Torsional vibration torque control method and device, electronic equipment, storage medium and vehicle

Abstract

The present application relates to a kind of torsional vibration torque control method, device, electronic equipment, storage medium and vehicle, comprising: in response to the first torsional vibration enable request sent by power domain controller, the response torque of target time is obtained, the target output period of last time's torsional vibration torque and motor torque, according to the preset motor torque output slope limit threshold, the response torque of target time and target output period, determine the maximum output slope of torsional vibration torque, according to last time's torsional vibration torque, the maximum output slope of torsional vibration torque and target output period, determine the first torsional vibration torque output range of output.The present application limits the output slope of torsional vibration torque, to control the output range of the first torsional vibration torque output, to avoid the sudden change of the torque of motor caused by torsional vibration torque, the situation of torsional vibration torque step, effectively reduce the risk of torsional vibration out of control of hybrid car, improve power system stability, improve user experience.

Description

Technical Field

[0001] This invention relates to the field of automotive power control technology, specifically to a torsional vibration torque control method, device, electronic equipment, storage medium, and vehicle. Background Technology

[0002] Active damping in automobiles refers to the mechanism by which, when the drive motor speed fluctuates continuously due to road conditions or sudden torque changes, the motor controller, based on the current rate of change of speed, adds a corresponding torsional vibration torque to the normal output torque requested by the power domain controller, thereby suppressing speed fluctuations. Current pure electric vehicles utilize the following method for torsional vibration adjustment: after detecting torsional vibration, the power domain controller enables torsional vibration; the motor controller outputs torsional vibration torque based on the current rate of change of motor speed. Since the torque required for torsional vibration adjustment varies at different speeds, the gain coefficient of the output value is adjusted accordingly based on the actual speed range of the motor. Finally, within the limit of the maximum rate of change of torque, the actual torsional vibration torque is added to the response torque for output.

[0003] However, since hybrid vehicles have an additional engine torque output compared to electric vehicles, the following problems may occur during actual use: In hybrid operation, since the engine also has torque output, when the motor torque increases / decreases, but the engine torque changes in the opposite direction and the amplitude is larger, the response torque will be opposite to the direction of the speed change, that is, the same as the direction of the torsional torque change. If both of the change rates are large and superimposed, the actual superimposed torque will exceed the maximum change rate limit of the motor torque, causing a step jump in motor torque.

[0004] Therefore, existing torsional vibration regulation methods in hybrid vehicles will cause a step increase in torsional vibration torque due to engine intervention, which increases the risk of torsional vibration runaway in hybrid vehicles, leading to instability of the power system and affecting the user experience. Summary of the Invention

[0005] The purpose of this invention is to provide a torsional vibration torque control method, device, electronic device, storage medium, and vehicle, solving the problem that existing torsional vibration adjustment methods in hybrid vehicles can cause a step increase in torsional vibration torque due to engine intervention, increasing the risk of torsional vibration runaway, leading to powertrain instability, and affecting user experience. The specific technical solution is as follows:

[0006] According to a first aspect of the embodiments of this application, a torsional vibration torque control method is provided, the method comprising:

[0007] In response to the first torsional vibration enable request sent by the power domain controller, the target output cycle of the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque is obtained.

[0008] Based on the preset motor torque output slope limit threshold, the response torque at the target moment, and the target output period, the maximum output slope of the torsional vibration torque is determined.

[0009] Based on the torsional torque at the previous moment, the maximum output slope of the torsional torque, and the target output period, the first torsional torque output range is determined.

[0010] Furthermore, the response torque at the target moment includes: the response torque at the previous moment and the response torque at the next moment;

[0011] The step of determining the maximum output slope of torsional vibration torque based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output period includes:

[0012] A first difference is generated based on the response torque at the previous moment and the response torque at the next moment;

[0013] A first ratio is generated based on the first difference and the target output period;

[0014] The maximum output slope of torsional vibration torque is determined based on the preset motor torque output slope limit threshold and the first ratio.

[0015] Further, determining the first torsional vibration torque output range based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period includes:

[0016] A first target range is generated based on the maximum output slope of the torsional torque and the target output period;

[0017] The first torsional vibration torque output range is determined based on the first target range and the torsional vibration torque at the previous moment.

[0018] Furthermore, before the target output cycle of obtaining the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque in response to the first torsional vibration enable request sent by the power domain controller, the method further includes:

[0019] Receive motor torque request with target value sent by the power domain controller;

[0020] The motor is controlled to output the target torque value in response to the motor torque request.

[0021] Furthermore, after controlling the motor to output the target value of response torque according to the motor torque request, the method further includes:

[0022] If the target value of the response torque is detected to be less than a first threshold, a timer is started.

[0023] If the timer reading exceeds the second threshold, the motor is confirmed to be in a state of zero torque output.

[0024] Furthermore, after confirming that the motor is in a 0 torque output state when the timer's count exceeds the second threshold, the method further includes:

[0025] In response to the second torsional vibration enable request sent by the power domain controller, a preset torsional vibration torque value is obtained;

[0026] The calibration reference offset of the second torsional vibration torque is determined based on the preset torsional vibration torque value;

[0027] The output convergence range of the second torsional vibration torque is determined based on the first threshold and the preset torsional vibration torque value.

[0028] According to a second aspect of the embodiments of this application, a torsional vibration torque control device is provided, the device comprising:

[0029] The first acquisition module is used to respond to the first torsional vibration enable request sent by the power domain controller, and acquire the response torque at the target time, the torsional vibration torque at the previous time, and the target output cycle of the motor torque.

[0030] The first determining module is used to determine the maximum output slope of the torsional vibration torque based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output period.

[0031] The second determining module is used to determine the first torsional vibration torque output range based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period.

[0032] According to a third aspect of the embodiments of this application, an electronic device is provided, comprising:

[0033] processor;

[0034] Memory used to store the processor's executable instructions;

[0035] The processor is configured to execute the instructions to implement the torsional vibration torque control method as described in the first aspect.

[0036] According to a fourth aspect of the embodiments of this application, a computer-readable storage medium is provided, which, when the instructions in the storage medium are executed by a processor of a mobile terminal, enables the mobile terminal to perform the torsional vibration torque control method as described in the first aspect of this application.

[0037] According to a fifth aspect of the embodiments of this application, a vehicle is provided, including the torsional vibration torque control device described in the second aspect of this application.

[0038] The technical solutions provided by the embodiments of this application may include the following beneficial effects:

[0039] In response to a first torsional vibration enable request sent by the power domain controller, this invention acquires the response torque at a target time, the torsional vibration torque at the previous time, and the target output cycle of the motor torque. Based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output cycle, it determines the maximum output slope of the torsional vibration torque. Based on the torsional vibration torque at the previous time, the maximum output slope of the torsional vibration torque, and the target output cycle, it determines the first output range of the torsional vibration torque. This invention limits the output slope of the torsional vibration torque by a preset motor torque output slope limit threshold, thereby controlling the output range of the first torsional vibration torque. This avoids sudden changes in motor torque caused by torsional vibration torque, effectively reducing the risk of torsional vibration runaway in hybrid vehicles, improving powertrain stability, and enhancing the user experience.

[0040] 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

[0041] The accompanying drawings, which are incorporated in and form part of this specification, illustrate embodiments consistent with the invention and, together with the description, serve to explain the principles of the invention.

[0042] Figure 1 This is a flowchart illustrating a torsional vibration torque control method according to an exemplary embodiment;

[0043] Figure 2 This is a flowchart illustrating another torsional vibration torque control method according to an exemplary embodiment;

[0044] Figure 3 yes Figure 1 The diagram shown illustrates different torque change rates in a torsional vibration torque control method according to an exemplary embodiment.

[0045] Figure 4 yes Figure 2 The diagram shown illustrates another torsional vibration torque control method according to an exemplary embodiment, in which the torsional vibration torque travels back and forth through the dead zone.

[0046] Figure 5 yes Figure 2 The diagram shown is a schematic diagram of the torsional vibration torque calibration reference after dynamic adjustment in another torsional vibration torque control method according to an exemplary embodiment.

[0047] Figure 6 This is a block diagram illustrating a torsional vibration torque control device according to an exemplary embodiment;

[0048] Figure 7 This is a block diagram illustrating an electronic device according to an exemplary embodiment. Detailed Implementation

[0049] Exemplary embodiments will now be described in detail, examples of which are illustrated in the accompanying drawings. When the following description relates to the drawings, unless otherwise indicated, the same numerals in different drawings denote the same or similar elements. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. Rather, they are merely examples of apparatuses and methods consistent with some aspects of the invention as detailed in the appended claims.

[0050] The first embodiment of this application relates to a torsional vibration torque control method. Figure 1 This is a flowchart illustrating a torsional vibration torque control method according to an exemplary embodiment, such as... Figure 1 As shown, it includes the following steps:

[0051] Step 101: In response to the first torsional vibration enable request sent by the power domain controller, obtain the target output cycle of the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque.

[0052] This invention applies to a P2 hybrid electric vehicle system. Compared to traditional electric vehicles, it adds a motor and corresponding coupling mechanism, and eliminates certain damping components (such as torque converters). Therefore, the components included may include: an engine, a P2M motor, a K0 clutch, a 9AT transmission, a high-voltage battery, and low-voltage accessories. Since existing damping methods are typically designed for pure electric vehicles, only controlling the motor speed without assessing the motor's response torque, this mechanism is almost unaffected in pure electric mode. However, in hybrid mode, in addition to the motor, the engine also intervenes in power output. The original mechanism may encounter problems in certain situations. For example, in the hybrid operating conditions of a P2 hybrid vehicle, because the engine also outputs torque, when the motor torque increases / decreases, but the engine torque changes in the opposite direction and with a larger amplitude, the response torque will be opposite to the direction of the speed change, i.e., the same as the direction of the torsional vibration torque change. If both rates of change are large and superimposed, the actual superimposed torque will exceed the maximum rate of change limit of the motor torque, causing a step change in motor torque. Figure 3As shown, the motor controller enables torsional vibration in hybrid mode: Since the engine torque change curve 2 is downward, even though the motor response torque change curve 3 is upward, the speed curve 1 of motor P2 still maintains a downward trend (i.e., the engine torque changes in the opposite direction and the amplitude is larger at this time); therefore, the torsional vibration torque curve 4 also changes upward, causing the actual torque (response torque + torsional vibration torque) curve 5 of the motor to exceed the corresponding slope limit, so the motor torque may suddenly change. Therefore, the embodiment of the present invention mainly considers that in the torsional vibration strategy, in addition to judging the current motor speed, the motor torque should also be judged, so as to avoid the torsional vibration adjustment problem caused by the hybrid architecture.

[0053] As described above, the motor torque in this embodiment of the invention includes the motor's response torque and torsional vibration torque. Both the motor's response torque and torsional vibration torque are generated by the power domain controller sending a corresponding request to the motor controller, which then controls the motor to output the corresponding torque. Because this embodiment of the invention avoids the problem of torsional vibration adjustment, the power domain controller needs to send a first torsional vibration enable request to the motor controller, causing the motor controller to control the motor to start outputting torsional vibration torque based on this request. Furthermore, as mentioned above, it is necessary to determine the current motor torque situation, thus obtaining the response torque at the target time, the torsional vibration torque at the previous time, and the target output period of the motor torque. The response torque at the target time refers to the response torque at the previous time and the response torque at the next time, and the target output period of the motor torque refers to the minimum output period of the motor torque. It should be noted that the previous time and the next time are two adjacent times, determined based on the time when the motor controller responds to the response request sent by the power domain controller regarding the motor.

[0054] Step 102: Determine the maximum output slope of the torsional vibration torque based on the preset motor torque output slope limit threshold, the response torque at the target time, and the target output cycle.

[0055] The preset motor torque output slope limit threshold in this embodiment of the invention is obtained through multiple pre-conducted experiments. Within this threshold range, the motor output torque will not undergo abrupt changes. Therefore, to control the sum of the slopes of the motor output response torque and torsional vibration torque to not exceed the preset motor torque output slope limit threshold, the output slope of the motor response torque can be calculated first. Then, the maximum output slope of the motor torsional vibration torque can be calculated based on the preset motor torque output slope limit threshold and the output slope of the motor response torque. Specifically, determining the maximum output slope of the torsional vibration torque based on the preset motor torque output slope limit threshold, the response torque at the target time, and the target output period includes:

[0056] A first difference is generated based on the response torque at the previous moment and the response torque at the next moment;

[0057] A first ratio is generated based on the first difference and the target output period;

[0058] The maximum output slope of torsional vibration torque is determined based on the preset motor torque output slope limit threshold and the first ratio.

[0059] It should be noted that the steps for determining the maximum output slope of the torsional vibration torque described above can be represented by formula (1):

[0060] K_damping=K_Tq-(|Tq_require - Tq_before| / δT) (1)

[0061] Where K_Tq is the preset threshold for limiting the motor torque output slope, δT is the target output period of the motor torque, Tq_require is the response torque at the next moment, Tq_before is the response torque at the previous moment, and K_damping is the maximum output slope of the torsional vibration torque determined based on the preset threshold for limiting the motor torque output slope, the response torque at the target moment, and the target output period. |Tq_require-Tq_before| / δT actually yields the output slope of the motor's response torque.

[0062] Step 103: Based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period, determine the first torsional vibration torque output range.

[0063] In the above steps of this embodiment of the invention, the maximum output slope of the motor's torsional vibration torque is determined. This slope is set by a preset threshold limiting the motor's torque output slope. In practice, as long as the sum of the slope of the motor's response torque and the slope of the torsional vibration torque is less than this threshold, sudden changes in the motor's torque can be avoided. Therefore, the range of the motor's output torsional vibration torque can be calculated based on the obtained maximum output slope. Specifically, based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period, the first output range of the torsional vibration torque is determined, including:

[0064] A first target range is generated based on the maximum output slope of the torsional torque and the target output period;

[0065] Based on the first target range and the torsional torque at the previous moment, the first torsional torque output range is determined.

[0066] It should be noted that the steps for determining the first torsional torque output range described above can be represented by formula (2):

[0067] (|Tq_damping – Tq'_damping| / δT)≤K_damping (2)

[0068] Wherein, K_damping is the maximum output slope of the torsional vibration torque (i.e., the maximum slope of the torsional vibration torque output), Tq'_damping is the torsional vibration torque at the previous moment, and Tq_damping is the first torsional vibration torque output range determined based on the first target range and the torsional vibration torque at the previous moment.

[0069] In response to a first torsional vibration enable request sent by the power domain controller, this invention acquires the response torque at a target time, the torsional vibration torque at the previous time, and the target output cycle of the motor torque. Based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output cycle, it determines the maximum output slope of the torsional vibration torque. Based on the torsional vibration torque at the previous time, the maximum output slope of the torsional vibration torque, and the target output cycle, it determines the first output range of the torsional vibration torque. This invention limits the output slope of the torsional vibration torque by a preset motor torque output slope limit threshold, thereby controlling the output range of the first torsional vibration torque. This avoids sudden changes in motor torque caused by torsional vibration torque, effectively reducing the risk of torsional vibration runaway in hybrid vehicles, improving powertrain stability, and enhancing the user experience.

[0070] The second embodiment of this application relates to a torsional vibration torque control method. Figure 2 This is a flowchart illustrating another torsional vibration torque control method according to an exemplary embodiment, such as... Figure 2 As shown, it includes the following steps:

[0071] Step 201: Receive the motor torque request for the target value sent by the power domain controller.

[0072] In this embodiment of the invention, after power-on initialization, the motor controller begins to determine whether it has a state of zero torque output. This is to determine whether the torque at this time is in the torque control dead zone (referring to the region where the torque response does not respond to torque requests, from positive to negative torque). Because in a pure electric vehicle, when the motor has no torque output, the vehicle is in a stationary state and there is no torsional vibration problem, but in a hybrid vehicle, due to the intervention of the engine, the vehicle can still travel at high speed even if the motor has no torque output. Therefore, when the vehicle is adjusting for torsional vibration, if the motor is adjusted according to the original scheme, the dead zone strategy will cause a step jump in motor torque. Figure 4 As shown, when the response torque of the motor controller is 0 NM, the calibration reference for the torsional vibration torque is 0 NM. The area between the two dashed lines is the torque dead zone. It can be seen that the actual torque will cross the torque dead zone back and forth at this time, causing impact.

[0073] To solve the above problem, the torque state at this time must first be determined. That is, the power domain controller needs to send a motor torque request to the motor controller. The motor torque request sent includes a specific target value of the requested torque. This motor torque request carrying the target value corresponds to the request for the motor's response torque.

[0074] Step 202: Control the motor to output the target value of the response torque according to the motor torque request.

[0075] In this embodiment of the invention, the motor controller responds to the torque requested by the power domain controller and outputs the target value of the response torque.

[0076] Step 203: If the target value of the response torque is detected to be less than the first threshold, start the timer.

[0077] In this embodiment of the invention, a timer is started when the target value of the detected response torque is less than a first threshold. The first threshold is a manually set value near the 0 torque range, which can be 3 NM or 2 NM; this invention does not impose a specific limitation.

[0078] Step 204: If the timer is detected to be greater than the second threshold, confirm that the motor is in a state of zero torque output.

[0079] In this embodiment of the invention, when the target value of the response torque is detected to be less than a first threshold, a timer is started. However, if this situation only occurs for a short period of time, it is not considered that the motor is in a state of zero torque output. Only when the timer count exceeds a second threshold, that is, after this output has continued for a period of time, is it considered that the motor is in a state of zero torque output. The second threshold is also a preset time value, which is generally neither too long nor too short. It can be set to 5S, 7S, 8S, etc., to avoid misoperation after accidental occurrences and to avoid sudden changes in the torque of the car motor caused by prolonged lack of processing, which would affect the user experience.

[0080] Step 205: In response to the second torsional vibration enable request sent by the power domain controller, obtain the preset torsional vibration torque value.

[0081] In this embodiment of the invention, after determining that the motor is in a 0 torque output state, the power domain controller sends a second torsional vibration enable request to the motor controller. The motor controller has the function of detecting its own torsional vibration torque and sending its own working state to the power domain controller. Moreover, the output torsional vibration torque can be adjusted by itself. In order to obtain the output convergence range of the second torsional vibration torque, it first responds to the second torsional vibration enable request sent by the power domain controller and obtains a preset torsional vibration torque value, wherein the preset torsional vibration torque value is the maximum value of the torsional vibration torque that is allowed to be output.

[0082] Step 206: Determine the calibration reference offset of the second torsional vibration torque based on the preset torsional vibration torque value.

[0083] In this embodiment of the invention, the preset torsional vibration torque value is the maximum allowable output value of the torsional vibration torque. The calibration reference offset of the second torsional vibration torque is determined according to the preset torsional vibration torque value, that is, the preset torsional vibration torque value is divided by 2 to obtain the calibration reference offset of the second torsional vibration torque. For example, if the preset torsional vibration torque value is 20 NM, then the calibration reference offset of the second torsional vibration torque is 10 NM.

[0084] Step 207: Determine the output convergence range of the second torsional vibration torque based on the first threshold and the preset torsional vibration torque value.

[0085] In this embodiment of the invention, the first threshold is used to determine whether the motor torque is in the dead zone. Therefore, to prevent the torsional vibration torque from traversing back and forth in the dead zone, the minimum value of the torsional vibration torque needs to be greater than the first threshold. Since the preset torsional vibration torque value is the maximum value that the torsional vibration torque is allowed to output, the maximum value of the torsional vibration torque is less than the preset torsional vibration torque value. Therefore, the output convergence range of the second torsional vibration torque is determined based on the first threshold and the preset torsional vibration torque value. Figure 5 As shown, by adjusting the calibration reference offset of the second torsional vibration torque, the output convergence range of the second torsional vibration torque is made between the first threshold and the preset torsional vibration torque value, thereby avoiding the torsional vibration torque from shuttling back and forth in the dead zone and causing a step jump in motor torque.

[0086] The third embodiment of this application relates to a torsional vibration torque control device. Figure 6 This is a flowchart illustrating a torsional vibration torque control device according to an exemplary embodiment, such as... Figure 6 As shown, it includes the following steps:

[0087] The first acquisition module 301 is used to acquire the target output cycle of the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque in response to the first torsional vibration enable request sent by the power domain controller.

[0088] The first determining module 302 is used to determine the maximum output slope of the torsional vibration torque based on the preset motor torque output slope limit threshold, the response torque at the target time, and the target output cycle.

[0089] The second determining module 303 is used to determine the first torsional vibration torque output range based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period.

[0090] Furthermore, the response torque at the target moment includes the response torque at the previous moment and the response torque at the next moment.

[0091] The first determining module 302 also includes:

[0092] The first generation submodule is used to generate a first difference based on the response torque at the previous moment and the response torque at the next moment.

[0093] The second generation submodule is used to generate the first ratio based on the first difference and the target output period.

[0094] The first determining submodule is used to determine the maximum output slope of torsional vibration torque based on a preset motor torque output slope limit threshold and a first ratio.

[0095] The second determining module 303 also includes:

[0096] The third generation submodule is used to generate the first target range based on the maximum output slope of the torsional vibration torque and the target output period.

[0097] The second determining submodule is used to determine the first torsional vibration torque output range based on the first target range and the torsional vibration torque at the previous moment.

[0098] Furthermore, the torsional torque control device also includes:

[0099] The receiving module is used to receive motor torque requests for target values ​​sent by the power domain controller.

[0100] The output module is used to control the motor to output a target value of response torque based on the motor torque request.

[0101] The timing module is activated when the target value of the detected response torque is less than a first threshold.

[0102] The status confirmation module is used to confirm that the motor is in a 0 torque output state when the timer is detected to be greater than the second threshold.

[0103] The second acquisition module is used to acquire a preset torsional torque value in response to a second torsional vibration enable request sent by the power domain controller.

[0104] The third determining module is used to determine the calibration reference offset of the second torsional vibration torque based on the preset torsional vibration torque value.

[0105] The fourth determining module is used to determine the output convergence range of the second torsional vibration torque based on the first threshold and the preset torsional vibration torque value.

[0106] In response to a first torsional vibration enable request sent by the power domain controller, this invention acquires the response torque at a target time, the torsional vibration torque at the previous time, and the target output cycle of the motor torque. Based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output cycle, it determines the maximum output slope of the torsional vibration torque. Based on the torsional vibration torque at the previous time, the maximum output slope of the torsional vibration torque, and the target output cycle, it determines the first output range of the torsional vibration torque. This invention limits the output slope of the torsional vibration torque by a preset motor torque output slope limit threshold, thereby controlling the output range of the first torsional vibration torque. This avoids sudden changes in motor torque caused by torsional vibration torque, effectively reducing the risk of torsional vibration runaway in hybrid vehicles, improving powertrain stability, and enhancing the user experience.

[0107] Regarding the apparatus in the above embodiments, the specific manner in which each module performs its operation has been described in detail in the embodiments related to the method, and will not be elaborated upon here.

[0108] The fourth embodiment of this application relates to an electronic device, comprising: a processor; and a memory for storing processor-executable instructions; wherein the processor is configured to execute the instructions to implement any torsional torque control method.

[0109] The fifth embodiment of this application relates to a vehicle including any of the torsional torque control devices in the third embodiment of this application.

[0110] Figure 7 This is a block diagram illustrating an electronic device 400 according to an exemplary embodiment. For example, the electronic device 400 may be a mobile phone, computer, digital broadcasting terminal, messaging device, game console, tablet device, medical device, fitness equipment, personal digital assistant, etc.

[0111] Reference Figure 7 The electronic device 400 may include one or more of the following components: processing component 402, memory 404, power supply component 406, multimedia component 408, audio component 410, input / output interface 412, sensor component 414, and communication component 416.

[0112] Processing component 402 typically controls the overall operation of device 400, such as operations associated with display, telephone calls, data communication, camera operation, and recording. Processing component 402 may include one or more processors 420 to execute instructions to perform all or part of the steps of the methods described above. Furthermore, processing component 402 may include one or more modules to facilitate interaction between processing component 402 and other components. For example, processing component 402 may include a multimedia module to facilitate interaction between multimedia component 408 and processing component 402.

[0113] Memory 404 is configured to store various types of data to support the operation of device 400. Examples of this data include instructions for any application or method operating on device 400, contact data, phonebook data, messages, pictures, videos, etc. Memory 404 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (SRAM), electrically erasable programmable read-only memory (EEPROM), erasable programmable read-only memory (EPROM), programmable read-only memory (PROM), read-only memory (ROM), magnetic storage, flash memory, magnetic disk, or optical disk.

[0114] Power supply component 406 provides power to various components of electronic device 400. Power supply component 406 may include a power management system, one or more power supplies, and other components associated with generating, managing, and distributing power to electronic device 400.

[0115] Multimedia component 408 includes a screen that provides an output interface between the electronic device 400 and the user. In some embodiments, the screen may include a liquid crystal display (LCD) and a touch panel (TP). If the screen includes a touch panel, the screen may be implemented as a touchscreen to receive input signals from the user. The touch panel includes one or more touch sensors to sense touches, swipes, and gestures on the touch panel. The touch sensors may sense not only the boundaries of the touch or swipe action but also the duration and pressure associated with the touch or swipe operation. In some embodiments, multimedia component 408 includes a front-facing camera and / or a rear-facing camera. When the electronic device 400 is in an operating mode, such as a shooting mode or a video mode, the front-facing camera and / or the rear-facing camera may receive external multimedia data. Each front-facing camera and rear-facing camera may be a fixed optical lens system or have focal length and optical zoom capabilities.

[0116] Audio component 410 is configured to output and / or input audio signals. For example, audio component 410 includes a microphone (MIC) configured to receive external audio signals when electronic device 400 is in an operating mode, such as call mode, recording mode, and voice recognition mode. The received audio signals may be further stored in memory 404 or transmitted via communication component 416. In some embodiments, audio component 410 also includes a speaker for outputting audio signals.

[0117] Input / output interface 412 provides an interface between processing component 402 and peripheral interface modules, which may be keyboards, click wheels, buttons, etc. These buttons may include, but are not limited to, home buttons, volume buttons, start buttons, and lock buttons.

[0118] Sensor assembly 414 includes one or more sensors for providing state assessments of various aspects of electronic device 400. For example, sensor assembly 414 may detect the on / off state of electronic device 400, the relative positioning of components such as the display and keypad of electronic device 400, changes in position of electronic device 400 or a component of electronic device 400, the presence or absence of user contact with electronic device 400, orientation or acceleration / deceleration of electronic device 400, and temperature changes of electronic device 400. Sensor assembly 414 may include a proximity sensor configured to detect the presence of nearby objects without any physical contact. Sensor assembly 414 may also include a light sensor, such as a CMOS or CCD image sensor, for use in imaging applications. In some embodiments, sensor assembly 414 may also include an accelerometer, gyroscope, magnetometer, pressure sensor, or temperature sensor.

[0119] Communication component 416 is configured to facilitate wired or wireless communication between electronic device 400 and other devices. Electronic device 400 can access wireless networks based on communication standards, such as WiFi, carrier networks (such as 2G, 3G, 4G, or 5G), or combinations thereof. In one exemplary embodiment, communication component 416 receives broadcast signals or broadcast-related information from an external broadcast management system via a broadcast channel. In one exemplary embodiment, communication component 416 also includes a near-field communication (NFC) module to facilitate short-range communication. For example, the NFC module may be implemented based on radio frequency identification (RFID) technology, Infrared Data Association (IrDA) technology, ultra-wideband (UWB) technology, Bluetooth (BT) technology, and other technologies.

[0120] In an exemplary embodiment, the electronic device 400 may be implemented by one or more application-specific integrated circuits (ASICs), digital signal processors (DSPs), digital signal processing devices (DSPDs), programmable logic devices (PLDs), field-programmable gate arrays (FPGAs), controllers, microcontrollers, microprocessors, or other electronic components to perform the methods described above.

[0121] In an exemplary embodiment, a non-transitory computer-readable storage medium including instructions is also provided, such as a memory 404 including instructions, which can be executed by a processor 420 of an electronic device 400 to perform the above-described method. For example, the non-transitory computer-readable storage medium may be a ROM, random access memory (RAM), CD-ROM, magnetic tape, floppy disk, and optical data storage device, etc.

[0122] Other embodiments of the invention will readily occur to those skilled in the art upon consideration of the specification and practice of the invention disclosed herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art not disclosed herein. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the following claims.

[0123] It should be noted that the above embodiments are illustrative of the invention and not restrictive, and that those skilled in the art can devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between parentheses should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The invention can be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In the unit claims enumerating several means, several of these means may be embodied by the same item of hardware. The use of the words first, second, and third, etc., does not indicate any order. These words can be interpreted as names. The invention is not limited to the precise structures described above and shown in the drawings, and various modifications and changes can be made without departing from its scope. The scope of the invention is limited only by the appended claims.

Claims

1. A method for controlling torsional vibration torque, characterized in that, The method includes: In response to the first torsional vibration enable request sent by the power domain controller, the target output cycle of the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque is obtained. Based on the preset motor torque output slope limit threshold, the response torque at the target moment, and the target output period, the maximum output slope of the torsional vibration torque is determined. Based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period, the first torsional vibration torque output range is determined. Also includes: The first threshold is used to determine whether the motor torque is in a 0 torque output state; After confirming that the motor is in a 0 torque output state, in response to the second torsional vibration enable request sent by the power domain controller, the preset torsional vibration torque value is obtained. The calibration reference offset of the second torsional vibration torque is determined based on the preset torsional vibration torque value; The output convergence range of the second torsional vibration torque is determined based on the calibration reference offset of the adjusted second torsional vibration torque, the first threshold, and the preset torsional vibration torque value, such that the output convergence range of the second torsional vibration torque is between the first threshold and the preset torsional vibration torque value.

2. The method according to claim 1, characterized in that, The response torque at the target moment includes: the response torque at the previous moment and the response torque at the next moment; The step of determining the maximum output slope of torsional vibration torque based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output period includes: A first difference is generated based on the response torque at the previous moment and the response torque at the next moment; A first ratio is generated based on the first difference and the target output period; The maximum output slope of torsional vibration torque is determined based on the preset motor torque output slope limit threshold and the first ratio.

3. The method according to claim 1, characterized in that, The step of determining the first torsional vibration torque output range based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period includes: A first target range is generated based on the maximum output slope of the torsional torque and the target output period; The first torsional vibration torque output range is determined based on the first target range and the torsional vibration torque at the previous moment.

4. The method according to claim 1, characterized in that, Before the target output cycle of the response torque at the target time, the torsional vibration torque at the previous time, and the motor torque, in response to the first torsional vibration enable request sent by the power domain controller, the method further includes: Receive motor torque request with target value sent by the power domain controller; The motor is controlled to output the target torque value in response to the motor torque request.

5. The method according to claim 4, characterized in that, After controlling the motor to output the target value of response torque according to the motor torque request, the method further includes: If the target value of the response torque is detected to be less than a first threshold, a timer is started. If the timer reading exceeds the second threshold, the motor is confirmed to be in a state of zero torque output.

6. A torsional vibration torque control device, characterized in that, include: The first acquisition module is used to respond to the first torsional vibration enable request sent by the power domain controller, and acquire the response torque at the target time, the torsional vibration torque at the previous time, and the target output cycle of the motor torque. The first determining module is used to determine the maximum output slope of the torsional vibration torque based on a preset motor torque output slope limit threshold, the response torque at the target time, and the target output period. The second determining module is used to determine the first torsional vibration torque output range based on the torsional vibration torque at the previous moment, the maximum output slope of the torsional vibration torque, and the target output period. Also includes: The first threshold is used to determine whether the motor torque is in a 0 torque output state; The status confirmation module is used to confirm that the motor is in a zero torque output state; The second acquisition module is used to acquire a preset torsional vibration torque value in response to the second torsional vibration enable request sent by the power domain controller. The third determining module is used to determine the calibration reference offset of the second torsional vibration torque based on the preset torsional vibration torque value. The fourth determining module is used to determine the output convergence range of the second torsional vibration torque based on the calibration reference offset of the adjusted second torsional vibration torque, the first threshold, and the preset torsional vibration torque value, so that the output convergence range of the second torsional vibration torque is between the first threshold and the preset torsional vibration torque value.

7. An electronic device, characterized in that, include: processor; Memory used to store processor-executable instructions; The processor is configured to execute the instructions to implement the torsional vibration torque control method as described in any one of claims 1 to 5.

8. A computer-readable storage medium, characterized in that, When the instructions in the storage medium are executed by the processor of the mobile terminal, the mobile terminal is able to perform the torsional vibration torque control method as described in any one of claims 1 to 5.

9. A vehicle, characterized in that, Includes the torsional vibration torque control device as described in claim 6.

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