium for suppressing shift jitter of an electric vehicle provided by an embodiment of the present invention. When the vehicle starts to engage gears during a shift, the rotation distance of the gear is obtained, and the motor torque is controlled according to the rotation distance of the gear. Among them, in response to the rotation distance of the gear being less than the set distance, the motor is controlled to perform the gear engagement action with the minimum gear engagement torque, so as to start the gear engagement action at the first time. In response to the rotation distance of the gear being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, the motor is controlled to perform the gear engagement action with the target gear engagement torque until the gear engagement is completed. Since the target gear engagement torque is less than the minimum gear engagement torque, the motor torque can be further reduced in the second half of the gear engagement until the gear engagement is completed, so that the motor torque is relatively small and the rotation speed is relatively low at the actual gear engagement moment, minimizing the motor jitter to the greatest extent.

[0189] In the specification provided here, a large number of specific details are described. However, it can be understood that the embodiments of the present invention can be practiced without these specific details. In some instances, well-known methods, structures, and technologies are not shown in detail so as not to obscure the understanding of this specification.

[0190] Similarly, it should be understood that, in order to streamline this disclosure and assist in understanding one or more of the various inventive aspects, in the above description of the exemplary embodiments of the present invention, the various features of the present invention are sometimes grouped together into a single embodiment, figure, or description thereof. However, the disclosed method should not be construed as reflecting the intention that the claimed invention requires more features than are expressly recited in each claim. Rather, as reflected in the following claims, the inventive aspects lie in less than all the features of the single foregoing disclosed embodiment. Thus, the claims following the detailed description are hereby expressly incorporated into this detailed description, with each claim standing on its own as a separate embodiment of the present invention.

[0191] It should be noted that the above embodiments illustrate the present invention rather than limit the present invention, and those skilled in the art can design alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses shall not be construed as limiting the claim. The word "comprising" does not exclude the presence of components or steps not listed in the claims. The word "a" or "an" preceding a component does not exclude the presence of a plurality of such components. The present invention can be implemented by means of hardware including several different components and by means of a suitably programmed computer. In the unit claims listing several devices, several of these devices may be embodied by the same item of hardware. The use of the words first, second, and third, etc. does not denote any order. These words can be interpreted as names.

Claims

1. A control method for suppressing shift jitter of an electric vehicle, characterized in that, the control method includes: When the vehicle starts the gear engagement action during shifting, obtain the rotational distance of the gear. Wherein, the vehicle shifting includes the vehicle switching from the first gear to the second gear, or from the second gear to the first gear. The first gear is the reverse gear, and the second gear is the forward gear; In response to the rotational distance of the gear being less than the set distance, control the motor to perform the gear engagement action with the minimum gear engagement torque. The minimum gear engagement torque is the minimum torque required for the motor to rotate at a speed greater than the set speed value under the set gear of the vehicle; In response to the rotational distance of the gear being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor, control the motor to perform the gear engagement action with the target gear engagement torque until the gear engagement is completed. The target gear engagement torque is less than the minimum gear engagement torque; The controlling the motor to perform the gear engagement action with the target gear engagement torque includes: During the gear engagement process of the motor, control the motor to perform the torque to decay from the minimum gear engagement torque at a set slope; Before the control method controls the motor to perform the gear engagement action with the minimum gear engagement torque, the control method further includes: Obtain the set distance and the set slope determined according to the set calibration method; Wherein, the set calibration method includes: When the vehicle shifts to the target gear and starts the gear engagement action, set the motor execution torque to the minimum gear engagement torque corresponding to the target gear, control the set distance to gradually increase from the initial distance to the target distance in a first step length, and at different set distances, control the set slope to increase from 0 to 1 in a second step length, and record the combination of the set distance and the set slope that meets the set conditions. The set conditions include that when the rotational distance of the gear is the set distance, the motor execution torque starts to linearly decay at the minimum gear engagement torque at the set slope until before the end of the gear engagement, the motor execution torque can decay to 0; Select a set of the set distance and the set slope with the smallest motor speed fluctuation amount from the combinations of the set distance and the set slope that meet the set conditions for calibration.

2. The control method according to claim 1, characterized in that, The controlling the motor to perform the gear engagement action with the minimum gear engagement torque includes: When the vehicle switches from the second gear to the first gear, control the motor to perform the gear engagement action with the first minimum gear engagement torque. Wherein, the first minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the first gear and the motor at the set speed; When the vehicle switches from the first gear to the second gear, control the motor to perform the gear engagement action with the second minimum gear engagement torque. Wherein, the second minimum gear engagement torque is the motor execution torque corresponding to the vehicle in the second gear and the motor at the set speed.

3. The control method according to claim 2, characterized in that, The controlling the motor execution torque to decay from the minimum gear engagement torque at a set slope includes: When the vehicle switches from the second gear to the first gear, in response to the gear rotation distance being greater than or equal to the first set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay from the first minimum tooth-leaning torque at a first slope, so that the motor execution torque can decay to 0 before the end of the gear tooth-leaning process; When the vehicle switches from the first gear to the second gear, in response to the gear rotation distance being greater than or equal to the second set distance and less than or equal to the actual gear clearance of the motor, control the motor execution torque to linearly decay from the second minimum tooth-leaning torque at a second slope, so that the motor execution torque can decay to 0 before the end of the gear tooth-leaning process.

4. The control method according to claim 1, characterized in that, the control method further includes: When the vehicle starts the tooth-leaning action during gear shifting, obtain the motor torque and perform active compensation on the motor torque until the tooth-leaning is completed.

5. The control method according to claim 4, characterized in that, the active compensation for the motor torque includes: Obtain the current speed of the motor and perform two low-pass filtering processes on the speed; Determine the motor acceleration according to the speed after low-pass filtering and filter the motor acceleration; Perform phase compensation on the speed by using the filtered motor acceleration; Take the speed after filtering and phase compensation as the given value, and the original motor speed as the feedback, and calculate the torque compensation amount through PI loop regulation; Limit the torque compensation amount; Compensate the motor torque according to the limited torque compensation amount.

6. A control device for suppressing gear shifting jitter of an electric vehicle, characterized in that, the control device includes: An acquisition module, configured to obtain the gear rotation distance when the vehicle starts the tooth-leaning action during gear shifting, wherein the vehicle gear shifting includes the vehicle switching from the first gear to the second gear, or from the second gear to the first gear, the first gear is the reverse gear, and the second gear is the forward gear; A first control module, configured to control the motor to perform the tooth-leaning action with the minimum tooth-leaning torque in response to the gear rotation distance being less than the set distance, and the minimum tooth-leaning torque is the minimum torque required for the motor calibrated in advance to rotate at a speed greater than the set speed value in the set gear of the vehicle; A second control module, configured to control the motor to perform the tooth-leaning action with the target tooth-leaning torque in response to the gear rotation distance being greater than or equal to the set distance and less than or equal to the actual gear clearance of the motor until the tooth-leaning is completed, and the target tooth-leaning torque is less than the minimum tooth-leaning torque; The second control module is further configured to: During the motor tooth-leaning process, control the motor execution torque to decay from the minimum tooth-leaning torque at a set slope; The acquisition module is further configured to: Obtain the set distance and the set slope determined according to the set calibration method; wherein, the set calibration method includes: When the vehicle shifts to the target gear and starts the tooth engagement action, the motor execution torque is given as the minimum tooth engagement torque corresponding to the target gear, the set distance is controlled to gradually increase from the initial distance to the target distance at a first step length, and at different set distances, the set slope is controlled to increase from 0 to 1 at a second step length. The combination of the set distance and the set slope that meets the set conditions is recorded. The set conditions include that when the rotational distance of the gear is the set distance, the motor execution torque starts to linearly decay at the minimum tooth engagement torque according to the set slope until the motor execution torque can decay to 0 before the end of tooth engagement; Select a set of the set distance and the set slope with the minimum motor speed fluctuation amount from the combinations of the set distance and the set slope that meet the set conditions for calibration.

7. An electronic device, characterized in that, comprising: a memory and a processor, the memory and the processor are communicatively connected to each other, the memory stores computer instructions, and the processor executes the computer instructions to execute the control method 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 causing the computer to execute the control method according to any one of claims 1-5.

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