A driving force anti-disturbance control method and device, electronic equipment and vehicle

Abstract

The application discloses a kind of active force anti-disturbance control method, device electronic equipment and vehicle, method includes: the difference between the output force value of active damper output and target force value is calculated as error force value;According to error force value, the value range of compensation torque value is determined;According to the value range, the corresponding compensation torque is output, and compensation torque is used to compensate the disturbance generated by active force.The application can be based on the existing active damper control, increase the anti-disturbance control to active force, i.e., according to the compensation torque, the disturbance generated by active force is compensated, so that the active force fluctuation output by active damper is smaller, high-frequency vibration is inhibited, vehicle handling performance is improved, further can improve the comfort of riding, and can be widely applied in vehicle control technical field.

Description

Technical Field

[0001] This invention relates to the field of vehicle control technology, and in particular to a method, device, electronic equipment, and vehicle for power disturbance rejection control. Background Technology

[0002] Active suspension dynamically and adaptively adjusts the stiffness and damping characteristics of the suspension system according to the vehicle's driving conditions (such as the vehicle's motion state and road conditions) to ensure that the suspension system is always in an optimal damping state. Active suspension has many advantages, such as controlling vehicle height, improving ground clearance, and balancing ride comfort and handling stability.

[0003] Active suspension can actively control damping and stiffness simultaneously. Active dampers are damping systems whose damping modes can be actively adjusted via the center console or knob. When active suspension is working, it generates vibrations. Due to the vehicle system's natural frequencies, such as pressure fluctuations on both sides of the electro-hydraulic pump caused by the opening and closing of valves, the active dampers on the active suspension will output high-frequency, low-amplitude vibrations, thus affecting vehicle handling. Summary of the Invention

[0004] In view of this, this application provides a method, device, electronic equipment, and vehicle for controlling the driving force of an active damper to suppress the driving force output by the active damper, thereby reducing the impact of high-frequency, small-amplitude vibrations on vehicle handling.

[0005] One aspect of this application provides a dynamic disturbance rejection control method, comprising:

[0006] The difference between the output force of the active damper and the target force is calculated as the error force value.

[0007] The range of the compensation torque value is determined based on the error force value;

[0008] The corresponding compensation torque is output according to the value range, and the compensation torque is used to compensate for the disturbance generated by the working force.

[0009] Optionally, before calculating the difference between the output force value of the active damper and the target force value as the error force value, the method further includes:

[0010] The output force value is filtered to obtain the filtered force value;

[0011] The difference between the output force value of the active damper and the target force value is calculated as the error force value, including:

[0012] The difference between the filtering force value and the target force value is calculated as the error force value.

[0013] Optionally, determining the range of the compensation torque value based on the error force value includes:

[0014] If the error force value is within a preset force value range, then the range of the compensation torque value is determined to be the preset torque value range;

[0015] If the error force value is outside the preset force value range, the range of the compensation torque value is determined based on the difference between the error force value and the upper limit of the preset force value range, or the range of the compensation torque value is determined based on the difference between the error force value and the lower limit of the preset force value range.

[0016] Optionally, if the error force value is outside a preset force value range, determining the range of the compensation torque value based on the difference between the error force value and the upper limit of the preset force value range, or determining the range of the compensation torque value based on the difference between the error force value and the lower limit of the preset force value range, includes:

[0017] If the difference between the error force value and the upper limit of the preset force value range is less than the preset value, or the difference between the error force value and the lower limit of the preset force value range is less than the preset value, then the range of the compensation torque value is determined to be the preset torque value range.

[0018] If the difference between the error force value and the upper limit of the preset force value range is greater than the preset value, or the difference between the error force value and the lower limit of the preset force value range is greater than the preset value, then the range of the compensation torque value is determined to be 0.

[0019] Optionally, the step of outputting the corresponding compensation torque according to the value range includes:

[0020] Determine the requested torque value corresponding to PID control;

[0021] The corresponding compensation torque is output based on the range of the requested torque value and the compensation torque value.

[0022] Optionally, determining the requested torque value corresponding to the PID control includes:

[0023] The requested torque value corresponding to PID control is determined according to a preset calculation formula;

[0024] The preset calculation formula is:

[0025] Tcmd=Kp*Erro+Ki*Erro*1 / s+Kd*Erro*s;

[0026] Where Tcmd represents the requested torque value, Erro represents the error force value, s represents the Lagrange variable, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, 1 / s is the integral of Erro, and s is the differential of Erro.

[0027] Optionally, the step of outputting the corresponding compensation torque based on the range of the requested torque value and the compensation torque value includes:

[0028] If the range of the compensation torque value is 0, then the compensation torque corresponding to the requested torque value is output as 0;

[0029] If the range of the compensation torque value is within a preset torque value range, and the requested torque value is within the preset torque value range, then the compensation torque corresponding to the requested torque value is output.

[0030] If the range of the compensation torque value is within the preset torque value range, and the requested torque value is outside the preset torque value range, then the compensation torque corresponding to the upper or lower limit of the preset torque value range is output.

[0031] Another aspect of this application provides a dynamic disturbance suppression control device, comprising:

[0032] The first unit is used to calculate the difference between the output force value of the active damper and the target force value as the error force value.

[0033] The second unit is used to determine the range of the compensation torque value based on the error force value;

[0034] The third unit is used to output the corresponding compensation torque according to the value range, and the compensation torque is used to compensate for the disturbance generated by the working force.

[0035] Another aspect of this application provides an electronic device, including a processor and a memory;

[0036] The memory is used to store programs;

[0037] The processor executes the program to implement the aforementioned dynamic disturbance rejection control method.

[0038] Another aspect of this application provides a vehicle that includes a dynamic disturbance suppression control device as described above, or electronic equipment as described above.

[0039] Another aspect of this application provides a computer-readable storage medium storing a program that is executed by a processor to implement the aforementioned dynamic disturbance rejection control method.

[0040] This application also discloses a computer program product or computer program including computer instructions stored in a computer-readable storage medium. A processor of an electronic device can read the computer instructions from the computer-readable storage medium and execute the computer instructions, causing the electronic device to perform the aforementioned motion disturbance rejection control method.

[0041] This application includes at least the following beneficial effects:

[0042] The difference between the output force of the active damper and the target force is calculated as the error force value. The range of the compensation torque value is determined based on the error force value. The corresponding compensation torque is output according to the range, and this compensation torque is used to compensate for disturbances generated by the driving force. This application adds disturbance suppression control to the driving force based on existing active damper control, that is, it compensates for disturbances generated by the driving force based on the compensation torque, making the fluctuation of the driving force output by the active damper smaller, suppressing high-frequency vibrations, improving vehicle handling performance, and further enhancing ride comfort. Attached Figure Description

[0043] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0044] Figure 1 A flowchart illustrating a dynamic disturbance rejection control method provided in an embodiment of this application;

[0045] Figure 2 An example structural diagram of an active vibration damper provided in an embodiment of this application;

[0046] Figure 3 A waveform comparison diagram of the target force value and the output force value provided in the embodiments of this application;

[0047] Figure 4 A waveform diagram of the output force value after anti-disturbance processing, provided for an embodiment of this application;

[0048] Figure 5 An example flowchart of disturbance rejection control provided in this application embodiment;

[0049] Figure 6 An example flowchart of another disturbance rejection control provided in an embodiment of this application;

[0050] Figure 7A structural block diagram of a dynamic disturbance suppression control device provided in an embodiment of this application;

[0051] Figure 8 This is a structural block diagram of an electronic device provided in an embodiment of this application. Detailed Implementation

[0052] To make the objectives, technical solutions, and advantages of this application clearer, the following detailed description is provided in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the scope of this application.

[0053] It should be noted that although functional modules are divided in the device schematic diagram and the logical order is shown in the flowchart, in some cases, the steps shown or described may be performed in a different order than the module division in the device or the order in the flowchart.

[0054] The terms "first," "second," etc., used in the specification, claims, and accompanying drawings are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. Furthermore, the terms "comprising," "including," or any other variations thereof are intended to cover non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements includes not only those elements but also other elements not expressly listed, or elements inherent to such a process, method, article, or apparatus. Without further limitations, an element defined by the phrase "comprising one..." does not exclude the presence of other identical elements in the process, method, article, or apparatus that includes said element.

[0055] Unless otherwise defined, all technical and scientific terms used herein have the same meaning as commonly understood by one of ordinary skill in the art to which this application belongs. The terminology used herein is for the purpose of describing embodiments of this application only and is not intended to limit this application.

[0056] Active suspension dynamically and adaptively adjusts the stiffness and damping characteristics of the suspension system according to the vehicle's driving conditions (such as the vehicle's motion state and road conditions) to ensure that the suspension system is always in an optimal damping state. Active suspension has many advantages, such as controlling vehicle height, improving ground clearance, and balancing ride comfort and handling stability.

[0057] Active suspension can actively control damping and stiffness simultaneously. Active dampers are damping systems whose damping modes can be actively adjusted via the center console or knob. When active suspension is working, it generates vibrations. Due to the vehicle system's natural frequencies, such as pressure fluctuations on both sides of the electro-hydraulic pump caused by the opening and closing of valves, the active dampers on the active suspension will output high-frequency, low-amplitude vibrations, thus affecting vehicle handling.

[0058] In view of this, embodiments of this application provide a method, device, electronic equipment, and vehicle for controlling the driving force of an active damper to suppress the driving force output by the active damper, thereby reducing the impact of high-frequency, small-amplitude vibrations on vehicle handling.

[0059] To suppress the driving force output by the active damper, thereby reducing the impact of high-frequency, small-amplitude vibrations on vehicle handling, this application proposes a driving force disturbance suppression control method. This method calculates the difference between the output force value of the active damper and the target force value as an error force value; determines the range of compensation torque values ​​based on the error force value; and outputs the corresponding compensation torque according to the range. This compensation torque is used to compensate for disturbances generated by the driving force. This application adds disturbance suppression control to the driving force on the basis of existing active damper control, that is, it compensates for disturbances generated by the driving force based on the compensation torque, making the driving force output by the active damper fluctuate less, suppressing high-frequency vibrations, improving vehicle handling performance, and further enhancing ride comfort. The driving force disturbance suppression control method provided in this application can be applied to a user terminal, a server, or an implementation environment composed of a user terminal and a server. Furthermore, this driving force disturbance suppression control method can also be software running on a user terminal or server, such as an application program with driving force disturbance suppression control functionality. User terminals can be smartphones, tablets, laptops, desktop computers, smart speakers, smartwatches, etc., but are not limited to these. Servers can be independent physical servers, server clusters or distributed systems composed of multiple physical servers, or cloud servers that provide basic cloud computing services such as cloud services, cloud databases, cloud computing, cloud functions, cloud storage, network services, cloud communication, middleware services, domain name services, security services, CDN, and big data and artificial intelligence platforms.

[0060] Reference Figure 1 This application provides a dynamic disturbance rejection control method, including steps S100 to S120, as follows:

[0061] S100: The difference between the output force value of the active damper and the target force value is calculated as the error force value.

[0062] Specifically, when the host computer sends a command to the active vibration damper to output a set target force value, the active vibration damper responds to the command and outputs a corresponding force value, which is taken as the output force value. Since the output force value is not necessarily equal to the target force value, this embodiment can calculate the difference between the output force value and the target force value as an error force value. Optionally, this error force value can be the difference between the output force value and the target force value.

[0063] Considering that there may be other interfering values ​​in the output force value, as a further implementation, before the step of calculating the difference between the output force value and the target force value of the active damper as the error force value in S100, this application may further include: filtering the output force value to obtain a filtered force value.

[0064] Furthermore, S100, the step of calculating the difference between the output force value of the active damper and the target force value as the error force value can be specifically as follows:

[0065] The difference between the filtering force value and the target force value is calculated as the error force value.

[0066] Alternatively, in this embodiment, the output force value can be filtered according to the following calculation formula:

[0067] F=α*Fback(t)+(1-α)*Fback(t-1);

[0068] Where α is the filter coefficient, Fback(t) is the output force value of the current cycle, Fback(t-1) is the output force value of the previous cycle, and F is the filter force value.

[0069] It should be noted that in this embodiment, the active damper can output a corresponding force value in each response command cycle, that is, each cycle corresponds to one output force value. Therefore, Fback(t-1) is the output force value of the previous response command cycle.

[0070] S110: Determine the range of the compensation torque value based on the error force value.

[0071] Specifically, the larger the error force value, the greater the difference between the force value output by the active damper and the target force value. In this embodiment, it is necessary to minimize the error force value so that the output force value tracks the magnitude of the target force value.

[0072] In response to different error conditions, this embodiment can set a compensation torque value within a corresponding range.

[0073] Furthermore, S110 may include S111 to S112:

[0074] S111: If the error force value is within a preset force value range, then the range of the compensation torque value is determined to be the preset torque value range.

[0075] S112: If the error force value is outside the preset force value range, the range of the compensation torque value is determined based on the difference between the error force value and the upper limit of the preset force value range, or the range of the compensation torque value is determined based on the difference between the error force value and the lower limit of the preset force value range.

[0076] Specifically, the preset force range can be freely set. As an optional implementation method, this embodiment can take the preset force range as -300N to 300N, where N is Newton.

[0077] The preset torque value range can also be freely set. As an optional implementation method, this embodiment can take the preset torque value range as -1Nm to 1Nm, where Nm is the torque.

[0078] To facilitate the description of this embodiment, S111 and S112 will be explained using the force range and torque range shown above as examples.

[0079] Specifically, if the error force value is within -300N to 300N, then in this embodiment, the range of the compensation torque value can be determined as -1Nm to 1Nm; if the error force value is outside -300N to 300N, that is, the error force value is less than -300N or greater than 300N, then in this embodiment, the range of the compensation torque value can be determined based on the difference between the error force value and the upper and lower limits of the force value range.

[0080] Therefore, further, S112 can include S1121 to S1122:

[0081] S1121: If the difference between the error force value and the upper limit of the preset force value range is less than the preset value, or the difference between the error force value and the lower limit of the preset force value range is less than the preset value, then the range of the compensation torque value is determined to be the preset torque value range.

[0082] S1122: If the difference between the error force value and the upper limit of the preset force value range is greater than the preset value, or the difference between the error force value and the lower limit of the preset force value range is greater than the preset value, then the range of the compensation torque value is determined to be 0.

[0083] Specifically, the preset value can be a fixed value, such as 50N, 100N, or 200N.

[0084] If the difference between the error force value and the upper limit of the force range is less than the preset value, i.e., the error force value < (the upper limit value + the preset value); if the difference between the error force value and the lower limit of the force range is less than the preset value, i.e., the error force value > (the lower limit value - the preset value); if the difference between the error force value and the upper limit of the force range is greater than the preset value, i.e., the error force value > (the upper limit value + the preset value); if the difference between the error force value and the lower limit of the force range is greater than the preset value, i.e., the error force value < (the lower limit value - the preset value).

[0085] To facilitate the description of this embodiment, S1121 and S1122 will be explained using a force range of -300N to 300N and a preset value of 50N as an example.

[0086] If the difference between the error force value and the upper limit of the preset force value range is less than the preset value (i.e., 300N < error force value < 350N), or the difference between the error force value and the lower limit of the preset force value range is less than the preset value (-350N < error force value < -300N), then the range of the compensation torque value is determined to be the preset torque value range; for example, the preset torque value range can be -1Nm to 1Nm.

[0087] If the difference between the error force value and the upper limit of the preset force value range is greater than the preset value (i.e., error force value > 350N), or the difference between the error force value and the lower limit of the preset force value range is greater than the preset value (i.e., error force value < -350N), then the range of the compensation torque value will be set to 0Nm.

[0088] S120: Output the corresponding compensation torque according to the value range, the compensation torque is used to compensate for the disturbance generated by the working force.

[0089] Specifically, in this embodiment, a compensation torque value for output can be determined within the range of the compensation torque value as the target torque value, and the compensation torque corresponding to the target torque value can be output to reduce the disturbance generated by the working force.

[0090] Furthermore, S120 may include S121 to S122:

[0091] S121: Determine the requested torque value corresponding to the PID control.

[0092] As an optional implementation, this embodiment can use PID control to output the compensation torque. Therefore, this embodiment can first determine the requested torque value corresponding to PID control, and then compare the range of the actual requested torque value and the compensation torque value to control the compensation torque output.

[0093] Furthermore, S121 can be more specifically defined as follows:

[0094] The requested torque value corresponding to PID control is determined according to a preset calculation formula;

[0095] The preset calculation formula is:

[0096] Tcmd=Kp*Erro+Ki*Erro*1 / s+Kd*Erro*s;

[0097] Where Tcmd represents the requested torque value, Erro represents the error force value, s represents the Lagrange variable, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, 1 / s is the integral of Erro, and s is the differential of Erro.

[0098] S122: Output the corresponding compensation torque based on the range of the requested torque value and the compensation torque value.

[0099] Specifically, this embodiment can compare the range of the requested torque value and the compensation torque value of the PID control, determine the final compensation torque value based on the comparison result, and then output the compensation torque corresponding to the final compensation torque value.

[0100] Furthermore, S122 may include S1221 to S1223:

[0101] S1221: If the range of the compensation torque value is 0, then output the compensation torque corresponding to the requested torque value as 0.

[0102] Specifically, if the range of the compensation torque value is 0, then PID control is not used to output the compensation torque, that is, the compensation torque corresponding to the output requested torque value is 0.

[0103] S1222: If the range of the compensation torque value is a preset torque value range, and the requested torque value is within the preset torque value range, then the compensation torque corresponding to the requested torque value is output.

[0104] Specifically, if the requested torque value of the PID control is within the preset torque value range, it can be considered that the requested torque value meets the control requirements, and then the compensation torque corresponding to the requested torque value can be output.

[0105] S1223: If the range of the compensation torque value is the preset torque value range, and the requested torque value is outside the preset torque value range, then output the compensation torque corresponding to the upper or lower limit of the preset torque value range.

[0106] Specifically, this embodiment also includes a saturation control scheme, that is, when the requested torque value exceeds the preset torque value range, this embodiment can only output the compensation torque corresponding to the upper or lower limit of the preset torque value range. Specifically, if the requested torque value is greater than the upper limit of the preset torque value range, the compensation torque corresponding to the upper limit value is output; if the requested torque value is less than the lower limit of the preset torque value range, the compensation torque corresponding to the lower limit value is output.

[0107] To facilitate a clearer understanding of this application, a complete optional example will be used to illustrate it below.

[0108] This embodiment can suppress fluctuations in the output power of the active damper from a control perspective. Figure 2 A structural diagram of an active vibration damper is shown. Figure 2 The active vibration damper may include an accumulator structure, an electro-hydraulic pump structure, a pressure sensor, a throttle valve, and an actuator.

[0109] When the active suspension is working, vibrations occur due to the inherent frequencies of the vehicle system. For example, the opening and closing of valves causes pressure fluctuations on both sides of the electro-hydraulic pump, resulting in high-frequency, small-amplitude vibrations in the output force of the active damper. Figure 3 As shown. When the host computer sends a command for the target force value to the active vibration damper, the active vibration damper responds to the command and outputs a force value. However, the output force value fluctuates due to mechanical or hydraulic disturbances, causing the output curve to waver. Therefore, it is necessary to adjust the fluctuating output curve to reduce the fluctuations. Figure 3 The diagram shows the transformation into Figure 4 As shown, even if the fluctuations become significantly smaller.

[0110] This embodiment can monitor the difference between the actual output force value after filtering and the target force value in real time. When certain requirements are met, additional compensation torque is applied to the motor through PID control, based on the original control. The anti-disturbance control block diagram can be found in the following reference. Figure 5 .

[0111] Specifically, this embodiment may include S1 to S6:

[0112] S1, such as Figure 5 As shown, the force output by the active damper can be used as the feedback force (Fback). The feedback force needs to be filtered to obtain F. The specific calculation formula for the filter is as follows:

[0113] F=α*Fback(t)+(1-α)*Fback(t-1);

[0114] Among them, F is the filtered feedback force value, α is the filtering coefficient, Fback(t) is the feedback force value in this period, Fback(t - 1) is the feedback force value in the previous period, and F is the filtered feedback force value. It should be noted that in this embodiment, the active shock absorber can output corresponding force values in each response instruction period, that is, each period corresponds to an output force value. Therefore, Fback(t - 1) is the output force value in the previous response instruction period.

[0115] S2. Subtract F from Fcmd to obtain the error force value:

[0116] Erro = F - Fcmd;

[0117] Where Fcmd is the target force value and Erro is the error force value.

[0118] S3. Determine whether the difference between F and Fcmd is within the range of ±300N. If it is within the range of ±300N, it means that the threshold of anti-disturbance control is met, and anti-disturbance control is performed.

[0119] S4. When Erro is within the range of ±300N, the output anti-disturbance compensation torque value is within the range of ±1Nm. Considering the smoothness of control, a hysteresis value of 50N can be added in this embodiment. That is, when Erro enters the range of 300 < Erro < 350 or -350N < Erro < -300N from within the range of ±300N, the previous torque compensation value range (±1Nm or 0Nm) is maintained; when |Erro| > 350N, the torque control compensation value is 0, that is, there is no torque compensation; when Erro enters the range of 300 < Erro < 350 or -350N < Erro < -300N from |Erro| > 350N, the torque control compensation value is 0, that is, there is no torque compensation; where |Erro| represents the absolute value of the error force value.

[0120] S5. Refer to Figure 6 , in the actual control process, it is necessary to determine the sampling time, monitor whether the output force value follows the target force value according to the sampling time. If not, determine the threshold of the difference according to the difference between the filtered output force value and the target force value. If the difference does not meet the threshold requirement, the compensation torque output is 0; if the difference meets the threshold requirement, the determined maximum torsional limit value (that is, the upper limit value or the lower limit value of the compensation torque value range) is output, and then PID control is performed. According to PID control and combined with the maximum torsional limit value, the requested torque value Tcmd is output. That is:

[0121] Tcmd = Kp * Erro + Ki * Erro * 1 / s + Kd * Erro * s;

[0122] Among them, Tcmd represents the requested torque value, Erro represents the error force value, s represents the Laplace variable, Kp is the proportional link coefficient, Ki is the integral link coefficient, Kd is the differential link coefficient, 1 / s is the integral of Erro, and s is the differential of Erro.

[0123] S6. Compare the output requested torque value Tcmd with the value range of the compensation torque value in S4. If the value range of the compensation torque value in S4 is 0, then Tcmd outputs 0; if the value range of the compensation torque value in S4 is between -1 Nm and 1 Nm, and at the same time Tcmd satisfies -1 Nm < Tcmd < 1 Nm, then output the actual value of Tcmd; otherwise, perform saturation processing, that is, if Tcmd exceeds 1 Nm, output 1 Nm, and if Tcmd is less than -1 Nm, output -1 Nm.

[0124] This embodiment can add an anti-disturbance control scheme on the basis of the existing active shock absorber control, making the fluctuation of the actuating force output by the active shock absorber smaller, improving comfort, and isolating high-frequency vibrations.

[0125] Refer to Figure 7 , the embodiment of the present invention provides an actuating force anti-disturbance control device, including:

[0126] The first unit is used to calculate the difference between the output force value and the target force value output by the active shock absorber as the error force value;

[0127] The second unit is used to determine the value range of the compensation torque value according to the error force value;

[0128] The third unit is used to output the corresponding compensation torque according to the value range, and the compensation torque is used to compensate the disturbance generated by the actuating force.

[0129] The specific implementation manner of this actuating force anti-disturbance control device is basically the same as the specific embodiment of the above actuating force anti-disturbance control method, and will not be elaborated here.

[0130] The embodiment of the present application also provides an electronic device. The electronic device includes a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, it implements the above-mentioned actuating force anti-disturbance control method. Specifically, the electronic device can be a user terminal or a server. Taking the computer device as a user terminal as an example in the embodiment of the present application, it is as follows:

[0131] Such as Figure 8As shown, the computer device 800 may include an RF (Radio Frequency) circuit 810, a memory 820 including one or more computer-readable storage media, an input unit 830, a display unit 840, a sensor 850, an audio circuit 860, a short-range wireless transmission module 870, a processor 880 including one or more processing cores, and a power supply 890, among other components. Those skilled in the art will understand that... Figure 8 The device structure shown does not constitute a limitation on the electronic device and may include more or fewer components than shown, or combine certain components, or have different component arrangements.

[0132] The RF circuit 810 can be used for receiving and transmitting signals during information transmission or calls. Specifically, it receives downlink information from the base station and hands it over to one or more processors 880 for processing; additionally, it transmits uplink data to the base station. Typically, the RF circuit 810 includes, but is not limited to, an antenna, at least one amplifier, a tuner, one or more oscillators, a Subscriber Identity Module (SIM) card, a transceiver, a coupler, an LNA (Low Noise Amplifier), a duplexer, etc. Furthermore, the RF circuit 810 can also communicate wirelessly with networks and other devices. Wireless communication can use any communication standard or protocol, including but not limited to GSM (Global System for Mobile communication), GPRS (General Packet Radio Service), CDMA (Code Division Multiple Access), WCDMA (Wideband Code Division Multiple Access), LTE (Long Term Evolution), email, SMS (Short Messaging Service), etc.

[0133] The memory 820 can be used to store software programs and modules. The processor 880 executes various functional applications and data processing by running the software programs and modules stored in the memory 820. The memory 820 may mainly include a program storage area and a data storage area. The program storage area may store the operating system, application programs required for at least one function (such as sound playback function, image playback function, etc.), etc.; the data storage area may store data created according to the use of the device 800 (such as audio data, telephone directory, etc.). In addition, the memory 820 may include high-speed random access memory, and may also include non-volatile memory, such as at least one disk storage device, flash memory device, or other volatile solid-state storage device. Accordingly, the memory 820 may also include a memory controller to provide access to the memory 820 for the processor 880 and the input unit 830. Although Figure 8 The RF circuit 810 is shown, but it is understood that it is not a necessary component of the device 800 and can be omitted as needed without changing the nature of the invention.

[0134] The input unit 830 can be used to receive input digital or character information, and to generate keyboard, mouse, joystick, optical, or trackball signal inputs related to user settings and function control. Specifically, the input unit 830 may include a touch-sensitive surface 831 and other input devices 832. The touch-sensitive surface 831, also known as a touch display screen or touchpad, can collect touch operations performed by the user on or near it (such as operations performed by the user using a finger, stylus, or any suitable object or accessory on or near the touch-sensitive surface 831), and drive the corresponding connection device according to a pre-set program. Optionally, the touch-sensitive surface 831 may include two parts: a touch detection device and a touch controller. The touch detection device detects the user's touch position and the signal generated by the touch operation, and transmits the signal to the touch controller; the touch controller receives touch information from the touch detection device, converts it into touch point coordinates, sends it to the processor 880, and can receive and execute commands sent by the processor 880. In addition, the touch-sensitive surface 831 can be implemented using various types such as resistive, capacitive, infrared, and surface acoustic wave. In addition to the touch-sensitive surface 831, the input unit 830 may also include other input devices 832. Specifically, other input devices 832 may include, but are not limited to, one or more of the following: physical keyboard, function keys (such as volume control buttons, power buttons, etc.), trackball, mouse, joystick, etc.

[0135] Display unit 840 can be used to display information input by the user or information provided to the user, as well as various graphical user interfaces controlling 800. These graphical user interfaces can be composed of graphics, text, icons, video, and any combination thereof. Display unit 840 may include display panel 841, optionally configured as LCD (Liquid Crystal Display), OLED (Organic Light-Emitting Diode), etc. Further, touch-sensitive surface 831 may cover display panel 841. When touch-sensitive surface 831 detects a touch operation on or near it, it transmits the information to processor 880 to determine the type of touch event. Subsequently, processor 880 provides corresponding visual output on display panel 841 according to the type of touch event. Although in Figure 8 In this embodiment, the touch-sensitive surface 831 and the display panel 841 are implemented as two separate components to realize input and output functions. However, in some embodiments, the touch-sensitive surface 831 and the display panel 841 can be integrated to realize input and output functions.

[0136] The computer device 800 may also include at least one sensor 850, such as a light sensor, a motion sensor, and other sensors. Specifically, the light sensor may include an ambient light sensor and a proximity sensor. The ambient light sensor can adjust the brightness of the display panel 841 according to the ambient light level, and the proximity sensor can turn off the display panel 841 and / or backlight when the device 800 is moved to the ear. As a type of motion sensor, a gravity acceleration sensor can detect the magnitude of acceleration in various directions (generally three axes). When stationary, it can detect the magnitude and direction of gravity and can be used for applications that recognize the phone's posture (such as landscape / portrait switching, related games, magnetometer posture calibration), vibration recognition-related functions (such as pedometers, taps), etc. Other sensors that the device 800 may be equipped with, such as gyroscopes, barometers, hygrometers, thermometers, and infrared sensors, will not be described in detail here.

[0137] Audio circuitry 860, speaker 861, and microphone 862 provide an audio interface between the user and device 800. Audio circuitry 860 converts received audio data into electrical signals, which are then transmitted to speaker 861, where they are converted into sound signals for output. Conversely, microphone 862 converts collected sound signals into electrical signals, which are received by audio circuitry 860, converted back into audio data, and then processed by processor 880 before being transmitted via RF circuitry 810 to another control device, or output to memory 820 for further processing. Audio circuitry 860 may also include an earphone jack to facilitate communication between peripheral headphones and device 800.

[0138] The short-range wireless transmission module 870 can be a WIFI (wireless fidelity) module, Bluetooth module, or infrared module, etc. Device 800 can transmit information with the wireless transmission module installed on the gaming equipment via the short-range wireless transmission module 870.

[0139] Processor 880 is the control center of device 800. It connects various parts of the control device via various interfaces and lines. By running or executing software programs and / or modules stored in memory 820, and by calling data stored in memory 820, it performs various functions of device 800 and processes data, thereby providing overall monitoring of the control device. Optionally, processor 880 may include one or more processing cores; optionally, processor 880 may integrate an application processor and a modem processor, wherein the application processor mainly handles the operating system, user interface, and applications, and the modem processor mainly handles wireless communication. It is understood that the aforementioned modem processor may not be integrated into processor 850.

[0140] The device 800 also includes a power supply 890 (such as a battery) to power various components. Preferably, the power supply can be logically connected to the processor 880 through a power management system, thereby enabling functions such as charging, discharging, and power consumption management through the power management system. The power supply 890 may also include one or more DC or AC power supplies, recharging systems, power fault detection circuits, power converters or inverters, power status indicators, and other arbitrary components.

[0141] Although not shown, device 800 may also include a camera, Bluetooth module, etc., which will not be described in detail here. This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the aforementioned dynamic disturbance rejection control method.

[0142] This application also provides a vehicle, which includes a power disturbance suppression control device as described above, or an electronic device as described above. Specifically, the vehicle can be a private car, such as a sedan, SUV, MPV, or pickup truck. The vehicle can also be a commercial vehicle, such as a van, bus, small truck, or large trailer. The vehicle can be a gasoline-powered vehicle or a new energy vehicle. When the vehicle is a new energy vehicle, it can be a hybrid vehicle or a pure electric vehicle.

[0143] This application also provides a computer-readable storage medium storing a computer program that, when executed by a processor, implements the above-described dynamic disturbance rejection control method.

[0144] Memory, as a non-transitory computer-readable storage medium, can be used to store non-transitory software programs and non-transitory computer-executable programs. Furthermore, memory may include high-speed random access memory, and may also include non-transitory memory, such as at least one disk storage device, flash memory device, or other non-transitory solid-state storage device. In some embodiments, memory may optionally include memory remotely located relative to the processor, and these remote memories can be connected to the processor via a network. Examples of such networks include, but are not limited to, the Internet, intranets, local area networks, mobile communication networks, and combinations thereof.

[0145] This application also discloses a computer program product or computer program, which includes computer instructions stored in a computer-readable storage medium. The processor of an electronic device can read the computer instructions from the computer-readable storage medium, and the processor executes the computer instructions, causing the electronic device to perform... Figure 1 The method shown.

[0146] In some alternative embodiments, the functions / operations mentioned in the block diagrams may not occur in the order shown in the operation diagrams. For example, depending on the functions / operations involved, two consecutively shown blocks may actually be executed substantially simultaneously, or the blocks may sometimes be executed in reverse order. Furthermore, the embodiments presented and described in the flowcharts of this application are provided by way of example to provide a more comprehensive understanding of the technology. The disclosed methods are not limited to the operations and logic flows presented herein. Alternative embodiments are contemplated in which the order of various operations is changed and sub-operations described as part of a larger operation are executed independently.

[0147] Furthermore, although this application is described in the context of functional modules, it should be understood that, unless otherwise stated, one or more of the described functions and / or features may be integrated into a single physical device and / or software module, or one or more functions and / or features may be implemented in a separate physical device or software module. It is also understood that a detailed discussion of the actual implementation of each module is unnecessary for understanding this application. Rather, given the properties, functions, and internal relationships of the various functional modules in the apparatus disclosed herein, the actual implementation of the module will be understood within the scope of conventional technology for an engineer. Therefore, those skilled in the art can implement the application set forth in the claims using ordinary techniques without excessive experimentation. It is also understood that the specific concepts disclosed are merely illustrative and not intended to limit the scope of this application, which is determined by the full scope of the appended claims and their equivalents.

[0148] If the aforementioned functions are implemented as software functional units and sold or used as independent products, they can be stored in a computer-readable storage medium. Based on this understanding, the technical solution of this application, in essence, or the part that contributes to the prior art, or a portion 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 an electronic 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 program code, such as USB flash drives, portable hard drives, read-only memory (ROM), random access memory (RAM), magnetic disks, or optical disks.

[0149] The logic and / or steps represented in the flowchart or otherwise described herein, for example, can be considered as a sequenced list of executable instructions for implementing logical functions, and can be embodied in any computer-readable medium for use by, or in conjunction with, an instruction execution system, apparatus, or device (such as a computer-based system, a processor-included system, or other system that can fetch and execute instructions from, an instruction execution system, apparatus, or device). For the purposes of this specification, "computer-readable medium" can be any means that can contain, store, communicate, propagate, or transmit programs for use by, or in conjunction with, an instruction execution system, apparatus, or device.

[0150] More specific examples of computer-readable media (a non-exhaustive list) include: electrical connections (electronic devices) having one or more wires, portable computer disk drives (magnetic devices), random access memory (RAM), read-only memory (ROM), erasable and editable read-only memory (EPROM or flash memory), fiber optic devices, and portable optical disc read-only memory (CDROM). Furthermore, computer-readable media can even be paper or other suitable media on which the program can be printed, because the program can be obtained electronically, for example, by optically scanning the paper or other medium, followed by editing, interpreting, or otherwise processing as necessary, and then stored in computer memory.

[0151] It should be understood that various parts of this application can be implemented using hardware, software, firmware, or a combination thereof. In the above embodiments, multiple steps or methods can be implemented using software or firmware stored in memory and executed by a suitable instruction execution system. For example, if implemented in hardware, as in another embodiment, it can be implemented using any one or a combination of the following techniques known in the art: discrete logic circuits having logic gates for implementing logical functions on data signals, application-specific integrated circuits (ASICs) having suitable combinational logic gates, programmable gate arrays (PGAs), field-programmable gate arrays (FPGAs), etc.

[0152] In the description of this specification, the references to terms such as "one embodiment," "some embodiments," "example," "specific example," or "some examples," etc., indicate that a specific feature, structure, material, or characteristic described in connection with that embodiment or example is included in at least one embodiment or example of this application. In this specification, the illustrative expressions of the above terms do not necessarily refer to the same embodiment or example. Furthermore, the specific features, structures, materials, or characteristics described may be combined in any suitable manner in one or more embodiments or examples.

[0153] Although embodiments of this application have been shown and described, those skilled in the art will understand that various changes, modifications, substitutions and alterations can be made to these embodiments without departing from the principles and spirit of this application, the scope of which is defined by the claims and their equivalents.

[0154] The above is a detailed description of the preferred embodiments of this application, but this application is not limited to the embodiments described. Those skilled in the art can make various equivalent modifications or substitutions without departing from the spirit of this application, and these equivalent modifications or substitutions are all included within the scope defined by the claims of this application.

Claims

1. A dynamic disturbance rejection control method, characterized in that, include: The difference between the output force value of the active damper and the target force value is calculated as the error force value; The range of the compensation torque value is determined based on the error force value; The corresponding compensation torque is output according to the value range, and the compensation torque is used to compensate for the disturbance generated by the working force. The step of determining the range of the compensation torque value based on the error force value includes: If the error force value is within a preset force value range, then the range of the compensation torque value is determined to be the preset torque value range. If the difference between the error force value and the upper limit of the preset force value range is less than the preset value, or the difference between the error force value and the lower limit of the preset force value range is less than the preset value, then the range of the compensation torque value is determined to be the preset torque value range. If the difference between the error force value and the upper limit of the preset force value range is greater than the preset value, or the difference between the error force value and the lower limit of the preset force value range is greater than the preset value, then the range of the compensation torque value is determined to be 0.

2. The dynamic disturbance rejection control method according to claim 1, characterized in that, Before calculating the difference between the output force value of the active damper and the target force value as the error force value, the method further includes: The output force value is filtered to obtain the filtered force value; The difference between the output force value of the active damper and the target force value is calculated as the error force value, including: The difference between the filtering force value and the target force value is calculated as the error force value.

3. A dynamic disturbance rejection control method according to any one of claims 1 to 2, characterized in that, The step of outputting the corresponding compensation torque according to the value range includes: Determine the requested torque value corresponding to PID control; The corresponding compensation torque is output based on the range of the requested torque value and the compensation torque value.

4. The dynamic disturbance rejection control method according to claim 3, characterized in that, Determining the requested torque value corresponding to the PID control includes: The requested torque value corresponding to PID control is determined according to a preset calculation formula; The preset calculation formula is: Tcmd=Kp*Erro+Ki*Erro*1 / s+Kd*Erro*s; Where Tcmd represents the requested torque value, Erro represents the error force value, s represents the Lagrange variable, Kp is the proportional coefficient, Ki is the integral coefficient, Kd is the differential coefficient, 1 / s is the integral of Erro, and s is the differential of Erro.

5. The dynamic disturbance rejection control method according to claim 3, characterized in that, The step of outputting the corresponding compensation torque based on the range of the requested torque value and the compensation torque value includes: If the range of the compensation torque value is 0, then the compensation torque corresponding to the requested torque value is output as 0; If the range of the compensation torque value is within a preset torque value range, and the requested torque value is within the preset torque value range, then the compensation torque corresponding to the requested torque value is output. If the range of the compensation torque value is within the preset torque value range, and the requested torque value is outside the preset torque value range, then the compensation torque corresponding to the upper or lower limit of the preset torque value range is output.

6. A dynamic disturbance suppression control device, characterized in that, include: The first unit is used to calculate the difference between the output force value of the active damper and the target force value as the error force value; The second unit is used to determine the range of the compensation torque value based on the error force value; The third unit is used to output the corresponding compensation torque according to the value range, and the compensation torque is used to compensate for the disturbance generated by the working force. The step of determining the range of the compensation torque value based on the error force value includes: If the error force value is within a preset force value range, then the range of the compensation torque value is determined to be the preset torque value range. If the difference between the error force value and the upper limit of the preset force value range is less than the preset value, or the difference between the error force value and the lower limit of the preset force value range is less than the preset value, then the range of the compensation torque value is determined to be the preset torque value range. If the difference between the error force value and the upper limit of the preset force value range is greater than the preset value, or the difference between the error force value and the lower limit of the preset force value range is greater than the preset value, then the range of the compensation torque value is determined to be 0.

7. An electronic device, characterized in that, Including the processor and memory; The memory is used to store programs; The processor executes the program to implement a dynamic disturbance rejection control method as described in any one of claims 1 to 5.

8. A vehicle, characterized in that, The vehicle includes a power disturbance suppression control device as described in claim 6, or an electronic device as described in claim 7.

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