Method, device and equipment for controlling reducer noise and storage medium

Abstract

The application discloses a reducer noise control method, device, equipment and storage medium, and is applied to a vehicle. The vehicle comprises a reducer, a motor and a vehicle controller. The control method comprises the following steps: acquiring a speed interval and a torque interval of the motor under the condition that the reducer noise is over standard; in the case that the vehicle is a four-wheel drive vehicle, modifying a front axle or rear axle torque distribution ratio corresponding to the speed interval, and determining a target torque of the motor based on the modified front axle or rear axle torque distribution ratio; in the case that the vehicle is a two-wheel drive vehicle, determining the target torque of the motor according to the current speed of the motor, the requested torque of the vehicle controller, the speed interval and the torque interval; and distributing the target torque to the motor. The target torque of the motor is controlled by a software optimization method, so that the target torque avoids the torque interval when the reducer noise is over standard, and the gear whine noise of the reducer is reduced at low cost.

Description

Methods, devices, equipment and storage media for controlling gearbox noise Technical Field

[0001] This application belongs to the field of vehicle control technology, and in particular relates to a method, device, equipment and storage medium for controlling reducer noise. Background Technology

[0002] With the rapid development of the new energy vehicle industry, especially the continuous increase in sales of pure electric vehicles, automakers and customers have increasingly higher requirements for the overall performance of pure electric vehicles. NVH performance is one of the characteristics of overall vehicle quality that customers can perceive at the first moment, and automakers need to pay close attention to it. For pure electric vehicles, after the masking effect of engine noise is removed, the noise of other components becomes more obvious, requiring higher requirements for its control.

[0003] The reducer is a major noise source in the powertrain. The gear squealing noise it causes is a steady-state noise generated by dynamic meshing force excitation. It is caused by transmission errors during the meshing process of the loaded gears and is generated through frequency tuning. Currently, the gear squealing noise of the reducer is mainly addressed through the following approaches: 1) In terms of noise source control, this mainly involves improving the machining accuracy and shaping of the reducer gears; 2) In terms of transmission path, this mainly involves improving vibration damping and isolation performance and increasing the stiffness characteristics of various mounting points on the vehicle body. These solutions require increasing hardware precision or the stiffness characteristics of the vehicle body mounting points, leading to an increase in overall vehicle cost. Summary of the Invention

[0004] The embodiments of this application provide a method, apparatus, device, and storage medium for controlling reducer noise, thereby at least partially solving the problem of increased vehicle cost caused by reducing gear squeal noise from the reducer.

[0005] Other features and advantages of this application will become apparent from the following detailed description, or may be learned in part from practice of this application.

[0006] According to a first aspect of the embodiments of this application, a method for controlling reducer noise is provided, applied to a vehicle, the vehicle including a reducer, a motor, and a vehicle controller, the control method comprising:

[0007] Obtain the speed range and torque range of the motor when the reducer noise exceeds the standard;

[0008] When the vehicle is a four-wheel drive vehicle, the front axle or rear axle torque distribution ratio corresponding to the speed range is modified, and the target torque of the motor is determined based on the modified front axle or rear axle torque distribution ratio.

[0009] When the vehicle is a two-wheel drive vehicle, the target torque of the motor is determined based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range;

[0010] The target torque is distributed to the motor.

[0011] In some embodiments of this application, based on the foregoing scheme, modifying the front or rear axle torque distribution ratio corresponding to the speed range includes:

[0012] Determine the vehicle speed range based on the aforementioned rotational speed range;

[0013] The total wheel-end torque requirement is determined based on the current accelerator pedal opening of the vehicle.

[0014] Modify the front or rear axle torque distribution ratio in the front or rear axle torque distribution mapping table corresponding to the total wheel end torque demand and the vehicle speed range. The front or rear axle torque distribution mapping table is used to characterize the correspondence between the front or rear axle torque distribution ratio, the total wheel end torque demand, and the vehicle speed.

[0015] In some embodiments of this application, based on the foregoing scheme, the motor includes a front axle motor and a rear axle motor, and determining the target torque of the motor based on the modified front axle or rear axle torque distribution ratio includes:

[0016] Based on the modified front or rear axle torque distribution ratio and the total wheel-end torque requirement, the target torque of the front axle motor and the target torque of the rear axle motor are determined.

[0017] In some embodiments of this application, based on the foregoing scheme, determining the target torque of the motor according to the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range includes:

[0018] Determine the minimum and maximum torque within the torque range;

[0019] When the current speed is within the speed range, the minimum torque or the maximum torque is determined as the target torque of the motor based on the magnitude of the requested torque.

[0020] In some embodiments of this application, based on the foregoing scheme, determining the minimum torque or the maximum torque as the target torque of the motor according to the magnitude of the requested torque includes:

[0021] The average of the minimum torque and the maximum torque is taken as the average torque;

[0022] If the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, the minimum torque is determined as the target torque of the motor.

[0023] If the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, the maximum torque is determined as the target torque of the motor.

[0024] In some embodiments of this application, based on the foregoing scheme, the control method further includes:

[0025] During the process of the target torque of the motor switching from the minimum torque to the maximum torque, the slope of the change of the target torque of the motor is increased.

[0026] In some embodiments of this application, based on the foregoing scheme, before determining the target torque of the motor according to the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range, the control method further includes:

[0027] Determine the minimum and maximum torque within the torque range;

[0028] Determine the maximum and minimum speeds within the specified speed range;

[0029] If the absolute value of the difference between the maximum torque and the minimum torque, and the absolute value of the difference between the maximum speed and the minimum speed both satisfy preset conditions, then the step of determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range is executed.

[0030] According to a second aspect of the embodiments of this application, a speed reducer noise control device is provided, applied to a vehicle, the vehicle including a speed reducer, a motor, and a vehicle controller, the control device comprising:

[0031] The data acquisition unit is used to acquire the speed range and torque range of the motor when the reducer noise exceeds the standard;

[0032] The four-wheel drive control unit is used to modify the front axle or rear axle torque distribution ratio corresponding to the speed range when the vehicle is a four-wheel drive vehicle, and to determine the target torque of the motor based on the modified front axle or rear axle torque distribution ratio.

[0033] A two-wheel drive control unit is used to determine the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range when the vehicle is a two-wheel drive vehicle.

[0034] A torque actuation unit is used to distribute the target torque to the motor.

[0035] In some embodiments of this application, based on the foregoing scheme, the four-wheel drive control unit is further configured to determine the vehicle speed range according to the speed range; determine the total wheel-end torque demand according to the current accelerator pedal opening of the vehicle; and modify the front or rear axle torque distribution ratio corresponding to the total wheel-end torque demand and the vehicle speed range in the front or rear axle torque distribution mapping table, wherein the front or rear axle torque distribution mapping table is used to characterize the correspondence between the front or rear axle torque distribution ratio, the total wheel-end torque demand, and the vehicle speed.

[0036] In some embodiments of this application, based on the foregoing scheme, the motor includes a front axle motor and a rear axle motor, and the four-wheel drive control unit is further configured to determine the target torque of the front axle motor and the target torque of the rear axle motor based on the modified front axle or rear axle torque distribution ratio and the total wheel end demand torque.

[0037] In some embodiments of this application, based on the foregoing scheme, the two-drive control unit is further configured to determine the minimum torque and maximum torque of the torque range; and when the current speed is within the speed range, determine the minimum torque or the maximum torque as the target torque of the motor according to the magnitude of the requested torque.

[0038] In some embodiments of this application, based on the foregoing scheme, the two-drive control unit is further configured to use the average value of the minimum torque and the maximum torque as the average torque; when the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, the minimum torque is determined as the target torque of the motor; when the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, the maximum torque is determined as the target torque of the motor.

[0039] In some embodiments of this application, based on the foregoing scheme, the two-drive control unit is further configured to increase the slope of the change of the target torque of the motor during the process of the target torque of the motor switching from the minimum torque to the maximum torque.

[0040] In some embodiments of this application, based on the foregoing scheme, the two-wheel drive control unit is further configured to determine the minimum torque and maximum torque of the torque range; determine the maximum speed and minimum speed of the speed range; and, when the absolute value of the difference between the maximum torque and the minimum torque, and the absolute value of the difference between the maximum speed and the minimum speed both satisfy preset conditions, execute the step of determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range.

[0041] According to a third aspect of the embodiments of this application, a speed reducer noise control device is provided, including a processor and a memory, wherein the memory stores computer program instructions executable by the processor, and when the processor executes the computer program instructions, it implements the instructions of the method as described in any of the first aspects above.

[0042] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, wherein computer program instructions are stored therein, the computer program instructions being loaded and executed by a processor to perform the operations performed by the method described in any of the first aspects above.

[0043] In this application, the motor's speed and torque range are obtained when the reducer noise exceeds the standard. When the vehicle is a four-wheel drive vehicle, the front or rear axle torque distribution ratio corresponding to the speed range is modified, and the target torque of the motor is determined based on the modified front or rear axle torque distribution ratio. When the vehicle is a two-wheel drive vehicle, the target torque of the motor is determined based on the motor's current speed, the requested torque from the vehicle controller, the speed range, and the torque range. The target torque is then allocated to the motor. Specifically, a software optimization method is used to control the target torque of the motor, ensuring it avoids the torque range where reducer noise exceeds the standard, thereby reducing the gear squeal noise of the reducer at a low cost.

[0044] It should be understood that the above general description and the following detailed description are exemplary and explanatory only, and do not limit this application. Attached Figure Description

[0045] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with this application and, together with the description, serve to explain the principles of this application. It is obvious that the drawings described below are merely some embodiments of this application, and those skilled in the art can obtain other drawings based on these drawings without any inventive effort. In the drawings:

[0046] Figure 1 shows a schematic diagram of the generation and transmission process of reducer noise in one embodiment;

[0047] Figure 2 shows a flowchart of a method for controlling reducer noise in one embodiment;

[0048] Figure 3 shows a schematic diagram of the front and rear axle torque distribution mapping table in one embodiment;

[0049] Figure 4 shows a comparative schematic diagram of the torque optimization of a two-wheel drive vehicle in one embodiment.

[0050] Figure 5 shows a flowchart of a method for controlling reducer noise in another embodiment;

[0051] Figure 6 shows a block diagram of a gearbox noise control device in one embodiment;

[0052] Figure 7 shows a schematic diagram of the structure of a speed reducer noise control device in one embodiment. Detailed Implementation

[0053] 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 skilled in the art without creative effort are within the scope of protection of this application.

[0054] Furthermore, the described features, structures, or characteristics can be combined in any suitable manner in one or more embodiments. Numerous specific details are provided in the following description to give a thorough understanding of embodiments of this application. However, those skilled in the art will recognize that the technical solutions of this application can be practiced without one or more of the specific details, or other methods, components, apparatuses, steps, etc., can be employed. In other instances, well-known methods, apparatuses, implementations, or operations are not shown or described in detail to avoid obscuring various aspects of this application.

[0055] The block diagrams shown in the accompanying drawings are merely functional entities and do not necessarily correspond to physically independent entities. That is, these functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor devices and / or microcontroller devices.

[0056] The flowcharts shown in the accompanying drawings are merely illustrative and do not necessarily include all content and operations / steps, nor do they necessarily have to be performed in the described order. For example, some operations / steps can be broken down, while others can be combined or partially combined; therefore, the actual execution order may change depending on the specific circumstances.

[0057] To enable those skilled in the art to better understand this application, the generation and transmission process of reducer noise will be briefly explained first with reference to Figure 1.

[0058] Referring to Figure 1, a schematic diagram of the generation and transmission process of reducer noise is shown in one embodiment.

[0059] During torque transmission, the reducer's structure deforms under load, and transmission error fluctuations inevitably occur during gear meshing. This transmission error, as a dynamic excitation source, directly causes fluctuations in contact force when the gears are in contact under load. These fluctuations in internal forces excite radial and axial vibrations in the gears, which are then transmitted through the shaft, bearings, and cavity, ultimately generating whistling noise. This embodiment proposes a software optimization method for reducer whistling noise. By acquiring the motor's speed and torque ranges when the reducer noise exceeds the standard, and controlling the motor's target torque to avoid these torque ranges, the reducer's gear whistling noise is reduced.

[0060] Figure 2 shows a flowchart of a method for controlling reducer noise in one embodiment. As shown in Figure 2, a method for controlling reducer noise is provided. Taking the application of this method to a vehicle controller as an example, the method may include the following steps:

[0061] Step 201: Obtain the speed range and torque range of the motor when the reducer noise exceeds the standard.

[0062] Among them, excessive reducer noise refers to the reducer noise exceeding the permissible noise range of the whole vehicle in decibels. This noise range can be calibrated according to the actual situation.

[0063] In practice, the noise of the reducer under different operating conditions (i.e., different speeds and torques) can be measured and identified from the vehicle end. Taking a certain model as an example, the vehicle has obvious gear squealing noise in the reducer gears under the low throttle speed of 25kph-30kph and the constant speed of 30kph. Historical data analysis shows that the noise is mainly contributed by the reducer gears.

[0064] Then, based on the noise order characteristics of the reducer, separation and extraction are performed to establish mapping relationships between reducer noise decibels and speed, and between reducer noise decibels and torque. Finally, the allowable peak value of reducer noise decibels is defined to determine the speed range and torque range where the whistling noise exceeds the standard. For example, if the peak value of the reducer noise reaches above 35dB at 1880–2500 rpm, which does not meet the vehicle's requirements, then the speed range can be determined to be 1880–2500 rpm. In other embodiments, if significant gear whistling noise is detected at 1880–2500 rpm with a torque of 8–14 Nm, and the peak value exceeds the vehicle's allowable range, then the speed range can be determined to be 1880–2500 rpm, and the torque range to be 8–14 Nm.

[0065] After determining the speed range and torque range, these two ranges can be saved to the memory. When the vehicle controller needs to reduce noise in the reducer, it can retrieve the pre-stored speed range and torque range from the memory.

[0066] Step 202: If the vehicle is a four-wheel drive vehicle, modify the front or rear axle torque distribution ratio corresponding to the speed range, and determine the target torque of the motor based on the modified front or rear axle torque distribution ratio.

[0067] In practical implementation, the torque distribution ratio of the front or rear axle can be modified by altering the front-to-rear axle torque distribution mapping table. This mapping table characterizes the relationship between the front-to-rear axle torque distribution ratio, the total wheel-end torque demand, and the vehicle speed. Figure 3 shows a schematic diagram of the front-to-rear axle torque distribution mapping table in one embodiment. As shown in Figure 3, the horizontal axis (0-150) represents the vehicle speed, and the vertical axis (-3000-7800) represents the total wheel-end torque demand. The coefficient in the middle of the diagram represents the front axle torque distribution ratio.

[0068] It should be understood that, typically with a fixed accelerator pedal opening, the vehicle controller calculates the total wheel-end torque requirement (i.e., the total wheel-end torque the vehicle needs to output). Then, based on the total wheel-end torque requirement and vehicle speed, it consults the front-to-rear axle torque distribution mapping table to obtain the front-to-rear axle torque distribution ratio. Finally, it multiplies this ratio by the total wheel-end torque requirement to obtain the target torque for the front motor and the target torque for the rear motor. In this embodiment, by modifying the front-to-rear axle torque distribution ratio, the target torque for the front and rear motors is modified, thereby ensuring that the target torques for both motors avoid the torque range where reducer noise exceeds limits.

[0069] In one example, the vehicle controller can determine the vehicle speed range based on the engine speed range; determine the total wheel-end torque demand based on the vehicle's current accelerator pedal opening; and modify the front or rear axle torque distribution ratio in the front and rear axle torque distribution mapping table corresponding to the total wheel-end torque demand and the vehicle speed range.

[0070] It should be understood that, since there is a correspondence between engine speed and vehicle speed, the vehicle controller can convert the engine speed range into the vehicle speed range based on this correspondence; since there is also a correspondence between the accelerator pedal opening and the total wheel-end torque demand, the vehicle controller can also obtain the total wheel-end torque demand corresponding to the accelerator pedal opening by looking up a table.

[0071] The vehicle controller can find the corresponding front or rear axle torque distribution ratio from the front or rear axle torque distribution mapping table based on the total wheel-end torque demand and vehicle speed range, and increase or decrease the distribution ratio.

[0072] Taking a speed range of 1880 to 2500 rpm and a torque range of 8 to 14 Nm for the rear motor as an example, after calculating the vehicle speed range corresponding to 1880 to 2500 rpm and the total wheel-end torque requirement, the vehicle controller can increase or decrease the front axle torque distribution ratio.

[0073] If the front axle torque distribution ratio is increased, the front motor will output more torque and the rear motor will output less torque. If the front axle torque distribution ratio is decreased, the front motor will output less torque and the rear motor will output more torque. Both of these modification methods can avoid the torque range.

[0074] After modifying the torque distribution ratio of the front or rear axle, a new front and rear axle torque distribution mapping table can be obtained. Based on the modified front or rear axle torque distribution ratio in the new front and rear axle torque distribution mapping table, and the total wheel end torque requirement, the target torque of the front axle motor and the target torque of the rear axle motor can be determined.

[0075] Step 203: If the vehicle is a two-wheel drive vehicle, determine the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range.

[0076] The requested torque refers to the torque requested by the vehicle controller from the motor controller.

[0077] It should be understood that when the vehicle is a two-wheel drive vehicle, the target torque of the motor usually changes with the requested torque of the vehicle controller. In this embodiment, when the current speed of the motor is in the speed range and the requested torque of the vehicle controller is in the torque range, the target torque of the motor is set according to a preset strategy to avoid the torque range.

[0078] In one example, the vehicle controller can determine the minimum and maximum torque within a torque range; if the current speed is within the range, the minimum or maximum torque is determined as the target torque for the motor based on the magnitude of the requested torque.

[0079] Taking a torque range of 8 to 14 Nm as an example, the minimum torque is 8 Nm and the maximum torque is 14 Nm. If the current speed is within the speed range, then 8 Nm or 14 Nm will be used as the target torque of the motor, depending on the magnitude of the requested torque.

[0080] Specifically, the vehicle controller can use the average of the minimum torque and the maximum torque as the average torque; when the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, the minimum torque is determined as the target torque of the motor; when the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, the maximum torque is determined as the target torque of the motor.

[0081] Taking a torque range of 8-14 Nm as an example, with an average torque of 11 Nm, if the current speed is within the speed range and 8 Nm ≤ requested torque < 11 Nm, then the target torque of the motor is set to 8 Nm; if the current speed is within the speed range and 11 Nm ≤ requested torque ≤ 14 Nm, then the target torque of the motor is set to 14 Nm.

[0082] It should be noted that since the requested torque is constantly changing, the target torque of the motor may need to switch from the minimum torque to the maximum torque. During the switching process, the slope of the change in the target torque of the motor can be increased to complete the switching quickly.

[0083] Figure 4 shows a comparative diagram of torque optimization before and after for a two-wheel drive vehicle in one embodiment. The VCU requested torque is the requested torque of the vehicle controller, and the MCU executed torque is the executed torque of the motor controller, i.e., the target torque of the motor. As shown in Figure 4, when the current speed is between 1800 and 2500 rpm, without torque optimization, the MCU executed torque follows the VCU requested torque. After optimizing the motor torque, when the VCU requested torque is between 8 Nm and 11 Nm, the MCU executed torque is 8 Nm; when the VCU requested torque is between 11 Nm and 14 Nm, the MCU executed torque is 14 Nm. The slope of the MCU executed torque change is faster when switching from 8 Nm to 14 Nm.

[0084] It is worth noting that when two-wheel drive vehicles are optimized for torque through software strategies, it may have an adverse effect on the normal driving performance of the vehicle. Therefore, it is necessary to check the speed range and torque range. Torque optimization should only be performed when the speed range and torque range meet the conditions, so as to reduce the impact on driving performance caused by noise reduction.

[0085] Specifically, the minimum and maximum torque of the torque range can be determined; the maximum and minimum speed of the speed range can be determined; and if the absolute value of the difference between the maximum and minimum torque, and the absolute value of the difference between the maximum and minimum speed both meet preset conditions, the step of determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range can be executed.

[0086] Taking a speed range of 1880–2500 rpm and a torque range of 8–14 Nm as an example, with the preset conditions that the absolute value of the difference between the maximum and minimum torque is less than 10 Nm and the absolute value of the difference between the maximum and minimum speed is less than 1000 rpm, the absolute value of the difference between the maximum torque of 14 Nm and the minimum torque of 8 Nm is 6 Nm, which is less than 10 Nm, and the absolute value of the difference between the maximum speed of 2500 rpm and the minimum speed of 1880 rpm is 620 rpm, which is less than 1000 rpm. Both of these conditions are met, and the target torque of the motor can be optimized.

[0087] Step 204: Distribute the target torque to the motor.

[0088] It should be understood that after determining the target torque of the motor, the vehicle controller can output a torque command to the motor controller based on the target torque, and the motor controller will execute the target torque.

[0089] This embodiment obtains the motor's speed and torque range when the reducer noise exceeds the standard. In the case of a four-wheel drive vehicle, it modifies the front or rear axle torque distribution ratio corresponding to the speed range and determines the motor's target torque based on the modified ratio. In the case of a two-wheel drive vehicle, it determines the motor's target torque based on the motor's current speed, the vehicle controller's requested torque, the speed range, and the torque range; and then allocates the target torque to the motor. Specifically, software optimization is used to control the motor's target torque, ensuring it avoids the torque range where reducer noise exceeds the standard, thereby reducing reducer gear squeal noise at a low cost.

[0090] Figure 5 shows a flowchart of a method for controlling reducer noise in another embodiment. As shown in Figure 6, the method for controlling reducer noise may include the following steps:

[0091] Step 501: Obtain the speed range and torque range of the motor when the reducer noise exceeds the standard;

[0092] Step 502: When the vehicle is a four-wheel drive vehicle, determine the vehicle speed range based on the engine speed range, determine the total wheel end torque demand based on the current accelerator pedal opening, and modify the front or rear axle torque distribution ratio corresponding to the total wheel end torque demand and vehicle speed range in the front or rear axle torque distribution mapping table. The front or rear axle torque distribution mapping table is used to characterize the correspondence between the front or rear axle torque distribution ratio, the total wheel end torque demand, and the vehicle speed.

[0093] Step 503: Based on the modified front axle or rear axle torque distribution ratio and the total wheel end torque requirement, determine the target torque of the front axle motor and the target torque of the rear axle motor.

[0094] Step 504: Distribute the corresponding target torque to the front axle motor and the rear axle motor;

[0095] Step 502': If the vehicle is a two-wheel drive vehicle, determine the minimum torque, maximum torque and average torque of the torque range, and determine the maximum speed and minimum speed of the speed range.

[0096] Step 503': Determine whether the absolute value of the difference between the maximum torque and the minimum torque, and the absolute value of the difference between the maximum speed and the minimum speed, both meet the preset conditions.

[0097] Step 504' If so, when the current speed is within the speed range, the requested torque is greater than or equal to the minimum torque, and less than or equal to the average torque, the minimum torque is determined as the target torque of the motor; when the current speed is within the speed range, the requested torque is greater than or equal to the average torque, and less than or equal to the maximum torque, the maximum torque is determined as the target torque of the motor.

[0098] Step 505': If not, set the target torque of the motor to the requested torque;

[0099] Step 506': Distribute the target torque to the motor.

[0100] This embodiment uses software for fine-grained control, ensuring the optimization of reducer noise. Furthermore, because software changes are less difficult and can be modified quickly, it not only avoids the huge costs associated with hardware changes but also effectively guarantees project timelines.

[0101] The following describes an embodiment of the apparatus described in this application, which can be used to execute the reducer noise control method described in the above embodiments of this application. For details not disclosed in the apparatus embodiments of this application, please refer to the embodiments of the reducer noise control method described above in this application.

[0102] Referring to Figure 6, a block diagram of a speed reducer noise control device in an embodiment of this application is shown.

[0103] As shown in Figure 6, the reducer noise control device of this application embodiment includes: a data acquisition unit 601, a four-wheel drive control unit 602, a two-wheel drive control unit 603, and a torque execution unit 604. The data acquisition unit 601 is used to acquire the motor's speed range and torque range when the reducer noise exceeds the standard. The four-wheel drive control unit 602 is used to modify the front or rear axle torque distribution ratio corresponding to the speed range when the vehicle is a four-wheel drive vehicle, and determine the target torque of the motor based on the modified front or rear axle torque distribution ratio. The two-wheel drive control unit 603 is used to determine the target torque of the motor based on the motor's current speed, the requested torque from the vehicle controller, the speed range, and the torque range when the vehicle is a two-wheel drive vehicle. The torque execution unit 604 is used to distribute the target torque to the motor.

[0104] In some embodiments of this application, based on the aforementioned scheme, the four-wheel drive control unit 602 is further configured to determine the vehicle speed range based on the rotational speed range; determine the total wheel-end torque demand based on the current accelerator pedal opening of the vehicle; and modify the front or rear axle torque distribution ratio corresponding to the total wheel-end torque demand and the vehicle speed range in the front or rear axle torque distribution mapping table. The front or rear axle torque distribution mapping table is used to characterize the correspondence between the front or rear axle torque distribution ratio, the total wheel-end torque demand, and the vehicle speed.

[0105] In some embodiments of this application, based on the aforementioned scheme, the motor includes a front axle motor and a rear axle motor. The four-wheel drive control unit 602 is also used to determine the target torque of the front axle motor and the target torque of the rear axle motor based on the modified front axle or rear axle torque distribution ratio and the total wheel end demand torque.

[0106] In some embodiments of this application, based on the aforementioned scheme, the two-drive control unit 603 is further configured to determine the minimum torque and maximum torque of the torque range; when the current speed is within the speed range, the minimum torque or maximum torque is determined as the target torque of the motor according to the magnitude of the requested torque.

[0107] In some embodiments of this application, based on the aforementioned scheme, the two-drive control unit 603 is further configured to use the average of the minimum torque and the maximum torque as the average torque; when the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, the minimum torque is determined as the target torque of the motor; when the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, the maximum torque is determined as the target torque of the motor.

[0108] In some embodiments of this application, based on the aforementioned scheme, the two-drive control unit 603 is further configured to increase the slope of the change of the target torque of the motor during the process of switching the target torque of the motor from the minimum torque to the maximum torque.

[0109] In some embodiments of this application, based on the aforementioned scheme, the two-drive control unit 603 is further configured to determine the minimum torque and maximum torque of the torque range; determine the maximum speed and minimum speed of the speed range; and, when the absolute value of the difference between the maximum torque and the minimum torque, and the absolute value of the difference between the maximum speed and the minimum speed both satisfy preset conditions, execute the step of determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range.

[0110] Based on the same inventive concept, this application also provides a speed reducer noise control device. Referring to FIG7, a schematic diagram of the structure of the speed reducer noise control device in this application embodiment is shown. The speed reducer noise control device includes one or more memories 704, one or more processors 702, and at least one computer program (computer program instruction) stored in the memory 704 and executable on the processor 702. When the processor 702 executes the computer program, it implements the method described above.

[0111] In Figure 7, the bus architecture (represented by bus 700) includes any number of interconnected buses and bridges, linking various circuits including one or more processors represented by processor 702 and memory represented by memory 704. Bus 700 can also link various other circuits such as peripherals, voltage regulators, and power management circuits, which are well known in the art and therefore will not be described further herein. Bus interface 705 provides an interface between bus 700 and receiver 701 and transmitter 703. Receiver 701 and transmitter 703 can be the same element, a transceiver, providing a unit for communicating with various other devices over a transmission medium. Processor 702 is responsible for managing bus 700 and general processing, while memory 704 can be used to store data used by processor 702 during operation.

[0112] Based on the same inventive concept, embodiments of this application provide a computer-readable storage medium storing at least one computer program instruction, which is loaded and executed by a processor to perform the operations described above.

[0113] The functions described herein may be implemented in hardware, software executed by a processor, firmware, or any combination thereof. If implemented in software executed by a processor, the functions may be stored as one or more instructions or codes on or transmitted via a computer-readable medium. Other examples and embodiments are within the scope and spirit of this application and the appended claims. For example, due to the nature of software, the functions described above may be implemented using software executed by a processor, hardware, firmware, hardwired, or any combination thereof. Furthermore, the functional units may be integrated into a single processing unit, or each unit may exist physically separately, or two or more units may be integrated into a single unit.

[0114] In the several embodiments provided in this application, it should be understood that the disclosed technical content can be implemented in other ways. The device embodiments described above are merely illustrative; for example, the division of units can be a logical functional division, and in actual implementation, there may be other division methods. For instance, multiple units or components may be combined or integrated into another system, or some features may be ignored or not executed. Furthermore, the displayed or discussed mutual coupling, direct coupling, or communication connection may be through some interfaces; the indirect coupling or communication connection between units or modules may be electrical or other forms.

[0115] The units described as separate components may or may not be physically separate. Similarly, the components of the control device may or may not be physical units; they may be located in one place or distributed across multiple units. Some or all of the units can be selected to achieve the purpose of this embodiment, depending on actual needs.

[0116] If the integrated unit is implemented as a software functional unit and sold or used as an independent product, it 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 includes several instructions to cause a computer device (which may be a personal computer, server, or network device, etc.) to execute 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 computer program instructions, such as USB flash drives, read-only memory (ROM), random access memory (RAM), portable hard drives, magnetic disks, or optical disks.

[0117] The above description is merely an embodiment of this application and is not intended to limit this application. Various modifications and variations can be made to this application by those skilled in the art. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the scope of the claims of this application.

Claims

1. A method for controlling reducer noise, applied to vehicles, characterized in that, The vehicle includes a reducer, a motor, and a vehicle controller. The control method includes: acquiring the motor's speed range and torque range when the reducer noise exceeds the standard; if the vehicle is a four-wheel drive vehicle, modifying the front or rear axle torque distribution ratio corresponding to the speed range, and determining the target torque of the motor based on the modified front or rear axle torque distribution ratio; if the vehicle is a two-wheel drive vehicle, determining the target torque of the motor based on the motor's current speed, the vehicle controller's requested torque, the speed range, and the torque range; and allocating the target torque to the motor; the step of determining the target torque of the motor based on the motor's current speed, the vehicle controller's requested torque, the speed range, and the torque range includes: determining the minimum torque and maximum torque of the torque range; if the current speed is within the speed range, taking the average of the minimum torque and the maximum torque as the average torque; if the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, determining the minimum torque as the target torque of the motor; and if the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, determining the maximum torque as the target torque of the motor.

2. The control method according to claim 1, characterized in that, The modification of the front or rear axle torque distribution ratio corresponding to the speed range includes: determining the vehicle speed range based on the speed range; determining the total wheel-end torque demand based on the current accelerator pedal opening of the vehicle; and modifying the front or rear axle torque distribution ratio corresponding to the total wheel-end torque demand and the vehicle speed range in the front or rear axle torque distribution mapping table. The front or rear axle torque distribution mapping table is used to characterize the correspondence between the front or rear axle torque distribution ratio, the total wheel-end torque demand, and the vehicle speed.

3. The control method according to claim 2, characterized in that, The motor includes a front axle motor and a rear axle motor. Determining the target torque of the motor based on the modified front axle or rear axle torque distribution ratio includes: determining the target torque of the front axle motor and the target torque of the rear axle motor based on the modified front axle or rear axle torque distribution ratio and the total wheel end demand torque.

4. The control method according to claim 1, characterized in that, The control method further includes increasing the slope of the target torque change of the motor during the process of the target torque of the motor switching from the minimum torque to the maximum torque.

5. The control method according to claim 1, characterized in that, Before determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range, the control method further includes: determining the minimum torque and maximum torque of the torque range; determining the maximum speed and minimum speed of the speed range; and, if the absolute value of the difference between the maximum torque and the minimum torque, and the absolute value of the difference between the maximum speed and the minimum speed both satisfy preset conditions, performing the step of determining the target torque of the motor based on the current speed of the motor, the requested torque of the vehicle controller, the speed range, and the torque range.

6. A speed reducer noise control device, applied to a vehicle, characterized in that, The vehicle includes a reducer, a motor, and a vehicle controller. The control device includes: a data acquisition unit for acquiring the motor's speed range and torque range when the reducer noise exceeds the standard; a four-wheel drive control unit for modifying the front or rear axle torque distribution ratio corresponding to the speed range when the vehicle is a four-wheel drive vehicle, and determining the target torque of the motor based on the modified front or rear axle torque distribution ratio; a two-wheel drive control unit for determining the target torque of the motor based on the motor's current speed, the requested torque of the vehicle controller, the speed range, and the torque range when the vehicle is a two-wheel drive vehicle; a torque execution unit for distributing the target torque to the motor; and the two-wheel drive control unit is further configured to determine the minimum torque and maximum torque of the torque range, and when the current speed is within the speed range, take the average of the minimum torque and the maximum torque as the average torque, and when the requested torque is greater than or equal to the minimum torque and less than or equal to the average torque, determine the minimum torque as the target torque of the motor; and when the requested torque is greater than or equal to the average torque and less than or equal to the maximum torque, determine the maximum torque as the target torque of the motor.

7. A device for controlling the noise of a speed reducer, comprising a processor and a memory, characterized in that, The memory stores computer program instructions that can be executed by the processor, and when the processor executes the computer program instructions, it implements the instructions of the method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer program instructions that are loaded and executed by a processor to perform the operations performed by the method as described in any one of claims 1 to 5.

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