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

Abstract

A motor speed limiting control method, device, equipment and storage medium, the method comprising: when it is determined according to preset conditions that the vehicle is in a pure electric starting state or a speed limiting control state, obtaining the vehicle's motor speed and determining the speed difference between the motor speed and a set maximum speed; judging whether the vehicle has a shaking risk based on the speed difference; if so, adjusting the motor's output torque based on the speed difference in a recent period of time. Adjust the motor speed based on the motor speed and output torque. After determining that the vehicle is in a pure electric starting state or a speed limiting control state, the speed difference between the motor speed and the maximum speed is used to confirm whether there is a shaking risk. If there is a shaking risk, the speed difference in a recent period of time will be used to adjust the motor's output torque, and further feedback adjustment will be performed on the motor speed to ensure that the motor speed can eventually return 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 electric vehicle powertrains, the transmission system is relatively simple, with a rigid connection between the motor and transmission. Compared to traditional fuel vehicles, they lack components such as clutches and torque converters to cushion vibrations. Furthermore, their sensitive torque response makes it easy for the vehicle to experience sudden changes in motor speed or torque during operations such as starting from a slope, driving on bumpy roads, or slipping on low-adhesion surfaces. Especially during vehicle launch, the motor speed can fluctuate significantly in a short period of time. If the motor speed or output torque is excessive and the rate of change is high, this can cause gear collisions in the transmission system, further leading to vehicle vibration, compromising ride comfort, and even resulting in 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, an embodiment of the present application provides a motor speed limiting control method, which adopts the following technical solutions:

[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] determining whether the vehicle has a risk of shaking based on the speed difference;

[0008] If so, adjusting the output torque of the motor according to the speed difference within 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 embodiment, 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 a magnitude relationship between the speed difference within a recent first set time period and a preset difference threshold.

[0012] In combination with the first aspect, in one embodiment, 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:

[0013] If the speed difference is always greater than a preset difference threshold 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, a 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 conjunction with the first aspect, in one embodiment, 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 embodiment, 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 speed is reduced.

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

[0021] According to a preset maximum speed corresponding model, reduce 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 conjunction with the first aspect, in one embodiment, before the vehicle is in a pure electric starting state or a speed limit control state, the following steps are included:

[0024] Determine whether the vehicle is currently in pure electric starting state based on the motor enable signal and whether the motor is in torque control mode;

[0025] If the vehicle is not in the pure electric starting state and the motor is in the running state, it is determined whether the vehicle has entered 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, an 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, when determining based on preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, acquire the vehicle's motor speed and determine a speed difference between the motor speed and a set maximum speed;

[0029] a determination module configured to determine whether the vehicle has a shaking risk based on the speed difference;

[0030] An 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 vibration; and to adjust the motor speed according to the motor speed and the output torque.

[0031] In a third aspect, an embodiment of 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 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 described above are implemented.

[0035] The beneficial effects of the technical solutions 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 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 the 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 present invention, the following will clearly and completely describe the technical solutions in the embodiments of the present invention in conjunction with the accompanying drawings. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. Based on the embodiments of the present invention, 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 this application are explained to facilitate those skilled in the art to understand this application.

[0042] Due to the mechanical characteristics of electric vehicle powertrains, the transmission system is relatively simple, with a rigid connection between the motor and transmission. Compared to traditional fuel vehicles, they lack components such as clutches and torque converters to cushion vibrations. Furthermore, their sensitive torque response makes it easy for the vehicle to experience sudden changes in motor speed or torque during operations such as starting from a slope, driving on bumpy roads, or slipping on low-adhesion surfaces. Especially during vehicle launch, the motor speed can fluctuate significantly in a short period of time. If the motor speed or output torque is excessive and the rate of change is high, this can cause gear collisions in the transmission system, further leading to vehicle vibration, compromising ride comfort, and even resulting in casualties.

[0043] Based on the above problems, the present application provides a motor speed limiting 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 limiting 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.

[0044] In order to make the objectives, technical solutions and advantages of this application clearer, the implementation methods of this application will be further described in detail below with reference to 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 this application. Figure 1 As shown, the motor speed limiting control method includes:

[0047] S100, when it is determined according to a preset condition 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 limiting control method provided in this application will be applied to the vehicle's pure electric starting state and speed limiting control state. In these two states, the rate of change of the motor speed is large, and when the motor speed is too high, 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. Regarding the confirmation method of these scenarios, different methods can be adopted in different embodiments. In this embodiment, it is further preferred that: S010, based on the motor enable signal and whether the motor is in 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 based on the speed change rate of the motor within the most recent second set time period.

[0050] Specifically, the vehicle is determined to be in a pure electric start state by first determining the entry conditions for speed and torque limiting: the key is in the Start gear, high voltage is applied to the vehicle, the MCU bus voltage feedback value is ≥400V, the motor enable signal is set from 0 to 1, and the motor is in torque control mode. If the vehicle is in driving but not in a pure electric start state, the central control unit collects the actual motor speed signal Vfed and calculates the speed change rate △Spd for each sampling cycle, where △Spd = (current motor speed - previous motor speed) / sampling cycle. A speed change rate threshold △Spd1 is set. If the absolute value of the speed change rate △Spd is greater than △Spd1, the vehicle is determined to be in a state requiring speed limiting control.

[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: Determine whether the vehicle has a shaking risk based on the speed difference;

[0053] Specifically, the risk of vehicle jitter is determined by determining whether the speed difference is greater than zero, that is, whether the motor speed is greater than the maximum speed. If the speed difference is greater than zero, the risk is considered present; otherwise, it is not present. In some embodiments, the maximum speed setting value can be obtained through actual calibration, based on the absence of noticeable vehicle jitter at launch, and remains unchanged during subsequent vehicle use.

[0054] S300: If yes, adjust the output torque of the motor according to the speed difference within a recent period of time;

[0055] The motor's output torque is adjusted by combining the speed difference over the most recent period of time, rather than the currently acquired instantaneous speed difference. This is to prevent the speed from changing too quickly, leading to 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 within a recent first set time period, adjust the output torque to zero;

[0058] S320: If the speed difference is always between zero and the difference threshold within the most recent first set time period, determine a 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 limit model can be used to gradually reduce the motor's output torque 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. 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, 6 PWM waves are output to control the inverter to output the three-phase voltage to control the motor operation, 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 determining 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 perform feedback adjustment on the motor speed, thereby ensuring that the motor speed can eventually return to a safe range, 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] This setting establishes a linear relationship 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 and 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 vehicle's usage time increases, the clearance of its internal 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 means that the originally calibrated maximum speed may no longer be applicable. Therefore, this application further proposes the following steps to solve this problem:

[0068] Furthermore, 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 vibration signal is obtained, reduce the maximum rotation speed.

[0070] With this setting, if a vehicle vibration 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 vibration problem caused by the mechanical clearance in the vehicle's transmission system. 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 a vehicle vibration signal is obtained in step 500, reducing the maximum speed includes the following steps:

[0072] According to a preset maximum speed corresponding model, reduce 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 lowered by a preset fixed adjustment value, it is convenient for the relevant control program to perform calculations and control. When the maximum speed is lowered 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 serious, 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 limiting control method, device, equipment and storage medium. After determining that the vehicle is in a pure electric starting state or a speed limiting 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 further 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, when determining based on preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, acquire the vehicle's motor speed and determine a speed difference between the motor speed and a set maximum speed;

[0079] a determination module configured to determine whether the vehicle has a shaking risk based on the speed difference;

[0080] An 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 vibration; and to adjust the motor speed according to the motor speed and the output torque.

[0081] Furthermore, in one embodiment, the adjustment module is further configured to:

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

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

[0084] Furthermore, in one embodiment, the adjustment module is further configured to:

[0085] When executing 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, the following steps are included:

[0086] If the speed difference is always greater than a preset difference threshold 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, a 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 configured 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 speed is reduced.

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

[0092] If a vehicle vibration signal is obtained during the execution step, the maximum speed is reduced, including the following steps:

[0093] According to a preset maximum speed corresponding model, reduce 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 apparatus further includes an identification module configured to:

[0096] Determine whether the vehicle is currently in pure electric starting state based on the motor enable signal and whether the motor is in torque control mode;

[0097] If the vehicle is not in the pure electric starting state and the motor is in the running state, it is determined whether the vehicle has entered 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 detailed here.

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

[0100] Reference Figure 3 , Figure 3 FIG2 is a 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, memory, and communication interface.

[0102] Communication interfaces include input / output (I / O) interfaces, physical interfaces, and logical interfaces, which interconnect components within the motor speed limit control device and connect the motor speed limit control device to other devices (such as other computing devices or user devices). Physical interfaces can be Ethernet, fiber, or ATM interfaces; user devices can be displays or keyboards.

[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, which may call a motor speed limiting control program stored in a memory and execute the motor speed limiting control method provided in an 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 to the present application and may include more or fewer components than shown in the figure, or a combination of certain components, or a different arrangement of components.

[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 the 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 for description only 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 the "first", "second" and "third" to different types.

[0111] In the description of the embodiments of this application, the words "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 this application should not be construed as being preferred or advantageous over other embodiments or designs. Rather, the use of words such as "exemplary," "for example," or "for example" is intended to present the relevant concepts in a concrete manner.

[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; “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 are included that appear in a specific order. However, it should be understood that these operations or steps may not be performed in the order in which they appear in the embodiments of the present application or may be performed in parallel. The sequence numbers of the operations are only used to distinguish between different operations, and the sequence numbers themselves do not represent any order of execution. In addition, these processes may include more or fewer operations, and these operations or steps may be performed 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 the necessary general hardware platform, of course, it can also be implemented by hardware, but in many cases the former is a better implementation method. Based on this understanding, the technical solution of the present application, 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, magnetic disk, optical disk) as described above, and includes a number of instructions for enabling 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 do not 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; determining whether the vehicle has a risk of shaking based on the speed difference; If so, adjusting the output torque of the motor according to the speed difference within a recent period of time; Adjusting the motor speed according to the current speed and the output torque; In the step of adjusting the output torque of the motor according to the speed difference within a recent period of time, adjusting the output torque of the motor according to a magnitude relationship between the speed difference within a recent first set time period and a preset difference threshold; 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 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, a 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.

2. The motor speed limiting control method according to claim 1, wherein: 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.

3. The motor speed limiting control method according to claim 1, wherein: 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 speed is reduced.

4. The motor speed limiting control method according to claim 3, wherein: If a vehicle vibration signal is obtained, reducing the maximum speed includes the following steps: According to a preset maximum speed corresponding model, reduce 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.

5. The motor speed limiting control method according to claim 1, wherein: The following steps are also included: Determine whether the vehicle is currently in pure electric starting state based on the motor enable signal and whether the motor is in torque control mode; If the vehicle is not in the pure electric starting state and the motor is in the running state, it is determined whether the vehicle has entered the speed limit control state based on the speed change rate of the motor within the most recent second set time period.

6. A motor speed limiting control device, characterized in that: The motor speed limiting control device comprises: an acquisition module configured to, when determining based on preset conditions that the vehicle is in a pure electric starting state or a speed limit control state, acquire the vehicle's motor speed and determine a speed difference between the motor speed and a set maximum speed; a determination module configured to determine whether the vehicle has a shaking risk based on the speed difference; an adjustment module configured to adjust the output torque of the motor according to the speed difference within a recent period of time if there is a risk of jitter; and to adjust the motor speed according to the current speed and the output torque; In the step of adjusting the output torque of the motor according to the speed difference within a recent period of time, adjusting the output torque of the motor according to a magnitude relationship between the speed difference within a recent first set time period and a preset difference threshold; 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 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, a 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.

7. 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 according to any one of claims 1 to 5 are implemented.

8. 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 5 are implemented.

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