Motor rotating speed amplitude limiting control method and device, equipment and storage medium

Abstract

The invention discloses a motor rotating speed amplitude limiting control method, device and equipment and a storage medium, and the method comprises the steps that when it is determined that a vehicle is in a pure electric starting state or a rotating speed amplitude limiting control state according to preset conditions, the motor rotating speed of the vehicle is obtained, and the rotating speed difference value between the motor rotating speed and the set maximum rotating speed is determined; judging whether the vehicle has a shaking risk or not according to the rotating speed difference value; if yes, the output torque of the motor is adjusted according to the rotating speed difference value in the latest period of time. And adjusting the motor speed according to the motor speed and the output torque. After it is determined that a vehicle is in a pure electric starting state or a rotating speed amplitude limiting control state, whether the shaking risk exists currently or not is determined through the rotating speed difference value between the rotating speed of a motor and the maximum rotating speed, and when the shaking risk exists, the output torque of the motor is adjusted through the rotating speed difference value condition in the latest period of time; and the motor rotating speed is further subjected to feedback regulation, so that the motor rotating speed can be finally recovered to a safe range.

Description

Technical Field

[0001] The present application relates to the field of motor control technology, and in particular to a motor speed limiting control method, device, equipment and storage medium. Background Art

[0002] Due to the mechanical characteristics of the electric vehicle power system, the transmission system is relatively simple, and the motor is rigidly connected to the transmission system. Compared with traditional fuel vehicles, it lacks components such as clutches and torque converters for buffering and vibration reduction, and the torque response is sensitive. The vehicle is prone to sudden changes in motor speed or torque under conditions such as starting from a slope, driving on bumpy roads, and slipping on low-adhesion roads. Especially during the vehicle starting process, the motor speed may change to a large level in a short period of time. If the motor speed or output torque is too large, the transmission system will collide with teeth, which will further cause the whole vehicle to vibrate, affecting the vehicle's driving comfort and even causing casualties. Summary of the invention

[0003] The present application provides a motor speed limiting control method, device, equipment and storage medium, which can solve the relevant technical problems existing in the above-mentioned prior art.

[0004] In a first aspect, the present application provides a motor speed limiting control method, which adopts the following technical solution:

[0005] A motor speed limiting control method, the motor speed limiting control method comprising:

[0006] When it is determined according to preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, obtaining the motor speed of the vehicle, and determining the speed difference between the motor speed and a set maximum speed;

[0007] Judging whether the vehicle has a shaking risk according to the speed difference;

[0008] If so, adjusting the output torque of the motor according to the speed difference in a recent period of time;

[0009] The motor speed is adjusted according to the motor speed and the output torque.

[0010] In combination with the first aspect, in one implementation, in adjusting the output torque of the motor according to the speed difference in a recent period of time,

[0011] The output torque of the motor is adjusted according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold.

[0012] In combination with the first aspect, in one implementation, adjusting the output torque of the motor according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold value comprises the following steps:

[0013] If the speed difference is always greater than a preset difference threshold value within a recent first set time period, adjusting the output torque to zero;

[0014] If the speed difference is always between zero and the difference threshold within the most recent first set time period, the torque limit coefficient corresponding to the speed difference is determined according to a preset linear torque limit model, and the output torque of the motor is adjusted according to the torque limit coefficient.

[0015] In combination with the first aspect, in one implementation, the torque limit coefficient is calculated using the following formula:

[0016] P=1-△V / 50

[0017] Wherein, P is the torque limit coefficient, and ΔV is the speed difference.

[0018] In combination with the first aspect, in one implementation, after adjusting the motor speed according to the current speed and the output torque, the following steps are included:

[0019] If a vehicle shaking signal is obtained, the maximum rotation speed is reduced.

[0020] In combination with the first aspect, in one implementation, if a vehicle vibration signal is obtained, reducing the maximum rotation speed comprises the following steps:

[0021] According to a preset maximum speed corresponding model, reducing the maximum speed to a value corresponding to the vehicle vibration signal frequency; or,

[0022] The maximum rotational speed is reduced according to a predefined control value.

[0023] In combination with the first aspect, in one implementation, before the vehicle is in a pure electric starting state or a speed limit control state, the following steps are included:

[0024] According to the motor enable signal and whether the motor is in the torque control mode, determine whether the vehicle is currently in the pure electric starting state;

[0025] If the vehicle is not in the pure electric starting state and the motor is in the running state, determine whether the vehicle enters the speed limit control state based on the speed change rate of the motor within the most recent second set time period.

[0026] In a second aspect, the embodiment of the present application provides a motor speed limiting control device, which adopts the following technical solution:

[0027] A motor speed limiting control device, the motor speed limiting control device comprising:

[0028] an acquisition module, configured to acquire the motor speed of the vehicle and determine the speed difference between the motor speed and a set maximum speed when the vehicle is determined to be in a pure electric starting state or a speed limit control state according to preset conditions;

[0029] A judgment module, configured to judge whether the vehicle has a shaking risk according to the speed difference;

[0030] The adjustment module is configured to adjust the output torque of the motor according to the speed difference in a recent period of time if there is a risk of jitter; and adjust the motor speed according to the motor speed and the output torque.

[0031] In a third aspect, the present application provides a motor speed limiting control device, which adopts the following technical solution:

[0032] A motor speed limiting control device comprises a processor, a memory, and a motor speed limiting control program stored in the memory and executable by the processor, wherein when the motor speed limiting control program is executed by the processor, the steps of the motor speed limiting control method as described above are implemented.

[0033] In a fourth aspect, an embodiment of the present application provides a storage medium, which adopts the following technical solution:

[0034] A storage medium stores a motor speed limiting control program, wherein when the motor speed limiting control program is executed by a processor, the steps of the motor speed limiting control method as described above are implemented.

[0035] The beneficial effects brought by the technical solution provided in the embodiments of the present application include:

[0036] After determining that the vehicle is in pure electric starting state or speed limit control state, the speed difference between the motor speed and the preset maximum speed is used to confirm whether the current vehicle has a shaking risk. Once it is determined that there is a shaking risk, the speed difference in the recent period of time will be used to adjust the output torque of the motor. The adjusted motor torque will further feedback and adjust the motor speed, thereby ensuring that the motor speed can eventually return to a safe range, avoiding or reducing vehicle shaking. BRIEF DESCRIPTION OF THE DRAWINGS

[0037] Figure 1 This is a flow chart of an embodiment of a motor speed limiting control method of the present application;

[0038] Figure 2This is a functional module diagram of an embodiment of a motor speed limiting control device of the present application;

[0039] Figure 3 This is a schematic diagram of the hardware structure of the motor speed limiting control device involved in the embodiment of the present application. DETAILED DESCRIPTION

[0040] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of this application.

[0041] First, some technical terms in the present application are explained to facilitate those skilled in the art to understand the present application.

[0042] Due to the mechanical characteristics of the electric vehicle power system, the transmission system is relatively simple, and the motor is rigidly connected to the transmission system. Compared with traditional fuel vehicles, it lacks components such as clutches and torque converters for buffering and vibration reduction, and the torque response is sensitive. The vehicle is prone to sudden changes in motor speed or torque under conditions such as starting from a slope, driving on bumpy roads, and slipping on low-adhesion roads. Especially during the vehicle starting process, the motor speed may change to a large level in a short period of time. If the motor speed or output torque is too large, the transmission system will collide with teeth, which will further cause the whole vehicle to vibrate, affecting the vehicle's driving comfort and even causing casualties.

[0043] Based on the above problems, the present application provides a motor speed limit control method, device, equipment and storage medium. The key point of the invention is that after determining that the vehicle is in a pure electric starting state or a speed limit control state, the speed difference between the motor speed and the preset maximum speed is used to confirm whether the current vehicle has a shaking risk. After it is determined that there is a shaking risk, the speed difference in the recent period of time will be used to adjust the output torque of the motor. The adjusted motor torque will further feedback and adjust the motor speed, thereby ensuring that the motor speed can eventually return to a safe range, thereby avoiding or reducing the shaking of the vehicle.

[0044] In order to make the objectives, technical solutions and advantages of the present application clearer, the implementation methods of the present application will be further described in detail below in conjunction with the accompanying drawings.

[0045] In a first aspect, an embodiment of the present application provides a method for limiting motor speed control.

[0046] In one embodiment, referring to Figure 1 , Figure 1 This is a flow chart of the first embodiment of the motor speed limiting control method of the present application. Figure 1 As shown, the motor speed limiting control method includes:

[0047] S100, when it is determined according to preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, obtaining a motor speed of the vehicle, and determining a speed difference between the motor speed and a set maximum speed;

[0048] Specifically, the motor speed limit control method provided in this application will be applied to the pure electric starting state and speed limit control state of the vehicle. In these two states, the rate of change of the motor speed is large, and when the motor speed is too large, the gap in the transmission system will cause tooth collision during the transmission process, thereby causing jitter. Therefore, this application needs to first determine whether the current vehicle is in these scenarios. As for the confirmation method of these scenarios, different methods can be adopted in different embodiments. In this embodiment, it is further preferred that: S010, according to the motor enable signal and whether the motor is in the torque control mode, determine whether the vehicle is currently in the pure electric starting state;

[0049] S020: If the vehicle is not in the pure electric starting state and the motor is in the running state, determine whether the vehicle enters the speed limit control state according to the speed change rate of the motor within the most recent second set time period.

[0050] Specifically, the entry conditions of the speed torque limit are first judged: the key is in the Start gear, the vehicle is high voltage, the bus voltage feedback value of the MCU is ≥400V, the motor enable signal is set from 0 to 1, and the motor is in the torque control mode, then the vehicle is judged to be in a pure electric starting state. If the vehicle is in a driving state but not in a pure electric starting state, the actual motor speed signal Vfed is collected by the central control unit, and the speed change rate △Spd of each sampling cycle is calculated, △Spd = (current motor speed - motor speed at the last moment) / sampling cycle, and the speed change rate threshold △Spd1 is set. If the absolute value of the speed change rate △Spd is greater than △Spd1, it is determined that the vehicle is in a state where speed limit control is required.

[0051] In addition, when the vehicle leaves the above two states, specifically, if the absolute value of the speed change rate △Spd is not greater than △Spd1 and is maintained for 10 cycles, it is determined that it has left the above two states, and the motor speed limiting control method provided in this application is no longer executed.

[0052] S200, judging whether the vehicle has a shaking risk according to the speed difference;

[0053] Specifically, the vehicle is judged to have a shaking risk by judging whether the speed difference is greater than zero, that is, judging by whether the motor speed is greater than the maximum speed. If the speed difference is greater than zero, it is considered to exist, otherwise it is considered not to exist. For the setting value of the maximum speed, in some embodiments, the value can be obtained through actual calibration, based on the fact that the vehicle does not have obvious shaking when starting, and remains unchanged during the subsequent use of the vehicle.

[0054] S300, if yes, adjusting the output torque of the motor according to the speed difference in a recent period of time;

[0055] The output torque of the motor is adjusted by combining the speed difference in the recent period of time instead of the currently collected instantaneous speed difference. The purpose is to prevent the speed from changing too quickly and causing unstable torque output.

[0056] Specifically, in this embodiment, the output torque of the motor is adjusted according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold. Specifically, the steps include:

[0057] S310, if the speed difference is always greater than a preset difference threshold value within a recent first set time period, adjusting the output torque to zero;

[0058] S320: If the speed difference is always between zero and the difference threshold value within the most recent first set time period, determine the torque limit coefficient corresponding to the speed difference according to a preset linear torque limit model, and adjust the output torque of the motor according to the torque limit coefficient.

[0059] When the speed difference is always greater than the preset difference threshold within the first set time period, it means that the motor speed remains in a relatively dangerous state for a period of time. At this time, in order to avoid vehicle shaking or reduce vehicle shaking, the motor output torque will be controlled to zero; and when the speed difference is always between zero and the difference threshold within the first set market, it means that although the motor speed is large, the probability of vehicle shaking is relatively small. At this time, the linear torque limiting model can be used to gradually reduce the output torque of the motor and gradually reduce the motor speed to an appropriate level.

[0060] S400: Adjust the motor speed according to the motor speed and the output torque.

[0061] Specifically, for the adjusted output torque T, the current speed and torque are looked up in a table to obtain the corresponding Id and Iq, which are input into the current loop, and the difference between the feedback (actual) current is input into the PI regulator to obtain the dq axis voltage. Then, through the inverse Park transformation and SVPWM output of 6 PWM waves, the inverter output three-phase voltage is controlled to control the operation of the motor, thereby adjusting the motor speed.

[0062] In this embodiment, after determining that the vehicle is in a pure electric starting state or a speed limit control state, the speed difference between the motor speed and the preset maximum speed is used to confirm whether the current vehicle has a shaking risk. After it is determined that there is a shaking risk, the speed difference in the most recent period of time will be used to adjust the output torque of the motor. The adjusted motor torque will further feedback and adjust the motor speed, thereby ensuring that the motor speed can eventually return to a safe range, thereby avoiding or reducing vehicle shaking.

[0063] Furthermore, in one embodiment, the torque limit coefficient is calculated using the following formula:

[0064] P=1-△V / 50

[0065] Wherein, P is the torque limit coefficient, and ΔV is the speed difference.

[0066] With this setting, a linear relationship is established between the torque limit coefficient for adjusting the motor output torque and the speed difference. When the speed difference is larger, the P value is smaller, and the motor output torque will also be smaller. When the speed difference is larger, the motor output torque decreases faster. As the speed difference becomes smaller, that is, the motor speed gradually approaches the maximum speed, the decrease rate of the motor output torque gradually decreases until the output torque tends to be stable, thereby ensuring that the motor can quickly and stably adjust the output torque according to actual conditions.

[0067] In addition, as the use time of the vehicle gradually increases, the clearance of the mechanical transmission system may further change. For example, after the manager repairs and replaces non-original parts, the existing clearance may further increase. At this time, the vehicle vibration problem caused by the clearance will be further amplified, which is reflected in the fact that the originally calibrated maximum speed may no longer be applicable. Therefore, the application further proposes the following steps to solve this problem:

[0068] Further, in one embodiment, after adjusting the motor speed according to the current speed and the output torque, the following steps are included:

[0069] S500: If a vehicle shaking signal is obtained, reduce the maximum rotation speed.

[0070] With this setting, if a vehicle shaking signal is still obtained after the motor speed has been adjusted once according to this method, it means that the current adjustment still cannot solve the shaking problem caused by the mechanical clearance in the transmission system of the vehicle. Therefore, the maximum speed will be reduced, and in the next judgment and adjustment process, it can be further ensured that the motor speed is controlled at a level suitable for the current scenario.

[0071] Specifically, in this embodiment, if the vehicle shaking signal is obtained in step 500, the maximum speed is reduced, including the following steps:

[0072] According to a preset maximum speed corresponding model, reducing the maximum speed to a value corresponding to the vehicle vibration signal frequency; or,

[0073] The maximum rotational speed is reduced according to a predefined control value.

[0074] When the maximum speed is reduced by a preset fixed adjustment value, it is convenient for the relevant control program to perform calculations and controls. When the maximum speed is reduced by the corresponding value of the vehicle vibration signal frequency, it is guaranteed that the current vehicle vibration situation can be analyzed in time, and the level to which the maximum speed needs to be reduced can be further determined based on whether the vibration is severe, so as to ensure that the vehicle can be controlled in time during the next adjustment process.

[0075] Finally, the present application provides a motor speed limit control method, device, equipment and storage medium. After determining that the vehicle is in a pure electric starting state or a speed limit control state, the speed difference between the motor speed and the preset maximum speed is used to confirm whether the current vehicle has a shaking risk. After determining that there is a shaking risk, the speed difference in the recent period of time will be used to adjust the output torque of the motor. The adjusted motor torque will further feedback and adjust the motor speed, thereby ensuring that the motor speed can eventually return to a safe range, avoiding or reducing vehicle shaking.

[0076] In a second aspect, an embodiment of the present application also provides a motor speed limiting control device.

[0077] In one embodiment, referring to Figure 2 , Figure 2 This is a functional module diagram of an embodiment of the motor speed limiting control device of the present application. Figure 2 As shown, the motor speed limiting control device includes:

[0078] an acquisition module, configured to acquire the motor speed of the vehicle and determine the speed difference between the motor speed and a set maximum speed when the vehicle is determined to be in a pure electric starting state or a speed limit control state according to preset conditions;

[0079] A judgment module, configured to judge whether the vehicle has a shaking risk according to the speed difference;

[0080] The adjustment module is configured to adjust the output torque of the motor according to the speed difference in a recent period of time if there is a risk of jitter; and adjust the motor speed according to the motor speed and the output torque.

[0081] Furthermore, in one embodiment, the adjustment module is also used for:

[0082] When the step of adjusting the output torque of the motor according to the speed difference in the recent period of time is executed,

[0083] The output torque of the motor is adjusted according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold.

[0084] Furthermore, in one embodiment, the adjustment module is also used for:

[0085] When the step of adjusting the output torque of the motor according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold is executed, the following steps are included:

[0086] If the speed difference is always greater than a preset difference threshold value within a recent first set time period, adjusting the output torque to zero;

[0087] If the speed difference is always between zero and the difference threshold within the most recent first set time period, the torque limit coefficient corresponding to the speed difference is determined according to a preset linear torque limit model, and the output torque of the motor is adjusted according to the torque limit coefficient.

[0088] Furthermore, in one embodiment, the device further includes a maximum speed correction module, which is used to:

[0089] After the adjustment module adjusts the motor speed according to the current speed and the output torque, the following steps are performed:

[0090] If a vehicle shaking signal is obtained, the maximum rotation speed is reduced.

[0091] Furthermore, in one embodiment, the maximum speed correction module is further used for:

[0092] If a vehicle shaking signal is obtained during the execution step, when the maximum speed is reduced, the following steps are included:

[0093] According to a preset maximum speed corresponding model, reducing the maximum speed to a value corresponding to the vehicle vibration signal frequency; or,

[0094] The maximum rotational speed is reduced according to a predefined control value.

[0095] Furthermore, in one embodiment, the device further includes an identification module, which is used to:

[0096] According to the motor enable signal and whether the motor is in the torque control mode, determine whether the vehicle is currently in the pure electric starting state;

[0097] If the vehicle is not in the pure electric starting state and the motor is in the running state, determine whether the vehicle enters the speed limit control state based on the speed change rate of the motor within the most recent second set time period.

[0098] Among them, the functional implementation of each module in the above-mentioned motor speed limiting control device corresponds to each step in the above-mentioned motor speed limiting control method embodiment, and its functions and implementation processes are no longer repeated here.

[0099] In a third aspect, an embodiment of the present application provides a motor speed limiting control device, which may be a personal computer (PC), a laptop computer, a server, or other device with data processing capabilities.

[0100] Reference Figure 3 , Figure 3 Schematic diagram of the hardware structure of the motor speed limiting control device involved in the embodiment of the present application. In the embodiment of the present application, the motor speed limiting control device may include a processor, a memory, a communication interface and a communication bus.

[0101] The communication bus may be of any type and is used to interconnect the processor, the memory, and the communication interface.

[0102] The communication interface includes input / output (I / O) interface, physical interface and logical interface, etc., which are used to realize the interconnection of devices inside the motor speed limit control device, and the interface used to realize the interconnection of the motor speed limit control device with other devices (such as other computing devices or user devices). The physical interface can be an Ethernet interface, an optical fiber interface, an ATM interface, etc.; the user device can be a display, a keyboard, etc.

[0103] The memory can be various types of storage media, such as random access memory (RAM), read-only memory (ROM), non-volatile RAM (NVRAM), flash memory, optical storage, hard disk, programmable ROM (PROM), erasable PROM (EPROM), electrically erasable PROM (EEPROM), etc.

[0104] The processor may be a general-purpose processor, and the general-purpose processor may call the motor speed limiting control program stored in the memory, and execute the motor speed limiting control method provided in the embodiment of the present application. For example, the general-purpose processor may be a central processing unit (CPU). The method executed when the motor speed limiting control program is called may refer to the various embodiments of the motor speed limiting control method of the present application, and will not be repeated here.

[0105] Those skilled in the art will understand that Figure 3 The hardware structure shown in the figure does not constitute a limitation on the present application, and may include more or fewer components than shown in the figure, or combine certain components, or arrange the components differently.

[0106] In a fourth aspect, an embodiment of the present application also provides a storage medium.

[0107] The storage medium of the present application stores a motor speed limiting control program, wherein when the motor speed limiting control program is executed by a processor, the steps of the motor speed limiting control method as described above are implemented.

[0108] Among them, the method implemented when the motor speed limiting control program is executed can refer to the various embodiments of the motor speed limiting control method of the present application, and will not be repeated here.

[0109] It should be noted that the serial numbers of the above-mentioned embodiments of the present application are only for description and do not represent the advantages or disadvantages of the embodiments.

[0110] The terms "including" and "having" and any variations thereof in the specification and claims of this application and the above-mentioned drawings are intended to cover non-exclusive inclusions. For example, a process, method, system, product or device that includes a series of steps or units is not limited to the listed steps or units, but optionally includes steps or units that are not listed, or optionally includes other steps or units inherent to these processes, methods, products or devices. The terms "first", "second" and "third" are used to distinguish different objects, etc., and do not represent a sequence, nor do they limit "first", "second" and "third" to different types.

[0111] In the description of the embodiments of the present application, "exemplary", "for example" or "for example" are used to indicate examples, illustrations or descriptions. Any embodiment or design described as "exemplary", "for example" or "for example" in the embodiments of the present application should not be interpreted as being more preferred or more advantageous than other embodiments or designs. Specifically, the use of words such as "exemplary", "for example" or "for example" is intended to present related concepts in a specific way.

[0112] In the description of the embodiments of the present application, unless otherwise specified, “ / ” means or, for example, A / B can mean A or B; the “and / or” in the text is merely a description of the association relationship of associated objects, indicating that three relationships may exist, for example, A and / or B can mean: A exists alone, A and B exist at the same time, and B exists alone. In addition, in the description of the embodiments of the present application, “multiple” refers to two or more than two.

[0113] In some processes described in the embodiments of the present application, multiple operations or steps that appear in a specific order are included, but it should be understood that these operations or steps may not be executed in the order in which they appear in the embodiments of the present application or in parallel, and the sequence number of the operation is only used to distinguish the different operations, and the sequence number itself does not represent any execution order. In addition, these processes may include more or fewer operations, and these operations or steps may be executed in sequence or in parallel, and these operations or steps may be combined.

[0114] Through the description of the above implementation methods, those skilled in the art can clearly understand that the above-mentioned embodiment methods can be implemented by means of software plus a necessary general hardware platform, and of course by hardware, but in many cases the former is a better implementation method. Based on such an understanding, the technical solution of the present application is essentially or the part that contributes to the prior art can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, disk, CD) as described above, and includes a number of instructions for a terminal device to execute the methods described in each embodiment of the present application.

[0115] The above are only preferred embodiments of the present application, and are not intended to limit the patent scope of the present application. Any equivalent structure or equivalent process transformation made using the contents of the present application specification and drawings, or directly or indirectly applied in other related technical fields, are also included in the patent protection scope of the present application.

Claims

1. A motor speed limiting control method, characterized in that: The motor speed limiting control method comprises: When it is determined according to preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, obtaining the motor speed of the vehicle, and determining the speed difference between the motor speed and a set maximum speed; Judging whether the vehicle has a shaking risk according to the speed difference; If so, adjusting the output torque of the motor according to the speed difference in a recent period of time; The motor speed is adjusted according to the motor speed and the output torque.

2. The motor speed limiting control method according to claim 1, characterized in that: In the step of adjusting the output torque of the motor according to the speed difference in a recent period of time, The output torque of the motor is adjusted according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold.

3. The motor speed limiting control method according to claim 1, characterized in that: The step of adjusting the output torque of the motor according to the magnitude relationship between the speed difference within the most recent first set time period and a preset difference threshold comprises the following steps: If the speed difference is always greater than a preset difference threshold value within a recent first set time period, adjusting the output torque to zero; If the speed difference is always between zero and the difference threshold within the most recent first set time period, the torque limit coefficient corresponding to the speed difference is determined according to a preset linear torque limit model, and the output torque of the motor is adjusted according to the torque limit coefficient.

4. The motor speed limiting control method according to claim 1, characterized in that: The torque limit coefficient is calculated using the following formula: P=1-△V / 50 Wherein, P is the torque limit coefficient, and ΔV is the speed difference.

5. The motor speed limiting control method according to claim 1, characterized in that: After adjusting the motor speed according to the current speed and the output torque, the following steps are included: If a vehicle shaking signal is obtained, the maximum rotation speed is reduced.

6. The motor speed limiting control method according to claim 1, characterized in that: If a vehicle shaking signal is obtained, reducing the maximum speed includes the following steps: According to a preset maximum speed corresponding model, reducing the maximum speed to a value corresponding to the vehicle vibration signal frequency; or, The maximum rotational speed is reduced according to a predefined control value.

7. The motor speed limiting control method according to claim 1, characterized in that: The following steps are also included: According to the motor enable signal and whether the motor is in the torque control mode, determine whether the vehicle is currently in the pure electric starting state; If the vehicle is not in the pure electric starting state and the motor is in the running state, determine whether the vehicle enters the speed limit control state based on the speed change rate of the motor within the most recent second set time period.

8. A motor speed limiting control device, characterized in that: The motor speed limiting control device comprises: an acquisition module, configured to acquire the motor speed of the vehicle and determine the speed difference between the motor speed and a set maximum speed when the vehicle is determined to be in a pure electric starting state or a speed limit control state according to preset conditions; A judgment module, configured to judge whether the vehicle has a shaking risk according to the speed difference; The adjustment module is configured to adjust the output torque of the motor according to the speed difference in a recent period of time if there is a risk of jitter; and adjust the motor speed according to the motor speed and the output torque.

9. A motor speed limiting control device, characterized in that: The motor speed limiting control device includes a processor, a memory, and a motor speed limiting control program stored in the memory and executable by the processor, wherein when the motor speed limiting control program is executed by the processor, the steps of the motor speed limiting control method as described in any one of claims 1 to 7 are implemented.

10. A storage medium, characterized in that: The storage medium stores a motor speed limiting control program, wherein when the motor speed limiting control program is executed by the processor, the steps of the motor speed limiting control method according to any one of claims 1 to 7 are implemented.

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