Control method, device and equipment for restraining engine shaking

Abstract

The invention discloses a control method, device and equipment for inhibiting engine shaking, which are used for counteracting torque fluctuation generated in the starting and stopping process of an engine and improving the driving smoothness. The method comprises the steps that in response to an engine starting or stopping instruction, the rotating speed difference value of a driving motor and a gearbox input shaft is determined; subtracting the rotating speed difference value of the driving motor and the gearbox input shaft at the previous moment from the rotating speed difference value of the driving motor and the gearbox input shaft at the current moment to obtain the rotating speed difference value change rate of the driving motor and the gearbox input shaft; determining a torque compensation value of the driving motor according to the rotating speed difference value of the driving motor and the gearbox input shaft and the rotating speed difference value change rate of the driving motor and the gearbox input shaft at the current moment; and the torque compensation value is compensated for the driving motor to restrain engine shaking.

Description

Technical Field

[0001] The present application relates to the field of engine control technology, and in particular to a control method, device and equipment for suppressing engine vibration. Background Art

[0002] A hybrid vehicle is a vehicle whose vehicle drive system is composed of two or more single drive systems that can operate simultaneously. The vehicle's driving power is provided by the single drive systems individually or jointly according to the actual vehicle driving state.

[0003] Hybrid vehicles have hybrid system engines. For power split hybrid system engines, since their structure is directly connected to the planetary carrier, engine start and stop will cause torque fluctuations to act on the wheel end through the transmission system, seriously affecting the driving smoothness of the vehicle. Therefore, how to reduce the vehicle vibration caused by the engine start and stop process is a difficult problem in the industry. Summary of the invention

[0004] In view of this, the embodiments of the present application provide a control method, device and equipment for suppressing engine vibration to offset the torque fluctuation generated during the engine start-stop process and improve driving smoothness.

[0005] To solve the above problems, the technical solutions provided in the embodiments of the present application are as follows:

[0006] A control method for suppressing engine vibration, the method comprising:

[0007] In response to an engine start or stop command, determining a speed difference between a drive motor and a transmission input shaft;

[0008] The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the speed difference change rate between the drive motor and the gearbox input shaft;

[0009] Determine the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft at the current moment and the rate of change of the speed difference between the drive motor and the gearbox input shaft;

[0010] The torque compensation value is compensated to the driving motor to suppress engine vibration.

[0011] In a possible implementation, determining the speed difference between the drive motor and the gearbox input shaft includes:

[0012] Collect the actual speed of the drive motor;

[0013] Determine the transmission input shaft speed;

[0014] The speed difference between the drive motor and the gearbox input shaft is obtained by subtracting the actual speed of the drive motor from the speed of the gearbox input shaft.

[0015] In a possible implementation, determining the transmission input shaft speed includes:

[0016] Get the gearbox output shaft speed;

[0017] The gearbox output shaft speed is divided by the transmission ratio and then by the transmission efficiency to obtain the gearbox input shaft speed.

[0018] In a possible implementation, obtaining the transmission output shaft speed includes:

[0019] Get vehicle speed;

[0020] The vehicle speed is multiplied by the final reduction ratio and then divided by the tire radius to obtain the transmission output shaft speed.

[0021] In a possible implementation, obtaining the transmission output shaft speed includes:

[0022] Get the measured transmission output shaft speed.

[0023] In a possible implementation, determining the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft and the rate of change of the speed difference between the drive motor and the gearbox input shaft includes:

[0024] The corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value is found to obtain the speed difference between the drive motor and the gearbox input shaft at the current moment and the torque compensation value of the drive motor corresponding to the speed difference change rate between the drive motor and the gearbox input shaft.

[0025] In a possible implementation, the corresponding relationship between the speed difference between the drive motor and the input shaft of the gearbox, the speed difference change rate and the torque compensation value is determined through experimental calibration.

[0026] A control device for suppressing engine vibration, the device comprising:

[0027] A first determination unit, for determining a speed difference between the drive motor and the input shaft of the gearbox in response to an engine start or stop command;

[0028] A calculation unit, used to obtain a rate of change of the speed difference between the drive motor and the gearbox input shaft by subtracting the speed difference between the drive motor and the gearbox input shaft at a previous moment from the speed difference between the drive motor and the gearbox input shaft at a current moment;

[0029] a second determining unit, configured to determine a torque compensation value of the drive motor according to a speed difference between the drive motor and the gearbox input shaft and a rate of change of the speed difference between the drive motor and the gearbox input shaft at the current moment;

[0030] The compensation unit is used to compensate the torque compensation value to the driving motor to suppress engine vibration.

[0031] A control device for suppressing engine jitter, comprising: a memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, a control method for suppressing engine jitter as described in any one of the above items is implemented.

[0032] A computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes any of the control methods for suppressing engine jitter as described above.

[0033] It can be seen that the embodiments of the present application have the following beneficial effects:

[0034] In the embodiment of the present application, when the engine is started and stopped, the speed difference between the drive motor and the gearbox input shaft can be determined. The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the speed difference change rate of the drive motor and the gearbox input shaft. According to the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate, the torque compensation value of the drive motor can be determined. Compensating the torque compensation value to the drive motor can offset the torque fluctuation generated when the engine is started and stopped, suppress engine jitter, and thus improve the driving smoothness of the whole vehicle. The embodiment of the present application can perform compensation in real time, timely and accurately offset the engine torque fluctuation, respond faster, and avoid untimely torque compensation. BRIEF DESCRIPTION OF THE DRAWINGS

[0035] Figure 1 This is a schematic diagram of the structure of a power split multi-speed hybrid power system in an embodiment of the present application;

[0036] Figure 2 A schematic diagram of an exemplary application scenario provided for an embodiment of the present application;

[0037] Figure 3 A flow chart of a control method for suppressing engine jitter provided in an embodiment of the present application;

[0038] Figure 4 A schematic diagram of a control device for suppressing engine vibration provided in an embodiment of the present application. DETAILED DESCRIPTION

[0039] In order to make the above-mentioned purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the embodiments of the present application are further described in detail below in conjunction with the accompanying drawings and specific implementation methods.

[0040] In order to facilitate understanding and explanation of the technical solution provided by the embodiments of the present application, the background technology of the embodiments of the present application will be described below.

[0041] The power-split hybrid system engine is directly connected to the planetary carrier due to its structure. When the engine is started and stopped, it will cause torque fluctuations to act on the wheel end through the transmission system, seriously affecting the driving smoothness of the vehicle.

[0042] See also Figure 1 As shown, a schematic diagram of the structure of a power-split multi-speed hybrid power system is shown. The power-split multi-speed hybrid power system is an oil-electric hybrid system that adopts a dual-motor hybrid technology and uses a planetary gear mechanism to couple the motor and the engine together. Specifically, the engine 1 is connected to the planet carrier 4 of the P1 planetary gear, the generator (ISG motor) 2 is connected to the sun gear 5 of the P1 planetary gear, the ring gear 3 of the P1 planetary gear outputs power and is connected to the drive motor (TM motor) 6 and the gearbox input shaft 7, and the gearbox output shaft 9 is connected to the wheel end. The power battery 10 supplies power to the drive motor 6 and the generator 2, and the two motors can also charge the power battery.

[0043] Among them, the gearbox 8 can be a dedicated hybrid transmission (DHT). The ISG motor is an integrated intelligent starter drive generator, which can start the engine in the DHT system, and can perform speed regulation, regenerative power generation, etc. during normal driving. The TM motor is the main drive motor and is mainly responsible for driving the vehicle. The planetary gear is a planetary gear transmission, which is composed of a sun gear, a planetary gear, a planetary gear carrier (referred to as a planetary carrier), a ring gear, etc.

[0044] Based on the above structure, the engine output shaft is directly connected to the planetary carrier, and there is no device in the middle to disconnect the engine and the planetary carrier. The ring gear of the planetary row is used as the power output and the output shaft of the TM motor is connected to the input of the gearbox. This transmission chain has no power interruption device. During the engine start-stop process, it will generate low-speed pulsating torque, so the torque fluctuation will be directly transmitted to the vehicle body along the transmission system to cause vibration, affecting driving smoothness.

[0045] Based on this, the embodiment of the present application provides a control method, device and equipment for suppressing engine vibration, which calculates torque compensation based on the speed of the drive motor to suppress the vibration generated during the engine start-stop process. During the engine start-stop process, active torque compensation is performed according to the speed of the drive motor, and the compensation torque value is calculated by two variables: the speed difference between the drive motor and the input shaft of the gearbox and the speed difference change rate, to offset the torque fluctuation generated during the engine start-stop process, thereby improving the driving smoothness of the whole vehicle.

[0046] In order to facilitate understanding of the control method for suppressing engine jitter provided in the embodiment of the present application, Figure 2 See the example scenario shown in the figure. Figure 2 As shown, this figure is a schematic diagram of an exemplary application scenario provided in an embodiment of the present application.

[0047] The embodiment of the present application can be applied to a vehicle controller. When the vehicle controller determines to generate an engine start or stop command, the actual speed of the drive motor and the speed of the gearbox input shaft can be obtained to obtain the speed difference between the drive motor and the gearbox input shaft at the current moment. The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the rate of change of the speed difference between the drive motor and the gearbox input shaft. The torque compensation value can be determined by the two variables of the speed difference between the drive motor and the gearbox input shaft at the current moment and the rate of change of the speed difference between the drive motor and the gearbox input shaft. The torque compensation value is compensated to the drive motor to suppress engine jitter.

[0048] Those skilled in the art will understand that Figure 2 The framework diagram shown is only an example in which the embodiments of the present application can be implemented. The scope of application of the embodiments of the present application is not limited by any aspect of the framework.

[0049] To facilitate understanding of the embodiments of the present application, a control method for suppressing engine vibration provided by the embodiments of the present application is described below in conjunction with the accompanying drawings.

[0050] See also Figure 3 As shown in FIG. 1 , this figure is a flow chart of a control method for suppressing engine vibration provided by an embodiment of the present application, as shown in FIG. Figure 3 As shown, the method may include S301-S304:

[0051] S301: In response to an engine start or stop command, determining a speed difference between a drive motor and a transmission input shaft.

[0052] When an engine shutdown or start command is issued, there is no need to determine whether there is engine jitter, and active torque compensation is performed directly according to the speed of the drive motor. First, the speed difference between the drive motor and the gearbox input shaft must be calculated. In practical applications, the speed difference between the drive motor and the gearbox input shaft can be determined according to the sampling period. For example, if the sampling period is 10 milliseconds, the speed difference between the drive motor and the gearbox input shaft is determined every 10 milliseconds.

[0053] In a possible implementation, the specific implementation of determining the speed difference between the drive motor and the gearbox input shaft in S301 may include:

[0054] A1: Collect the actual speed of the drive motor.

[0055] A2: Determine the transmission input shaft speed.

[0056] A3: Subtract the actual speed of the drive motor from the speed of the gearbox input shaft to obtain the speed difference between the drive motor and the gearbox input shaft.

[0057] That is, the speed difference between the drive motor and the gearbox input shaft can be obtained by subtracting the gearbox input shaft speed from the actual speed of the drive motor. The actual speed of the drive motor is obtained by real-time feedback from the drive motor. The gearbox input shaft speed can be calculated based on the vehicle speed or the gearbox output shaft speed.

[0058] In a possible implementation, the specific implementation of A2 determining the speed of the transmission input shaft may include:

[0059] B1: Get the transmission output shaft speed.

[0060] B2: Divide the transmission output shaft speed by the transmission ratio and then by the transmission efficiency to obtain the transmission input shaft speed.

[0061] In practical applications, the transmission input shaft speed is calculated by dividing the transmission ratio and transmission efficiency by the transmission output shaft speed. The transmission ratio and transmission efficiency are predetermined fixed parameters and may be different for different models. The transmission output shaft speed can be obtained by measurement or by multiplying the vehicle speed by the main reduction ratio and then dividing it by the tire radius. The main reduction ratio and tire radius are predetermined fixed parameters and may be different for different models.

[0062] In a possible implementation, the specific implementation of B2 acquiring the output shaft speed of the gearbox may include:

[0063] Get the vehicle speed; multiply the vehicle speed by the final reduction ratio and then divide by the tire radius to get the transmission output shaft speed.

[0064] Alternatively, obtain the measured transmission output shaft speed.

[0065] In this way, in the embodiment of the present application, the speed difference between the drive motor and the gearbox input shaft can be calculated according to the sampling period.

[0066] S302: Subtract the speed difference between the drive motor and the gearbox input shaft at the previous moment from the speed difference between the drive motor and the gearbox input shaft at the current moment to obtain a speed difference change rate between the drive motor and the gearbox input shaft.

[0067] The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment. The speed difference between the drive motor and the gearbox input shaft in two adjacent sampling periods can be used to calculate the change rate of the speed difference between the drive motor and the gearbox input shaft.

[0068] S303: Determine a torque compensation value of the drive motor according to a speed difference between the drive motor and the gearbox input shaft and a rate of change of the speed difference between the drive motor and the gearbox input shaft at a current moment.

[0069] By taking the speed difference between the drive motor and the gearbox input shaft at the current moment and the speed difference change rate between the drive motor and the gearbox input shaft as input, the corresponding torque compensation value of the drive motor can be found.

[0070] In a possible implementation, S303 may include: determining the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft and the speed change rate of the drive motor and the gearbox input shaft;

[0071] The corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value is found to obtain the torque compensation value of the drive motor corresponding to the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate at the current moment.

[0072] In a possible implementation, the corresponding relationship between the speed difference between the drive motor and the input shaft of the gearbox, the speed difference change rate and the torque compensation value is determined through experimental calibration.

[0073] In practical applications, the initial data of the corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value can be obtained based on the simulation experiment. Through the response of the vehicle during the actual vehicle debugging, the initial data is optimized through empirical calibration to finally obtain the corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value. The corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value can be solidified in the software of the vehicle controller.

[0074] After obtaining the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate, the corresponding relationship can be searched to determine the required torque compensation value of the drive motor.

[0075] S304: Compensate the torque compensation value to the drive motor to suppress engine vibration.

[0076] The torque compensation value is directly compensated to the drive motor to offset the longitudinal torque fluctuations generated by the engine during the engine start-stop process, thereby improving the smoothness of the vehicle's driving.

[0077] In the embodiment of the present application, when the engine is started and stopped, the speed difference between the drive motor and the gearbox input shaft can be determined. The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the speed difference change rate of the drive motor and the gearbox input shaft. According to the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate, the torque compensation value of the drive motor can be determined. Compensating the torque compensation value to the drive motor can offset the torque fluctuation generated when the engine is started and stopped, suppress engine jitter, and thus improve the driving smoothness of the whole vehicle. The embodiment of the present application can perform compensation in real time, timely and accurately offset the engine torque fluctuation, respond faster, and avoid untimely torque compensation.

[0078] Based on a control method for suppressing engine jitter provided in the above method embodiment, an embodiment of the present application also provides a control device for suppressing engine jitter, which will be described below in conjunction with the accompanying drawings.

[0079] See also Figure 4 As shown in FIG. 1 , this figure is a schematic diagram of the structure of a control device for suppressing engine vibration provided by an embodiment of the present application. Figure 4 As shown, the control device for suppressing engine vibration includes:

[0080] A first determining unit 401 is used to determine a speed difference between the drive motor and the gearbox input shaft in response to an engine start or stop command;

[0081] The calculation unit 402 is used to obtain the speed difference between the drive motor and the gearbox input shaft by subtracting the speed difference between the drive motor and the gearbox input shaft at the previous moment from the speed difference between the drive motor and the gearbox input shaft at the current moment;

[0082] A second determining unit 403 is used to determine the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft at the current moment and the speed difference change rate between the drive motor and the gearbox input shaft;

[0083] The compensation unit 404 is used to compensate the torque compensation value to the driving motor to suppress engine vibration.

[0084] In a possible implementation manner, the first determining unit includes:

[0085] A collection subunit is used to collect the actual speed of the driving motor;

[0086] A determination subunit, used for determining a transmission input shaft speed;

[0087] The first calculation subunit is used to subtract the actual speed of the drive motor from the speed of the gearbox input shaft to obtain a speed difference between the drive motor and the gearbox input shaft.

[0088] In a possible implementation manner, the determining subunit includes:

[0089] An acquisition subunit is used to acquire the output shaft speed of the gearbox;

[0090] The second calculation subunit is used to divide the transmission output shaft speed by the transmission ratio and then by the transmission efficiency to obtain the transmission input shaft speed.

[0091] In a possible implementation manner, the acquisition subunit is specifically used to:

[0092] Get vehicle speed;

[0093] The vehicle speed is multiplied by the final reduction ratio and then divided by the tire radius to obtain the transmission output shaft speed.

[0094] In a possible implementation manner, the acquisition subunit is specifically used to:

[0095] Get the measured transmission output shaft speed.

[0096] In a possible implementation manner, the second determining unit is specifically configured to:

[0097] The corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value is found to obtain the speed difference between the drive motor and the gearbox input shaft at the current moment and the torque compensation value of the drive motor corresponding to the speed difference change rate between the drive motor and the gearbox input shaft.

[0098] In a possible implementation, the corresponding relationship between the speed difference between the drive motor and the input shaft of the gearbox, the speed difference change rate and the torque compensation value is determined through experimental calibration.

[0099] In addition, an embodiment of the present application also provides a control device for suppressing engine jitter, including: a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the computer program, a control method for suppressing engine jitter as described in any one of the above items is implemented.

[0100] An embodiment of the present application further provides a computer-readable storage medium, in which instructions are stored. When the instructions are executed on a terminal device, the terminal device executes a control method for suppressing engine jitter as described in any one of the above items.

[0101] An embodiment of the present application further provides a computer program product, including computer program instructions. When the computer program instructions are executed on a computer, the computer executes any of the control methods for suppressing engine jitter as described above.

[0102] In the embodiment of the present application, when the engine is started and stopped, the speed difference between the drive motor and the gearbox input shaft can be determined. The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the speed difference change rate of the drive motor and the gearbox input shaft. According to the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate, the torque compensation value of the drive motor can be determined. Compensating the torque compensation value to the drive motor can offset the torque fluctuation generated when the engine is started and stopped, suppress engine jitter, and thus improve the driving smoothness of the whole vehicle. The embodiment of the present application can perform compensation in real time, timely and accurately offset the engine torque fluctuation, respond faster, and avoid untimely torque compensation.

[0103] It should be noted that the various embodiments in this specification are described in a progressive manner, and each embodiment focuses on the differences from other embodiments, and the same or similar parts between the various embodiments can be referred to each other. For the system or device disclosed in the embodiment, since it corresponds to the method disclosed in the embodiment, the description is relatively simple, and the relevant parts can be referred to the method part description.

[0104] It should be understood that in the present application, "at least one (item)" means one or more, and "plurality" means two or more. "And / or" is used to describe the association relationship of associated objects, indicating that three relationships may exist. For example, "A and / or B" can mean: only A exists, only B exists, and A and B exist at the same time, where A and B can be singular or plural. The character " / " generally indicates that the objects associated before and after are in an "or" relationship. "At least one of the following" or similar expressions refers to any combination of these items, including any combination of single or plural items. For example, at least one of a, b or c can mean: a, b, c, "a and b", "a and c", "b and c", or "a and b and c", where a, b, c can be single or multiple.

[0105] It should also be noted that, in this article, relational terms such as first and second, etc. are only used to distinguish one entity or operation from another entity or operation, and do not necessarily require or imply any such actual relationship or order between these entities or operations. Moreover, the terms "include", "comprise" or any other variants thereof are intended to cover non-exclusive inclusion, so that a process, method, article or device including a series of elements includes not only those elements, but also other elements not explicitly listed, or also includes elements inherent to such process, method, article or device. In the absence of further restrictions, the elements defined by the sentence "comprise a ..." do not exclude the presence of other identical elements in the process, method, article or device including the elements.

[0106] The steps of the method or algorithm described in conjunction with the embodiments disclosed herein may be implemented directly using hardware, a software module executed by a processor, or a combination of the two. The software module may be placed in a random access memory (RAM), a memory, a read-only memory (ROM), an electrically programmable ROM, an electrically erasable programmable ROM, a register, a hard disk, a removable disk, a CD-ROM, or any other form of storage medium known in the art.

[0107] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present application. Various modifications to these embodiments will be apparent to those skilled in the art, and the general principles defined herein may be implemented in other embodiments without departing from the spirit or scope of the present application. Therefore, the present application will not be limited to the embodiments shown herein, but will conform to the widest scope consistent with the principles and novel features disclosed herein.

Claims

1. A control method for suppressing engine vibration, characterized in that: The method comprises: In response to an engine start or stop command, determining a speed difference between a drive motor and a transmission input shaft; The speed difference between the drive motor and the gearbox input shaft at the current moment is subtracted from the speed difference between the drive motor and the gearbox input shaft at the previous moment to obtain the speed difference change rate between the drive motor and the gearbox input shaft; Determine the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft at the current moment and the rate of change of the speed difference between the drive motor and the gearbox input shaft; The torque compensation value is compensated to the driving motor to suppress engine vibration.

2. The method according to claim 1, characterized in that Determining the speed difference between the drive motor and the gearbox input shaft includes: Collect the actual speed of the drive motor; Determine the transmission input shaft speed; The speed difference between the drive motor and the gearbox input shaft is obtained by subtracting the actual speed of the drive motor from the speed of the gearbox input shaft.

3. The method according to claim 2, characterized in that Determining the transmission input shaft speed includes: Get the gearbox output shaft speed; The gearbox output shaft speed is divided by the transmission ratio and then by the transmission efficiency to obtain the gearbox input shaft speed.

4. The method according to claim 3, characterized in that The step of obtaining the output shaft speed of the gearbox includes: Get vehicle speed; The vehicle speed is multiplied by the final reduction ratio and then divided by the tire radius to obtain the transmission output shaft speed.

5. The method according to claim 3, characterized in that: The step of obtaining the output shaft speed of the gearbox includes: Get the measured transmission output shaft speed.

6. The method according to claim 1, characterized in that Determining the torque compensation value of the drive motor according to the speed difference between the drive motor and the gearbox input shaft and the speed difference change rate between the drive motor and the gearbox input shaft comprises: The corresponding relationship between the speed difference between the drive motor and the gearbox input shaft, the speed difference change rate and the torque compensation value is found to obtain the speed difference between the drive motor and the gearbox input shaft at the current moment and the torque compensation value of the drive motor corresponding to the speed difference change rate between the drive motor and the gearbox input shaft.

7. The method according to claim 6, characterized in that The corresponding relationship between the speed difference between the drive motor and the input shaft of the gearbox, the speed difference change rate and the torque compensation value is determined through experimental calibration.

8. A control device for suppressing engine vibration, characterized in that: The device comprises: A first determination unit, for determining a speed difference between the drive motor and the input shaft of the gearbox in response to an engine start or stop command; A calculation unit, used to obtain a rate of change of the speed difference between the drive motor and the gearbox input shaft by subtracting the speed difference between the drive motor and the gearbox input shaft at a previous moment from the speed difference between the drive motor and the gearbox input shaft at a current moment; a second determining unit, configured to determine a torque compensation value of the drive motor according to a speed difference between the drive motor and the gearbox input shaft and a rate of change of the speed difference between the drive motor and the gearbox input shaft at the current moment; The compensation unit is used to compensate the torque compensation value to the driving motor to suppress engine vibration.

9. A control device for suppressing engine vibration, characterized in that: include: A memory, a processor, and a computer program stored in the memory and executable on the processor, wherein when the processor executes the computer program, the control method for suppressing engine jitter as described in any one of claims 1 to 7 is implemented.

10. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores instructions, and when the instructions are executed on a terminal device, the terminal device executes the control method for suppressing engine jitter according to any one of claims 1 to 7.

Images