Electric vehicle modal analysis and balance control method, system and equipment and storage medium

Abstract

The invention provides an electric vehicle modal analysis and balance control method, system and device and a storage medium, and the method comprises the steps: solving a characteristic value based on the rigidity and quality of an electric vehicle through employing a finite element method when the inherent frequency of the electric vehicle meets the design index requirements; when the inherent frequency of the electric vehicle does not meet the design index requirement, the characteristic value sensitivity of the electric vehicle is obtained based on a finite element perturbation formula of the characteristic value sensitivity, the inherent frequency of the electric vehicle is adjusted according to the characteristic value sensitivity of the electric vehicle, and a characteristic value is obtained. According to the method, the most sensitive part of the electric vehicle can be directly found out, the inherent frequency of the electric vehicle is greatly improved through small modification, and the balance of the electric vehicle is rapidly achieved; repeated calculation can be avoided, the speed is high, and the method is simple and low in cost; the stability is high, the safety is high, and the application range is wide.

Description

Technical Field

[0001] The present invention relates to the technical field of safe driving of electric vehicles, and in particular to a method, system, device and storage medium for modal analysis and balance control of electric vehicles. Background Art

[0002] With the continuous development of the battery and new energy industries, electric vehicles have become a new means of transportation in modern life. Electric vehicles have the advantages of environmental protection, economy, convenience, etc., and have gradually become people's first choice for travel.

[0003] The stability and safety of electric vehicles have always been the focus of the electric vehicle industry. There are few methods in the prior art that can automatically complete the detection of stable driving of electric vehicles. Among them, an electric vehicle motion balance detection system is composed of an electric vehicle drive module, a trajectory detection module, a balance detection module, an electric vehicle control module, a control part and an input and output module. The electric vehicle drive circuit completes the steering and speed control of the electric vehicle; the trajectory detection module controls the direction of the electric vehicle so that the electric vehicle moves accurately according to the given trajectory and completes the predetermined task; the balance detection module balances the electric vehicle with the balance block and detects whether the balance meets the requirements; the control part mainly starts the electric vehicle, counts the driving time, and is responsible for communicating with the detection control system; the input and output module completes the human-machine interface and completes the input and output of instructions. The electric vehicle motion balance detection system detects the motion trajectory and state of the electric vehicle through various sensors, and sends the signal to the single-chip microcomputer. After processing, it controls the operation of the electric vehicle so that the electric vehicle can achieve balance. The above scheme can realize the balance control of the electric vehicle, but there are still problems such as complex control and high price, and it is necessary to use some peripheral signals to achieve a good balance of the electric vehicle motion.

[0004] Therefore, how to simplify the control method and reduce the cost while realizing the automatic balancing control of electric vehicles has become one of the technical problems that need to be solved urgently by those skilled in the art.

[0005] It should be noted that the above introduction to the technical background is only for the convenience of providing a clear and complete description of the technical solutions of the present application and for the convenience of understanding by those skilled in the art. It cannot be considered that the above technical solutions are well known to those skilled in the art simply because they are described in the background technology section of the present application. Summary of the invention

[0006] In view of the above-mentioned shortcomings of the prior art, the purpose of the present invention is to provide an electric vehicle modal analysis, balance control method, system, device and storage medium to solve the problems of the prior art electric vehicle balance control method being complicated and expensive.

[0007] To achieve the above-mentioned object and other related objects, the present invention provides an electric vehicle modal analysis method, which at least comprises:

[0008] When the natural frequency of the electric vehicle meets the design index requirements, the finite element method is used to solve the characteristic value based on the stiffness and mass of the electric vehicle;

[0009] When the natural frequency of the electric vehicle does not meet the design index requirements, the eigenvalue sensitivity of the electric vehicle is obtained based on the finite element perturbation formula of the eigenvalue sensitivity, and the natural frequency of the electric vehicle is adjusted according to the eigenvalue sensitivity of the electric vehicle to obtain the eigenvalue.

[0010] Optionally, when the natural frequency of the electric vehicle meets the design index requirements, the following equation is solved to obtain the characteristic value:

[0011] [K]{u i}=λ i [M]{u i};

[0012] λ i =(2πf i ) 2 ;

[0013] Where [K] is the stiffness matrix of the electric vehicle, [M] is the mass matrix of the electric vehicle, {u i} is the eigenvector of the i-th order unit of the electric vehicle, λ i is the eigenvalue of the i-th order unit of the electric vehicle, f i is the natural frequency of the i-th order unit of the electric vehicle.

[0014] Optionally, the finite element perturbation formula of the eigenvalue sensitivity satisfies the following relationship:

[0015] λ i,j ≈∑ e {u ii} T ([ΔK e ]-λ i [ΔM e ]){u ii} / Δb;

[0016] Among them, λ i,j is the eigenvalue λ i The sensitivity of e is the unit vector, {u ii} is the modal vector of the i-th order unit, [ΔK e ] is the change Δb of the design variable j The increment of the element stiffness matrix generated, [ΔM e ] is the change Δb of the design variable jThe increment of the unit mass matrix generated, Δb, is the total change of the design variables.

[0017] More optionally, the electric vehicle modal analysis method further includes introducing a sign into a finite element perturbation formula of eigenvalue sensitivity to simplify the finite element perturbation formula of eigenvalue sensitivity, wherein the sign satisfies:

[0018]

[0019] The simplified finite element perturbation formula of eigenvalue sensitivity satisfies:

[0020]

[0021] More optionally, when the natural frequency of the electric vehicle does not meet the design index requirements, the characteristic value satisfies the following relationship:

[0022]

[0023] To achieve the above-mentioned object and other related objects, the present invention further provides an electric vehicle balance control method, the electric vehicle balance control method at least comprising:

[0024] Obtaining motion parameters of the electric vehicle, performing modal analysis on the electric vehicle based on the above-mentioned electric vehicle modal analysis method, and calculating characteristic values ​​of the electric vehicle;

[0025] Based on the characteristic values, the sensitive points of the electric vehicle are found and the parameters of the electric vehicle are adjusted to balance the electric vehicle.

[0026] Optionally, the method for obtaining the sensitive points of the electric vehicle includes: obtaining the natural frequency of the electric vehicle based on the characteristic value, and comparing the natural frequency of the electric vehicle with the excitation frequency to obtain the sensitive points of the electric vehicle.

[0027] Optionally, the motion parameters include gravity and acceleration.

[0028] In order to achieve the above-mentioned object and other related objects, the present invention also provides an electric vehicle balance control system, which at least includes:

[0029] An electric vehicle body and a sensor module, a controller, and a balance adjustment module arranged on the electric vehicle body;

[0030] The sensor module monitors the electric vehicle body to obtain motion parameters of the electric vehicle;

[0031] The controller is connected to the sensor module, calculates characteristic values ​​of the electric vehicle based on the motion parameters of the motor, and generates a control signal for adjusting the balance of the electric vehicle;

[0032] The balance adjustment module is connected to the controller and performs balance adjustment on the electric vehicle body based on a control signal output by the controller.

[0033] Optionally, the electric vehicle balance control system further includes a drive module and a motor; the drive module is connected to the output end of the controller, and drives the motor to operate based on a control signal output by the controller; the motor drives the electric vehicle to move.

[0034] To achieve the above-mentioned object and other related objects, the present invention further provides an electronic device, the electronic device at least comprising:

[0035] instruction memory and processor;

[0036] The instruction memory and the processor are communicatively connected to each other, the instruction memory stores computer instructions, and the processor executes the above-mentioned electric vehicle modal analysis method by executing the computer instructions.

[0037] In order to achieve the above-mentioned purpose and other related purposes, the present invention also provides a computer-readable storage medium, wherein the computer-readable storage medium stores a computer program, and the computer program is used to implement the above-mentioned electric vehicle modal analysis method.

[0038] As described above, the electric vehicle modal analysis, balance control method, system, device and storage medium of the present invention have the following beneficial effects:

[0039] 1. When performing modal analysis, the electric vehicle modal analysis, balance control method, system, device and storage medium of the present invention can directly find out the most sensitive part of the electric vehicle by using the sensitivity analysis method, so as to obtain a larger increase in the natural frequency of the electric vehicle with a smaller modification, and adjust the left and right swing frequency and angle of the acceleration sensor through the balance adjustment device, thereby quickly achieving the balance of the electric vehicle.

[0040] 2. The electric vehicle modal analysis, balance control method, system, equipment and storage medium of the present invention modify the natural frequency of the electric vehicle. This method makes full use of the original modal data of the electric vehicle, avoids repeated calculations, and has high speed, simple method and low cost.

[0041] 3. The electric vehicle modal analysis, balance control method, system, equipment and storage medium of the present invention balance the electric vehicle at a high speed and with a higher stability of the acceleration state waveform, thus reducing traffic accidents, personal injury and property loss, protecting the driver's safety, and reducing the difficulty of driving, making it easy to drive and drive on the road, and having a wide range of applications. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] Figure 1 Shown is a schematic flow chart of the electric vehicle modal analysis method of the present invention.

[0043] Figure 2 It is a schematic flow chart of the electric vehicle balance control method of the present invention.

[0044] Figure 3 Shown is a schematic structural diagram of the balance control system of the present invention.

[0045] Figure 4 Shown is a schematic structural diagram of an electronic device of the present invention.

[0046] Component number description

[0047] 1 Electric vehicle balance control system

[0048] 11 Electric vehicle body

[0049] 12 Sensor Module

[0050] 13 Controller

[0051] 14 Balance adjustment module

[0052] 15 Driver Module

[0053] 16 Motor

[0054] 2 Electronic devices

[0055] 21 Processor

[0056] 22 Instruction Memory DETAILED DESCRIPTION

[0057] The following describes the embodiments of the present invention through specific examples, and those skilled in the art can easily understand other advantages and effects of the present invention from the contents disclosed in this specification. The present invention can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed in various ways based on different viewpoints and applications without departing from the spirit of the present invention.

[0058] See also Figure 1 to Figure 4 It should be noted that the illustrations provided in this embodiment are only used to illustrate the basic concept of the present invention in a schematic manner, and the drawings only show components related to the present invention rather than being drawn according to the number, shape and size of components in actual implementation. In actual implementation, the type, quantity and proportion of each component may be changed arbitrarily, and the component layout may also be more complicated.

[0059] like Figure 1 As shown, the present invention provides an electric vehicle modal analysis method, which uses a finite element method to perform modal analysis. The electric vehicle modal analysis method includes:

[0060] 11) When the natural frequency of the electric vehicle meets the design index requirements, the finite element method is used to solve the characteristic value based on the stiffness and mass of the electric vehicle;

[0061] 12) When the natural frequency of the electric vehicle does not meet the design index requirements, the eigenvalue sensitivity of the electric vehicle is obtained based on the finite element perturbation formula of the eigenvalue sensitivity, and the natural frequency of the electric vehicle is adjusted according to the eigenvalue sensitivity of the electric vehicle to obtain the eigenvalue.

[0062] The specific steps are as follows:

[0063] The finite element method replaces a complex problem with a simpler one and then solves it. It regards the solution domain as consisting of many small interconnected subdomains called finite elements. It assumes a simpler approximate solution for each unit, and then derives the conditions that the domain generally satisfies (such as the equilibrium conditions of the structure) to obtain the solution to the problem. Because the actual problem is replaced by a simpler problem, this solution is not an exact solution, but an approximate solution. When the finite element method is used to perform modal analysis on an electric vehicle, theoretically speaking, it is to solve a generalized eigenvalue problem. Specifically, in this embodiment, when the natural frequency of the electric vehicle meets the design index requirements, the following formula (1) is solved to obtain the eigenvalue:

[0064] [K]{u i}=λ i [M]{u i} (1);

[0065] In formula (1), λ i =(2πf i ) 2 (2);

[0066] Where, [K] is the stiffness matrix of the electric vehicle; [M] is the mass matrix of the electric vehicle; i is the order of the finite element; {u i} is the characteristic vector of the i-th order unit of the electric vehicle; λ i is the eigenvalue of the i-th order unit of the electric vehicle; f i is the natural frequency of the i-th order unit of the electric vehicle.

[0067] It should be noted that the characteristic value of the electric vehicle can be obtained by solving formula (1), and the characteristic value of the electric vehicle and the natural frequency satisfy the relationship of formula (2), that is, the calculated characteristic value can represent the natural frequency of the electric vehicle.

[0068] When the natural frequency of an electric vehicle cannot meet the design index requirements, a sensitivity analysis method is introduced to modify the parameters of the electric vehicle. One calculation method used in sensitivity analysis is the direct derivation method, that is, the sensitivity calculation formula of the characteristic value is obtained by directly deriving formula (1):

[0069] λi,j = {u i} T ([K ,j ]-λ i [M ,j ]){u i} (3)

[0070] Among them, j is the element sequence; λ i,j is the eigenvalue λ i For the design variable b j (j = 1, 2, ..., L, L is a positive integer) i Sensitivity), [K ,j ] is the matrix [K] for the design variables b j The derivative matrix of ,j ] is the matrix [M] for the design variable b j The derivative matrix of . However, in actual calculations, only a few simple cases can express stiffness and mass as explicit functions of design variables; in most cases, it is difficult to express stiffness and mass as explicit functions of design variables. Therefore, in this embodiment, the differential calculation formula of eigenvalue sensitivity (i.e., formula (3)) is changed to a perturbation formula, thereby simplifying the calculation.

[0071] Specifically, when the first-order perturbation is adopted, the finite element perturbation formula of the eigenvalue sensitivity satisfies the following relationship:

[0072] λ i,j ≈∑ e {u ii} T ([ΔK e ]-λ i [ΔM e ]){u ii} / Δb (4);

[0073] Among them, λ i,j is the eigenvalue λ i sensitivity; e is a unit vector, which represents the sum of the sensitivity of each unit in formula (4); {u ii} is the modal vector of the i-th order unit; [ΔK e ] is the design variable b j Change Δb j The increment of the element stiffness matrix generated, [ΔM e ] is the design variable b j Change Δb j The increment of the unit mass matrix generated, Δb, is the total change of the design variables.

[0074] As another implementation of the present invention, the electric vehicle modal analysis method further includes introducing a sign into the finite element perturbation formula of the eigenvalue sensitivity to simplify the finite element perturbation formula of the eigenvalue sensitivity. Specifically, the sign satisfies:

[0075]

[0076] in, For the mark, For {u ii}. Introducing formula (5) into formula (4), we can obtain the simplified finite element perturbation formula of eigenvalue sensitivity (formula (4) is simplified), which satisfies:

[0077]

[0078] From formula (6), it can be seen that the eigenvalue sensitivity of the entire electric vehicle can be expressed as the sum of the eigenvalue sensitivities of each order unit.

[0079] The natural frequency of the electric vehicle is adjusted based on the characteristic value sensitivity of the electric vehicle, and then the modified characteristic value of the electric vehicle, λ i ≈λ i +λ i,j ·Δb j (7); In formula (7), λ i,j The expression form of formula (6) may be adopted. In this embodiment, the modified characteristic value is obtained based on formula (6), and the following relationship is satisfied:

[0080]

[0081] Based on the above method, the characteristic value of the electric vehicle is obtained, and then the modal analysis of the electric vehicle is realized.

[0082] like Figure 2 As shown, the present invention also provides an electric vehicle balance control method, the electric vehicle balance control method comprising:

[0083] 21) Obtaining motion parameters of the electric vehicle, performing modal analysis on the electric vehicle based on the above-mentioned electric vehicle modal analysis method, and calculating characteristic values ​​of the electric vehicle.

[0084] Specifically, the motion parameters include but are not limited to gravity and acceleration. Any parameters that can reflect the balance state of the electric vehicle are applicable to the present invention.

[0085] Specifically, the natural frequency of the electric vehicle is divided into two cases: one that meets the design index requirements and the other that does not meet the design index requirements, and the characteristic value is calculated according to the specific case. The specific operation method is as mentioned above and will not be described here one by one.

[0086] 22) Based on the characteristic values, the sensitive points of the electric vehicle are found and the parameters of the electric vehicle are adjusted to balance the electric vehicle.

[0087] Specifically, as an example, in this embodiment, the method for obtaining the sensitive points of the electric vehicle includes: obtaining the natural frequency of the electric vehicle based on the characteristic value, and comparing the natural frequency of the electric vehicle with the excitation frequency to obtain the sensitive points of the electric vehicle. In actual use, any method that can obtain the sensitive points of the electric vehicle based on the characteristic value is applicable to the present invention, and is not limited to this embodiment.

[0088] Specifically, the electric vehicle parameters are adjusted based on the position of the sensitive point, including but not limited to adjusting at least one parameter of gravity, acceleration, and torque, so that the electric vehicle reaches a balanced state.

[0089] like Figure 3 As shown, the present invention also provides an electric vehicle balance control system 1, the electric vehicle balance control system 1 comprising:

[0090] The electric vehicle body 11 and the sensor module 12 , the controller 13 , and the balance adjustment module 14 arranged on the electric vehicle body 11 .

[0091] like Figure 3 As shown, the electric vehicle body 11 includes but is not limited to a unicycle, a two-wheeled vehicle, a three-wheeled vehicle and a four-wheeled vehicle. Any electric vehicle that needs to be balanced is applicable to the present invention.

[0092] like Figure 3 As shown, the sensor module 12 monitors the electric vehicle body 11 to obtain the motion parameters of the electric vehicle.

[0093] Specifically, the motion parameters include but are not limited to gravity and acceleration, and the sensor module 12 includes but is not limited to a gravity sensor, an acceleration sensor, and a gyroscope, which are not described one by one here.

[0094] like Figure 3 As shown, the controller 13 is connected to the sensor module 12, calculates the characteristic value of the electric vehicle based on the motion parameters of the motor, and generates a control signal for adjusting the balance of the electric vehicle.

[0095] Specifically, the controller 13 can be implemented using a single chip microcomputer, a CPU or other modules. The controller 13 executes the electric vehicle modal analysis method and generates a control signal for the balance adjustment module 14 based on the calculated characteristic values, thereby adjusting the balance of the electric vehicle.

[0096] like Figure 3 As shown, the balance adjustment module 14 is connected to the output end of the controller 13 , and performs balance adjustment on the electric vehicle body 11 based on the control signal output by the controller 13 .

[0097] Specifically, the balance adjustment module 14 includes but is not limited to a center of gravity adjuster, a torque adjuster and a fan (providing wind force to adjust the balance gyroscope), which are not described in detail here.

[0098] As another implementation of the present invention, the electric vehicle balance control system further includes a drive module 15 and a motor 16. The drive module 15 is connected to the output end of the controller 13, and drives the motor 16 to operate based on the control signal output by the controller 13, and the motor 16 drives the electric vehicle to move. As an example, the controller 13 controls the drive current through the drive module 15, thereby realizing the control of the electric vehicle speed, and the electric vehicle speed is also used for balance control. Specifically, the drive module 14 includes but is not limited to a half-bridge drive structure and a full-bridge drive structure.

[0099] like Figure 4 As shown, the present invention provides an electronic device 2, which may include a processor 21 and an instruction memory 22, wherein the processor 21 and the instruction memory 22 may be connected to each other through a communication interface based on a bus or other means. Specifically, the processor 21 may be any type of available device with information processing function, such as a central processing unit or a digital signal processor, etc., for executing computer instructions stored in the instruction memory 22 to implement the electric vehicle modal analysis method; the instruction memory 22 is connected to the processor 21, and may be various available storage media for storing instructions executable by the processor 21.

[0100] The present invention also provides a computer-readable storage medium on which a computer program is stored, and the computer program is used to implement the electric vehicle modal analysis method. Those skilled in the art can understand that the implementation of all or part of the process in the electric vehicle modal analysis method can be completed by instructing related hardware through a computer program, and the program can be stored in a computer-readable storage medium, and the program, when executed, can include the process of the electric vehicle modal analysis method. Among them, the storage medium can be a disk, an optical disk, a read-only memory (ROM), a random access memory (RAM), a flash memory (Flash Memory), a hard disk (HDD) or a solid-state drive (SSD), etc.; the storage medium can also include a combination of the above-mentioned types of memory.

[0101] In summary, the present invention provides an electric vehicle modal analysis, balance control method, system, device and storage medium, including: when the natural frequency of the electric vehicle meets the design index requirements, the finite element method is used to solve the eigenvalue based on the stiffness and mass of the electric vehicle; when the natural frequency of the electric vehicle does not meet the design index requirements, the eigenvalue sensitivity of the electric vehicle is obtained based on the finite element perturbation formula of the eigenvalue sensitivity, and the natural frequency of the electric vehicle is adjusted according to the eigenvalue sensitivity of the electric vehicle to obtain the eigenvalue. The electric vehicle modal analysis, balance control method, system, equipment and storage medium of the present invention can directly find out the most sensitive part of the electric vehicle by using the sensitivity analysis method when performing modal analysis, so as to obtain a larger increase in the natural frequency of the electric vehicle with a smaller modification, and adjust the swing frequency and angle of the acceleration sensor to the left and right through the balance adjustment device, so as to quickly achieve the balance of the electric vehicle; the present invention modifies the natural frequency of the electric vehicle, and the method greatly utilizes the original modal data of the electric vehicle to avoid repeated calculations, with fast speed, simple method and low cost; the electric vehicle of the present invention has a fast speed and a higher stability of the acceleration state waveform, which reduces traffic accidents, personal injury and property losses, protects the safety of the driver, and reduces the difficulty of driving at the same time, making it easy to drive and go on the road, and has a wide range of applications. Therefore, the present invention effectively overcomes the various shortcomings of the prior art and has a high industrial utilization value.

[0102] The above embodiments are merely illustrative of the principles and effects of the present invention, and are not intended to limit the present invention. Anyone familiar with the art may modify or alter the above embodiments without departing from the spirit and scope of the present invention. Therefore, all equivalent modifications or alterations made by a person of ordinary skill in the art without departing from the spirit and technical concept disclosed by the present invention shall still be covered by the claims of the present invention.

Claims

1. A modal analysis method for an electric vehicle, characterized in that: The electric vehicle modal analysis method at least comprises: When the natural frequency of the electric vehicle meets the design index requirements, the finite element method is used to solve the characteristic value based on the stiffness and mass of the electric vehicle; When the natural frequency of the electric vehicle does not meet the design index requirements, the eigenvalue sensitivity of the electric vehicle is obtained based on the finite element perturbation formula of the eigenvalue sensitivity, and the natural frequency of the electric vehicle is adjusted according to the eigenvalue sensitivity of the electric vehicle to obtain the eigenvalue.

2. The electric vehicle modal analysis method according to claim 1, characterized in that: When the natural frequency of the electric vehicle meets the design index requirements, solve the following equation to obtain the characteristic value: [K]{u i }=λ i [M]{u i }; l i =(2πf i ) 2 ; Where [K] is the stiffness matrix of the electric vehicle, [M] is the mass matrix of the electric vehicle, {u i } is the eigenvector of the i-th order unit of the electric vehicle, λ i is the eigenvalue of the i-th order unit of the electric vehicle, f i is the natural frequency of the i-th order unit of the electric vehicle.

3. The electric vehicle modal analysis method according to claim 1, characterized in that: The finite element perturbation formula of eigenvalue sensitivity satisfies the following relationship: l i,j ≈∑ e {u} ii } T ([ΔK e ]-l i [DM] e ]){u ii } / Δb; Among them, λ i,j is the eigenvalue λ i The sensitivity of e is the unit vector, {u ii } is the modal vector of the i-th order unit, [ΔK e ] is the change Δb of the design variable j The increment of the element stiffness matrix generated, [ΔM e ] is the change Δb of the design variable j The increment of the unit mass matrix generated, Δb, is the total change of the design variables.

4. The electric vehicle modal analysis method according to claim 3, characterized in that: The electric vehicle modal analysis method further includes introducing a sign into a finite element perturbation formula of eigenvalue sensitivity to simplify the finite element perturbation formula of eigenvalue sensitivity, wherein the sign satisfies: The simplified finite element perturbation formula of eigenvalue sensitivity satisfies:

5. The electric vehicle modal analysis method according to claim 4, characterized in that: When the natural frequency of the electric vehicle does not meet the design index requirements, the characteristic value satisfies the following relationship:

6. A balance control method for an electric vehicle, characterized in that: The electric vehicle balance control method at least comprises: Acquire motion parameters of the electric vehicle, perform modal analysis on the electric vehicle based on the electric vehicle modal analysis method according to any one of claims 1 to 5, and calculate characteristic values ​​of the electric vehicle; Based on the characteristic values, the sensitive points of the electric vehicle are found and the parameters of the electric vehicle are adjusted to balance the electric vehicle.

7. The electric vehicle balance control method according to claim 6, characterized in that: The method for obtaining the sensitive points of the electric vehicle includes: obtaining the natural frequency of the electric vehicle based on the characteristic value, and comparing the natural frequency of the electric vehicle with the excitation frequency to obtain the sensitive points of the electric vehicle.

8. The electric vehicle balance control method according to claim 6 or 7, characterized in that: The motion parameters include gravity and acceleration.

9. An electric vehicle balance control system, characterized in that: The electric vehicle balance control system at least includes: An electric vehicle body and a sensor module, a controller, and a balance adjustment module arranged on the electric vehicle body; The sensor module monitors the electric vehicle body to obtain motion parameters of the electric vehicle; The controller is connected to the sensor module, calculates characteristic values ​​of the electric vehicle based on the motion parameters of the motor, and generates a control signal for adjusting the balance of the electric vehicle; The balance adjustment module is connected to the controller and performs balance adjustment on the electric vehicle body based on a control signal output by the controller.

10. The electric vehicle balance control system according to claim 9, characterized in that: The electric vehicle balance control system further includes a drive module and a motor; the drive module is connected to the output end of the controller and drives the motor to operate based on a control signal output by the controller; the motor drives the electric vehicle to move.

11. An electronic device, characterized in that: The electronic device at least comprises: instruction memory and processor; The instruction memory and the processor are communicatively connected to each other, the instruction memory stores computer instructions, and the processor executes the electric vehicle modal analysis method according to any one of claims 1 to 5 by executing the computer instructions.

12. A computer-readable storage medium, characterized in that: The computer-readable storage medium stores a computer program, and the computer program is used to implement the electric vehicle modal analysis method according to any one of claims 1 to 5.

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