Double-electric-drive vibration suppression method, double-electric-drive system of vehicle and vehicle

Abstract

The invention relates to the technical field of motors, in particular to a double-electric-drive vibration suppression method and device, a vehicle control unit and a storage medium. The double-electric-drive vibration suppression method comprises the following steps: acquiring an actual rotor position difference value between a first motor and a second motor; acquiring a position difference value deviation value between a target rotor position difference value and the actual rotor position difference value; and controlling the first motor and the second motor based on the position difference value deviation value so as to suppress vibration generated by the first motor and the second motor. According to the invention, vibration generated during double-electric-drive working can be suppressed.

Description

Technical Field

[0001] The present disclosure relates to the field of motor technology, and in particular to a dual electric drive vibration suppression method, a dual electric drive system of a vehicle, and a vehicle. Background Art

[0002] The motor is driven by the drive system and used as a brake in a variety of application scenarios. Since the efficiency of a single electric drive is seriously reduced under low speed, high speed and light load conditions, a dual electric drive is used to replace a single electric drive in some application scenarios. However, the mass of a dual electric drive is nearly doubled compared to a single electric drive, and the power and torque are also greatly increased. It has higher requirements for acceleration performance. Therefore, the stiffness of the suspension bushing connected to the dual electric drive is also greatly increased, resulting in strong vibration when the entire dual electric drive is working. Summary of the invention

[0003] The present disclosure provides a dual electric drive vibration suppression method, a dual electric drive system for a vehicle, and a vehicle, the main purpose of which is to suppress the vibration generated when the dual electric drive is working.

[0004] According to one aspect of the present disclosure, a vibration suppression method for a dual electric drive is provided, the dual electric drive comprising a first motor and a second motor, the method comprising:

[0005] Obtaining an actual rotor position difference between the first motor and the second motor;

[0006] Obtaining a position difference deviation between a target rotor position difference and the actual rotor position difference;

[0007] The first motor and the second motor are controlled based on the position difference deviation amount to suppress vibration generated by the first motor and the second motor.

[0008] Optionally, obtaining an actual rotor position difference between the first motor and the second motor includes:

[0009] Acquire a first actual rotor position of the first motor, and acquire a second actual rotor position of the second motor;

[0010] A difference between the first actual rotor position and the second actual rotor position is acquired to obtain the actual rotor position difference.

[0011] Optionally, the controlling the first motor and the second motor based on the position difference deviation includes:

[0012] Determining a torque difference deviation amount corresponding to the position difference deviation amount;

[0013] Determining a first target torque of the first motor and a second target torque of the second motor based on the torque difference deviation and the target torque;

[0014] The first motor is controlled based on the first target torque, and the second motor is controlled based on the second target torque.

[0015] Optionally, determining the torque difference deviation corresponding to the position difference deviation includes:

[0016] The position difference deviation is proportionally and integrally adjusted to obtain the torque difference deviation.

[0017] Optionally, when the dual electric drive is applied to a vehicle, the target torque is determined based on the driving requirements of the vehicle.

[0018] Optionally, the target rotor position difference has a value range of 0° to ±180° in electrical angle.

[0019] According to another aspect of the present disclosure, a vehicle controller is provided, comprising: a memory, a processor, and a program stored in the memory and executable on the processor, wherein when the processor executes the program, the method described in any one of the above aspects is implemented.

[0020] According to another aspect of the present disclosure, a computer-readable storage medium is provided, on which a program is stored. When the program is executed by a processor, the method described in any one of the above aspects is implemented.

[0021] According to another aspect of the present disclosure, a computer program product is provided, including a computer program, wherein when the computer program is executed by a processor, the computer program implements any one of the methods described in the aforementioned aspect.

[0022] According to another aspect of the present disclosure, a dual electric drive system for a vehicle is provided, the system comprising:

[0023] A first electric drive and a second electric drive, wherein the first electric drive comprises a first motor, a first reducer and a first motor controller, and the second electric drive comprises a second motor, a second reducer and a second motor controller, wherein the first motor is connected to the intermediate suspension via the first reducer, and the second motor is connected to the intermediate suspension via the second reducer;

[0024] A vehicle controller, the vehicle controller is connected to the first motor controller and the second motor controller respectively, the vehicle controller is used to obtain an actual rotor position difference between the first motor and the second motor, and obtain a position difference deviation between a target rotor position difference and the actual rotor position difference, and based on the position difference deviation, control the first motor through the first motor controller and the second motor through the second motor controller to suppress vibration on the intermediate suspension.

[0025] According to another aspect of the present disclosure, a vehicle is provided, comprising the vehicle controller described in any one of the aforementioned aspects, or the dual electric drive system of the vehicle described in any one of the aforementioned aspects.

[0026] In one or more embodiments of the present disclosure, the actual rotor position difference between the first motor and the second motor is obtained; the position difference deviation between the target rotor position difference and the actual rotor position difference is obtained; and the first motor and the second motor are controlled based on the position difference deviation to suppress the vibration generated by the first motor and the second motor. Therefore, by cooperatively controlling the first motor and the second motor based on the position difference deviation, the vibration transmitted to the suspension bushing by the dual electric drive can be suppressed, thereby achieving the purpose of active vibration reduction.

[0027] It should be understood that the content described in this section is not intended to identify the key or important features of the embodiments of the present disclosure, nor is it intended to limit the scope of the present disclosure. Other features of the present disclosure will become easily understood through the following description. BRIEF DESCRIPTION OF THE DRAWINGS

[0028] The accompanying drawings are used to better understand the present solution and do not constitute a limitation of the present disclosure.

[0029] Figure 1 A schematic flow chart of a dual electric drive vibration suppression method provided by an embodiment of the present disclosure is shown;

[0030] Figure 2 A schematic flow chart of a dual electric drive vibration suppression method provided by an embodiment of the present disclosure is shown;

[0031] Figure 3 A schematic structural diagram of a suspension bushing provided by an embodiment of the present disclosure is shown;

[0032] Figure 4 A schematic diagram showing a simulation of elastic center vibration of an intermediate suspension active end provided by an embodiment of the present disclosure is shown;

[0033] Figure 5 A schematic diagram showing a simulation of elastic center vibration of left and right suspension active ends provided by an embodiment of the present disclosure is shown;

[0034] Figure 6 A simulation schematic diagram of a dual electric drive provided by an embodiment of the present disclosure is shown;

[0035] Figure 7 A schematic diagram of the structure of a dual electric drive provided by an embodiment of the present disclosure is shown;

[0036] Figure 8 A schematic diagram of a motor control process provided by an embodiment of the present disclosure is shown;

[0037] Fig. 9 A schematic structural diagram of a dual electric drive system for a vehicle provided by an embodiment of the present disclosure is shown;

[0038] Fig.10 It is a block diagram of a vehicle controller used to implement the vibration suppression method of the dual electric drive of the embodiment of the present disclosure. DETAILED DESCRIPTION

[0039] The following is a description of exemplary embodiments of the present disclosure in conjunction with the accompanying drawings, including various details of the embodiments of the present disclosure to facilitate understanding, which should be considered as merely exemplary. Therefore, it should be recognized by those of ordinary skill in the art that various changes and modifications may be made to the embodiments described herein without departing from the scope and spirit of the present disclosure. Similarly, for the sake of clarity and conciseness, descriptions of well-known functions and structures are omitted in the following description.

[0040] The present disclosure is described in detail below with reference to specific embodiments.

[0041] In the first embodiment, if Figure 1 As shown, Figure 1 A schematic flow chart of a dual electric drive vibration suppression method provided by an embodiment of the present disclosure is shown. The method can be implemented by a computer program and can be run on a device that performs the dual electric drive vibration suppression method. The computer program can be integrated into an application or run as an independent tool application. For example, the method can be run on a vehicle controller.

[0042] Specifically, the dual electric drive vibration suppression method includes:

[0043] S101, obtaining an actual rotor position difference between the first motor and the second motor;

[0044] According to some embodiments, the dual electric drive refers to a dual motor drive structure. The dual electric drive includes two motors, namely a first motor and a second motor. The first and second of the first motor and the second motor are only used to distinguish the two motors.

[0045] In some embodiments, the rotor position is also called the rotor position angle, which refers to the electrical angle between the rotor N pole and the stator A phase winding in space.

[0046] In some embodiments, the actual rotor position difference refers to a difference between a first actual rotor position corresponding to the first motor and a second actual rotor position corresponding to the second motor.

[0047] It is easy to understand that when the vehicle controller executes the vibration suppression method of the dual electric drive, the vehicle controller can obtain the actual rotor position difference between the first motor and the second motor.

[0048] S102, obtaining a position difference deviation between a target rotor position difference and an actual rotor position difference;

[0049] According to some embodiments, the target rotor position difference refers to the difference to which the actual rotor position difference needs to be adjusted.

[0050] In some embodiments, the position difference deviation refers to the difference between the target rotor position difference and the actual rotor position difference.

[0051] It is easy to understand that when the vehicle controller obtains the actual rotor position difference between the first motor and the second motor, the position difference deviation between the target rotor position difference and the actual rotor position difference can be obtained.

[0052] S103, controlling the first motor and the second motor based on the position difference deviation to suppress vibrations generated by the first motor and the second motor.

[0053] It is easy to understand that when the position difference deviation is obtained, the vehicle controller can control the first motor and the second motor based on the position difference deviation to suppress the vibration generated by the first motor and the second motor.

[0054] In summary, the method provided by the embodiment of the present disclosure obtains the actual rotor position difference between the first motor and the second motor; obtains the position difference deviation between the target rotor position difference and the actual rotor position difference; and controls the first motor and the second motor based on the position difference deviation to suppress the vibration generated by the first motor and the second motor. Therefore, by cooperatively controlling the first motor and the second motor based on the position difference deviation, the vibration transmitted to the suspension bushing by the dual electric drive can be suppressed, thereby achieving the purpose of active vibration reduction.

[0055] See also Figure 2 , Figure 2 A schematic flow chart of a dual electric drive vibration suppression method provided in an embodiment of the present disclosure is shown.

[0056] Specifically, the dual electric drive vibration suppression method includes:

[0057] S201, obtaining a first actual rotor position of a first motor, and obtaining a second actual rotor position of a second motor;

[0058] It should be noted that Figure 3 FIG. 2 shows a schematic diagram of the structure of a suspension bushing provided by an embodiment of the present disclosure. Figure 3 As shown, the left suspension and the right suspension of the suspension bushing are connected to the dual electric drive; and the middle suspension of the suspension bushing is connected to the vehicle body through a subframe and finally connected to the wheels.

[0059] According to some embodiments, Figure 4 FIG. 2 shows a simulation schematic diagram of the elastic center vibration of the active end of the intermediate suspension provided by an embodiment of the present disclosure. Figure 4 As shown, it is easy to understand that compared with the case where the electromagnetic forces of the two motors are in the same phase, the vibration acceleration of the elastic center vibration of the middle suspension active end is significantly reduced when the electromagnetic forces of the two motors are in opposite phase (180°), among which the reduction is higher in the medium and low frequency bands. In other words, the vehicle controller coordinates the control of the first motor and the second motor so that the electromagnetic forces generated between the first motor and the second motor are in opposite phase, which can reduce the amplitude of the middle suspension active end.

[0060] In some embodiments, Figure 5 FIG. 2 shows a simulation schematic diagram of the elastic center vibration of the left and right suspension active ends provided by an embodiment of the present disclosure. Figure 5 As shown, the vibration acceleration of the elastic center vibration of the left and right suspension active ends is basically unchanged when the electromagnetic forces of the motors on both sides are in phase with each other and when the electromagnetic forces of the motors on both sides are in phase with each other.

[0061] In some embodiments, Figure 6 FIG. 1 shows a simulation schematic diagram of a dual electric drive provided by an embodiment of the present disclosure. Figure 6 As shown, when the rotor positions between the first motor and the second motor differ by 30°, the electromagnetic forces (electromagnetic radial forces) between the first motor and the second motor are in opposite phases.

[0062] According to some embodiments, Figure 7 FIG. 2 shows a schematic diagram of a dual electric drive structure provided by an embodiment of the present disclosure. Figure 7 As shown, in the related art, the vehicle controller independently controls the two motors in the dual electric drive, namely the first motor and the second motor, and the rotor positions in the first motor and the second motor are random, which leads to strong vibration of the suspension bushing. The present disclosure coordinates the rotor positions in the first motor and the second motor, so that the electromagnetic force between the first motor and the second motor is in opposite phase to suppress the amplitude of the suspension bushing.

[0063] It is easy to understand that when the vehicle controller performs vibration suppression of the dual electric drive, the vehicle controller can obtain the first actual rotor position of the first motor and the second actual rotor position of the second motor.

[0064] S202, obtaining a difference between the first actual rotor position and the second actual rotor position to obtain an actual rotor position difference;

[0065] For example, when the first actual rotor position of the first motor is 120° and the second actual rotor position of the second motor is 50°, the difference between the first actual rotor position and the second actual rotor position can be obtained to obtain an actual rotor position difference of 70°.

[0066] S203, obtaining a position difference deviation between a target rotor position difference and an actual rotor position difference;

[0067] According to some embodiments, in electrical application scenarios, the target rotor position difference may range, for example, from an electrical angle of 0° to ±180°. In mechanical application scenarios, the target rotor position difference may range, for example, from 0° to ±180° / 3, i.e., from an electrical angle of 0° to ±60°, where 3 is the number of pole pairs. In wheel application scenarios, the target rotor position difference may range, for example, from 0° to ±60° / 8.7, i.e., from an electrical angle of 0° to ±6.9°, where 8.7 is the speed ratio. At this time, the maximum possible displacement difference on the wheel is ±6.9° / 360°*2*π*0.349m=4.2cm.

[0068] In some embodiments, Figure 6 As shown, the target rotor position difference may be, for example, 30°. At this time, the electromagnetic forces between the first motor and the second motor are in opposite phases, and the amplitude suppression effect of the suspension bushing is better.

[0069] For example, when the actual rotor position difference of 70° is obtained and the target rotor position difference is determined to be 30°, a position difference deviation of 40° between the target rotor position difference and the actual rotor position difference may be obtained.

[0070] S204, determining a torque difference deviation corresponding to the position difference deviation;

[0071] According to some embodiments, torque refers to the torque outputted by the motor from the crankshaft end. The torque difference refers to the difference between the first torque of the first motor and the second torque of the second motor. The torque difference deviation refers to the difference between the torque difference and the target torque difference.

[0072] In some embodiments, when determining the torque difference deviation corresponding to the position difference deviation, proportional integration (PI) adjustment may be performed on the position difference deviation to obtain the torque difference deviation.

[0073] S205, determining a first target torque of the first motor and a second target torque of the second motor based on the torque difference deviation and the target torque;

[0074] According to some embodiments, the target torque refers to the torque that needs to be controlled to be achieved by the motor. The first target torque refers to the target torque corresponding to the first motor, and the second target torque refers to the target torque corresponding to the second motor. When the dual electric drive is applied to a vehicle, the target torque is determined based on the driving requirements of the vehicle.

[0075] S206 , controlling the first motor based on the first target torque, and controlling the second motor based on the second target torque, so as to suppress vibrations generated by the first motor and the second motor.

[0076] According to some embodiments, Figure 8 FIG. 2 is a flow chart of a motor control process provided by an embodiment of the present disclosure. Figure 8 As shown, first, the first actual rotor position (Rotor position L) of the first motor is obtained, and the second actual rotor position (Rotor position R) of the second motor is obtained. Then, the difference between the first actual rotor position and the second actual rotor position is obtained to obtain the actual rotor position difference, and the position difference deviation between the target rotor position difference of 30° and the actual rotor position difference is obtained. Secondly, the position difference deviation is PI-adjusted to obtain the torque difference deviation (VecTrqCmd). Then, the torque vectoring controller (Torquevectoringcontroller) is controlled to determine the first target torque (Torque command L or Torque L) of the first motor and the second target torque (Torquecommand R or Torque R) of the second motor based on the target torque indicated by the propulsion torque command (Propolsion Torquecommand) and the torque difference deviation (Vec TrqCmd). Finally, the first electric drive (EDS_L) is controlled to control the first motor based on the first target torque (Torque command L), and the second electric drive (EDS_R) is controlled to control the second motor based on the second target torque (Torque command R).

[0077] In some embodiments, due to the existence of the disturbance Δθ, after the first motor is controlled based on the first target torque (Torque command L) and the second motor is controlled based on the second target torque (Torque command R), the position difference deviation corresponding to the first actual rotor position of the first motor and the second actual rotor position of the second motor may not meet the motor control requirements. Therefore, it is necessary to adopt Figure 8The process shown performs closed-loop control multiple times until the position difference deviation meets the motor control requirements.

[0078] In some embodiments, the disturbance Δθ includes but is not limited to disturbances introduced by road bumps, steering, etc., and its value can be determined by vehicle dynamics simulation evaluation.

[0079] In some embodiments, the motor control requirement may be, for example, that the position difference deviation is not higher than a deviation threshold. The deviation threshold may be, for example, 0. In this case, after multiple closed-loop controls are performed, control is stopped until the actual rotor position difference between the first actual rotor position and the second actual rotor position is 30°.

[0080] In summary, the method provided by the embodiment of the present disclosure, first, by obtaining the first actual rotor position of the first motor, and obtaining the second actual rotor position of the second motor; obtaining the difference between the first actual rotor position and the second actual rotor position, to obtain the actual rotor position difference; therefore, the accuracy of obtaining the actual rotor position difference can be improved. Then, the position difference deviation between the target rotor position difference and the actual rotor position difference is obtained; the torque difference deviation corresponding to the position difference deviation is determined; based on the torque difference deviation and the target torque, the first target torque of the first motor and the second target torque of the second motor are determined; the first motor is controlled based on the first target torque, and the second motor is controlled based on the second target torque to suppress the vibration generated by the first motor and the second motor; therefore, the control effect when controlling the first motor and the second motor can be improved. At the same time, by performing vector control on the first motor and the second motor based on the position difference deviation at the active end of the dual electric drive, the vibration transmitted to the active end of the intermediate suspension by the dual electric drive can be partially canceled, thereby suppressing the vibration transmitted to the active end of the intermediate suspension by the dual electric drive, and achieving the purpose of active vibration reduction.

[0081] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0082] The following are embodiments of the device disclosed herein, which can be used to execute the method embodiments disclosed herein. For details not disclosed in the device embodiments disclosed herein, please refer to the method embodiments disclosed herein.

[0083] See also Fig. 9 , which shows a schematic diagram of the structure of a dual electric drive system of a vehicle provided by an embodiment of the present disclosure. The dual electric drive system of the vehicle can be implemented as all or part of the device through software, hardware or a combination of both.

[0084] Specifically, the vehicle's dual electric drive system includes:

[0085] A first electric drive and a second electric drive, the first electric drive comprising a first motor (Motor_L), a first reducer (GB_L) and a first motor controller (PEU_L), the second electric drive comprising a second motor (Motor_R), a second reducer (GB_R) and a second motor controller (PEU_R), the first motor (Motor_L) being connected to the intermediate suspension via the first reducer (GB_L), and the second motor (Motor_R) being connected to the intermediate suspension via the second reducer (GB_R);

[0086] A vehicle controller (VCU), the vehicle controller (VCU) is connected to the first motor controller (PEU_L) and the second motor controller (PEU_R) respectively, and the vehicle controller (VCU) is used to obtain the actual rotor position difference between the first motor (Motor_L) and the second motor (Motor_R), and obtain the position difference deviation between the target rotor position difference and the actual rotor position difference, and based on the position difference deviation, control the first motor (Motor_L) through the first motor controller (PEU_L) and the second motor (Motor_R) through the second motor controller (PEU_R) to suppress vibration on the intermediate suspension.

[0087] According to some embodiments, the specific steps of the vehicle controller for executing the dual electric drive vibration suppression method are shown in steps S101 to S103 and steps S201 to S206. The implementation process is detailed in the method embodiment and will not be repeated here.

[0088] It should be noted that when the dual electric drive system of the vehicle provided in the above embodiment executes the dual electric drive vibration suppression method, in actual application, the above functions can be assigned to different functional modules as needed, that is, the internal structure of the equipment can be divided into different functional modules to complete all or part of the functions described above.

[0089] In summary, the system provided by the embodiment of the present disclosure includes a first electric drive and a second electric drive, the first electric drive includes a first motor, a first reducer and a first motor controller, the second electric drive includes a second motor, a second reducer and a second motor controller, the first motor is connected to the intermediate suspension through the first reducer, and the second motor is connected to the intermediate suspension through the second reducer; a vehicle controller, the vehicle controller is connected to the first motor controller and the second motor controller respectively, and the vehicle controller is used to obtain the actual rotor position difference between the first motor and the second motor, and obtain the position difference deviation between the target rotor position difference and the actual rotor position difference, and based on the position difference deviation, the first motor is controlled by the first motor controller and the second motor is controlled by the second motor controller to suppress the vibration on the intermediate suspension. Therefore, by performing vector control on the first motor and the second motor based on the position difference deviation at the active end of the dual electric drive, the vibration transmitted to the active end of the intermediate suspension by the dual electric drive can be partially canceled, thereby suppressing the vibration transmitted to the active end of the intermediate suspension by the dual electric drive, and achieving the purpose of active vibration reduction.

[0090] In the technical solution of the present disclosure, the collection, storage, use, processing, transmission, provision and disclosure of user personal information involved are in compliance with the provisions of relevant laws and regulations and do not violate public order and good morals.

[0091] According to an embodiment of the present disclosure, the present disclosure also provides a vehicle controller, a readable storage medium and a computer program product.

[0092] Fig.10 A schematic block diagram of an example vehicle controller 1000 that can be used to implement an embodiment of the present disclosure is shown. The components shown herein, their connections and relationships, and their functions are merely examples and are not intended to limit the implementation of the present disclosure described and / or claimed herein.

[0093] like Fig.10 As shown, the vehicle controller 1000 includes a computing unit 1001, which can perform various appropriate actions and processes according to a computer program stored in a read-only memory (ROM) 1002 or a computer program loaded from a storage unit 1008 into a random access memory (RAM) 1003. In RAM 1003, various programs and data required for the operation of the vehicle controller 1000 can also be stored. The computing unit 1001, ROM 1002, and RAM 1003 are connected to each other via a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0094] Multiple components in the vehicle controller 1000 are connected to the I / O interface 1005, including: an input unit 1006, such as a keyboard, a mouse, etc.; an output unit 1007, such as various types of displays, speakers, etc.; a storage unit 1008, such as a disk, an optical disk, etc.; and a communication unit 1009, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 1009 allows the vehicle controller 1000 to exchange information / data with other devices through a computer network such as the Internet and / or various telecommunication networks.

[0095] The computing unit 1001 may be a variety of general and / or special processing components with processing and computing capabilities. Some examples of the computing unit 1001 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various dedicated artificial intelligence (AI) computing chips, various computing units running machine learning model algorithms, digital signal processors (DSPs), and any appropriate processors, controllers, microcontrollers, etc. The computing unit 1001 performs the various methods and processes described above, such as the vibration suppression method of the dual electric drive. For example, in some embodiments, the vibration suppression method of the dual electric drive may be implemented as a computer software program, which is tangibly contained in a machine-readable medium, such as a storage unit 1008. In some embodiments, part or all of the computer program may be loaded and / or installed on the vehicle controller 1000 via the ROM 1002 and / or the communication unit 1009. When the computer program is loaded into the RAM 1003 and executed by the computing unit 1001, one or more steps of the vibration suppression method of the dual electric drive described above may be performed. Alternatively, in other embodiments, the computing unit 1001 may be configured to execute the vibration suppression method of the dual electric drive in any other appropriate manner (for example, by means of firmware).

[0096] Various implementations of the systems and techniques described above herein can be implemented in digital electronic circuit systems, integrated circuit systems, field programmable gate arrays (FPGAs), application specific integrated circuits (ASICs), application specific standard products (ASSPs), systems on chips (SOCs), load programmable logic devices (CPLDs), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include: being implemented in one or more computer programs that can be executed and / or interpreted on a programmable system including at least one programmable processor, which can be a special purpose or general purpose programmable processor that can receive data and instructions from a storage system, at least one input device, and at least one output device, and transmit data and instructions to the storage system, the at least one input device, and the at least one output device.

[0097] The program code for implementing the method of the present disclosure may be written in any combination of one or more programming languages. These program codes may be provided to a processor or controller of a general-purpose computer, a special-purpose computer, or other programmable data processing device, so that the program code, when executed by the processor or controller, enables the functions / operations specified in the flow chart and / or block diagram to be implemented. The program code may be executed entirely on the machine, partially on the machine, partially on the machine and partially on a remote machine as a stand-alone software package, or entirely on a remote machine or server.

[0098] In the context of the present disclosure, a machine-readable medium may be a tangible medium that may contain or store a program for use by or in conjunction with an instruction execution system, device, or equipment. A machine-readable medium may be a machine-readable signal medium or a machine-readable storage medium. A machine-readable medium may include, but is not limited to, an electronic, magnetic, optical, electromagnetic, infrared, or semiconductor system, device, or equipment, or any suitable combination of the foregoing. A more specific example of a machine-readable storage medium may include an electrical connection based on one or more lines, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM or flash memory), an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the foregoing.

[0099] To provide interaction with a user, the systems and techniques described herein can be implemented on a computer having: a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user; and a keyboard and pointing device (e.g., a mouse or trackball) through which the user can provide input to the computer. Other types of devices can also be used to provide interaction with the user; for example, the feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form (including acoustic input, voice input, or tactile input).

[0100] The systems and techniques described herein can be implemented in a computing system that includes backend components (e.g., as a data server), or a computing system that includes middleware components (e.g., an application server), or a computing system that includes frontend components (e.g., a user computer with a graphical user interface or a web browser through which a user can interact with implementations of the systems and techniques described herein), or a computing system that includes any combination of such backend components, middleware components, or frontend components. The components of the system can be interconnected by any form or medium of digital data communication (e.g., a communication network). Examples of communication networks include: a local area network (LAN), a wide area network (WAN), the Internet, and a blockchain network.

[0101] A computer system may include a client and a server. The client and the server are generally remote from each other and usually interact through a communication network. The relationship between the client and the server is generated by computer programs running on the corresponding computers and having a client-server relationship with each other. The server may be a cloud server, also known as a cloud computing server or cloud host, which is a host product in the cloud computing service system to solve the defects of difficult management and weak business scalability in traditional physical hosts and VPS services ("Virtual Private Server", or "VPS" for short). The server may also be a server of a distributed system, or a server combined with a blockchain.

[0102] According to an embodiment of the present disclosure, the present disclosure further provides a vehicle, which includes a vehicle controller as shown in any of the above embodiments, or a dual electric drive system of the vehicle as shown in any of the above embodiments.

[0103] It should be understood that the various forms of processes shown above can be used to reorder, add or delete steps. For example, the steps recorded in this disclosure can be executed in parallel, sequentially or in different orders, as long as the desired results of the technical solutions disclosed in this disclosure can be achieved, and this document does not limit this.

[0104] The above specific implementations do not constitute a limitation on the protection scope of the present disclosure. It should be understood by those skilled in the art that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modification, equivalent substitution and improvement made within the spirit and principle of the present disclosure shall be included in the protection scope of the present disclosure.

Claims

1. A dual electric drive vibration suppression method, characterized in that: The dual electric drive includes a first motor and a second motor, and the method includes: Obtaining an actual rotor position difference between the first motor and the second motor; Obtaining a position difference deviation between a target rotor position difference and the actual rotor position difference; The first motor and the second motor are controlled based on the position difference deviation amount to suppress vibration generated by the first motor and the second motor.

2. The method according to claim 1, characterized in that The obtaining of an actual rotor position difference between the first motor and the second motor comprises: Acquire a first actual rotor position of the first motor, and acquire a second actual rotor position of the second motor; A difference between the first actual rotor position and the second actual rotor position is acquired to obtain the actual rotor position difference.

3. The method according to claim 1, characterized in that The controlling the first motor and the second motor based on the position difference deviation comprises: Determining a torque difference deviation amount corresponding to the position difference deviation amount; Determining a first target torque of the first motor and a second target torque of the second motor based on the torque difference deviation and the target torque; The first motor is controlled based on the first target torque, and the second motor is controlled based on the second target torque.

4. The method according to claim 3, characterized in that The step of determining the torque difference deviation corresponding to the position difference deviation comprises: The position difference deviation is proportionally and integrally adjusted to obtain the torque difference deviation.

5. The method according to claim 3, characterized in that: When the dual electric drive is applied to a vehicle, the target torque is determined based on the driving demand of the vehicle.

6. The method according to any one of claims 1 to 5, characterized in that: The target rotor position difference has a value range of 0° to ±180° in electrical angle.

7. A vehicle controller, characterized in that: include: A memory, a processor, and a program stored in the memory and executable on the processor. When the processor executes the program, the vibration suppression method for the dual electric drive according to any one of claims 1 to 6 is implemented.

8. A computer-readable storage medium, characterized in that: A program is stored thereon, and when the program is executed by a processor, the vibration suppression method of the dual electric drive according to any one of claims 1-6 is implemented.

9. A dual electric drive system for a vehicle, characterized in that: The system comprises: A first electric drive and a second electric drive, wherein the first electric drive comprises a first motor, a first reducer and a first motor controller, and the second electric drive comprises a second motor, a second reducer and a second motor controller, wherein the first motor is connected to the intermediate suspension via the first reducer, and the second motor is connected to the intermediate suspension via the second reducer; A vehicle controller, the vehicle controller is connected to the first motor controller and the second motor controller respectively, the vehicle controller is used to obtain an actual rotor position difference between the first motor and the second motor, and obtain a position difference deviation between a target rotor position difference and the actual rotor position difference, and based on the position difference deviation, control the first motor through the first motor controller and the second motor through the second motor controller to suppress vibration on the intermediate suspension.

10. A vehicle, characterized in that: Including the vehicle controller according to claim 7, or the dual electric drive system of the vehicle according to claim 9.

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